Seedling throwing control method, seedling throwing mechanism and seedling throwing system

Abstract

The application discloses a seedling throwing control method, a seedling throwing mechanism and a seedling throwing system, and relates to the technical field of unmanned aerial vehicles. The method is applied to an unmanned aerial vehicle carrying the seedling throwing mechanism. The seedling throwing mechanism comprises a seedling conveying module and a seedling taking module. The seedling conveying module is used for conveying a hole mat seedling. The seedling taking module is used for throwing out the seedling after separating the hole mat seedling conveyed by the seedling conveying module. The method comprises the following steps: acquiring a hole distance of the hole mat seedling; determining a first driving parameter of the seedling conveying module and / or a second driving parameter of the seedling taking module based on the hole distance; and controlling the seedling conveying module and / or the seedling taking module according to the first driving parameter and / or the second driving parameter, so that the seedling taking module can separate the seedling at a connecting part between two adjacent seedlings of the hole mat seedling. Through the technical means, the problem that the unmanned aerial vehicle is only applicable to taking and throwing seedlings of the same type of hole mat seedling is solved, and the applicability of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a rice seedling throwing control method, a rice seedling throwing mechanism, and a rice seedling throwing system. Background Technology

[0002] With the rapid development of drone technology, it is widely used for aerial operations in various scenarios. Especially in agriculture, some fields are not convenient to operate on the ground, such as terraced fields or other rugged terrain. Drones can be used for aerial plant protection of crops in these fields. Drones can even be equipped with rice transplanters to deliver rice seedlings into the fields from the air.

[0003] The connection between adjacent seedlings in perforated seedbeds is relatively weak, making it easy for transplanters to remove the seedlings. However, there are different types of perforated seedbeds, and the spacing between adjacent seedlings varies depending on the type. Current transplanters are only suitable for picking and transplanting seedlings of the same type, resulting in poor applicability. Summary of the Invention

[0004] This application provides a seedling throwing control method, seedling throwing mechanism, and seedling throwing system, which solves the problem that the seedling throwing mechanism mounted on the UAV is only suitable for picking and throwing seedlings of the same type, thus improving the applicability of the UAV.

[0005] In a first aspect, this application provides a seedling throwing control method applied to a drone equipped with a seedling throwing mechanism, the seedling throwing mechanism including a seedling delivery module and a seedling retrieval module, the seedling delivery module being used to deliver seedlings from a perforated substrate, and the seedling retrieval module being used to separate the seedlings from the perforated substrate delivered by the seedling delivery module and then throw them out; the method includes:

[0006] Obtain the hole spacing of the perforated seedlings;

[0007] Based on the hole spacing, determine the first driving parameters of the seedling delivery module and / or the second driving parameters of the seedling taking module;

[0008] The seedling delivery module and / or seedling taking module are controlled according to the first driving parameter and / or the second driving parameter so that the seedling taking module can separate the seedlings at the connection between two adjacent seedlings of the perforated seedling.

[0009] Secondly, this application provides a rice seedling throwing mechanism mounted on a drone, the rice seedling throwing mechanism comprising:

[0010] The seedling delivery module is used to deliver seedlings from perforated mats;

[0011] A seedling picking module is used to separate the seedlings from the perforated seedlings conveyed by the seedling delivery module and then throw them out.

[0012] The control module is configured to execute the rice seedling throwing control method as described in the first aspect.

[0013] Thirdly, this application provides a rice seedling throwing system, including a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism is mounted on the drone and includes a seedling delivery module and a seedling collection module, wherein:

[0014] The seedling delivery module is used to deliver perforated seedlings;

[0015] The seedling picking module is used to separate the seedlings from the perforated seedlings conveyed by the seedling delivery module and then throw them out.

[0016] The drone is configured to perform the rice-throwing control method as described in the first aspect.

[0017] In this application, the spacing of the perforated seedbeds on the seedbed loading mechanism is obtained by the UAV during seedling throwing operations. Based on the perforated seedbed spacing, a first driving parameter for the seedling delivery module to transport the seedlings and / or a second driving parameter for the seedling removal module to separate and throw the seedlings from the seedbed are determined. The seedling delivery module and / or the seedling removal module are controlled according to the first driving parameter and / or the second driving parameter, so that the seedling removal module can separate the seedlings at the connection between two adjacent seedlings on the seedbed. Through the above technical means, regardless of the type of perforated seedbed loaded on the UAV's seedling throwing mechanism, the UAV can adjust the driving parameters of the seedling delivery module and / or the seedling removal module based on the perforated seedbed spacing, so that the seedling delivery module and the seedling removal module cooperate with each other to ensure that the seedling removal module can precisely separate the connection between two adjacent seedlings on the seedbed, thereby accurately removing one seedling from the seedbed without damaging the seedling. This solves the problem that the UAV is only suitable for picking and throwing seedlings of the same type of perforated seedbed, and improves the applicability of the UAV. Attached Figure Description

[0018] Figure 1 This is a top view schematic diagram of the perforated seedling provided in the embodiments of this application;

[0019] Figure 2 This is a side view of the perforated seedling provided in the embodiments of this application;

[0020] Figure 3 This is a schematic diagram of the structure of the rice transplanting system provided in the embodiments of this application;

[0021] Figure 4 This is one of the structural schematic diagrams of the rice-throwing mechanism provided in the embodiments of this application;

[0022] Figure 5 This is the second structural schematic diagram of the rice-throwing mechanism provided in the embodiments of this application;

[0023] Figure 6This is a flowchart of a rice seedling throwing control method provided in an embodiment of this application;

[0024] Figure 7 This is the third structural schematic diagram of the rice-throwing mechanism provided in the embodiments of this application;

[0025] Figure 8 This is the fourth structural schematic diagram of the rice-throwing mechanism provided in the embodiments of this application;

[0026] Figure 9 This is the fifth schematic diagram of the structure of the rice-throwing mechanism provided in the embodiments of this application;

[0027] Figure 10 This is the sixth structural schematic diagram of the rice-throwing mechanism provided in the embodiments of this application;

[0028] In the diagram, 10 is a seedbed; 11 is a seedling; 12 is a trench; 20 is a drone; 30 is a seedling throwing mechanism; 31 is a seedling delivery module; 311 is a seedling delivery tray; 312 is a seedling support plate; 313 is an opening; 314 is a conveying device; 315 is a drive device; 32 is a seedling picking module; 321 is a drive source; and 322 is a cutter head. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. A process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0030] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0031] In the relevant implementation methods, Figure 1 This is a top view of the perforated seedling provided in the embodiments of this application. Figure 2 This is a side view of the perforated seedling provided in an embodiment of this application. Figure 1 and Figure 2 As shown, multiple seedlings 11 are planted in the perforated seedbed 10. A groove 12 forms the connection between adjacent seedlings 11 in the perforated seedbed 10. Therefore, the connection between adjacent seedlings 11 in the perforated seedbed 10 is relatively weak, meaning the soil layer at the connection is thinner than the soil layer at the seedling roots. This makes it easy for the transplanter to remove the seedlings 11 from the perforated seedbed 10. Therefore, the transplanter mounted on the UAV 20 is generally used for removing and transplanting seedlings from the perforated seedbed 10. However, different types of perforated seedbeds 10 correspond to different planting areas for the seedlings 11 or different widths of the grooves 12, resulting in different hole spacing between adjacent seedlings 11 in the perforated seedbed 10. The spacing between the holes in the perforated seedbed 10 affects the time it takes for the transplanter to transport two adjacent seedlings 11. If the transport time of the seedlings 11 and the seedling removal time of the transplanter are not matched, the transplanter cannot accurately separate the connecting part between two adjacent seedlings 11, resulting in the transplanter being unable to accurately remove the seedlings 11 from the perforated seedbed 10. This leads to low seedling removal consistency, which is not conducive to precise transplanting and may even damage the seedlings 11 during removal. Therefore, the transplanting mechanism of the UAV 20 needs to be suitable for removing and transplanting seedlings from various types of perforated seedbeds 10.

[0032] To address the aforementioned issues, this embodiment provides a seedling throwing control method, a seedling throwing mechanism 30, and a seedling throwing system. The seedling throwing mechanism 30 is controlled to accurately remove the seedlings 11 from the seedlings 10 according to the hole spacing of the seedling mat 10. This allows the drone 20 to perform seedling throwing operations on any type of seedling mat 10, improving the applicability of the drone 20.

[0033] Figure 3 This is a schematic diagram of the structure of the rice transplanting system provided in an embodiment of this application. Figure 3 As shown, the rice-throwing system includes a rice-throwing mechanism 30 and a drone 20, with the rice-throwing mechanism 30 mounted on the drone 20. Figure 4 and Figure 5 This is a schematic diagram of the structure of the rice-throwing mechanism provided in an embodiment of this application. Figure 4 and Figure 5As shown, the seedling throwing mechanism 30 includes a seedling delivery module 31 and a seedling collection module 32. The seedling delivery module 31 delivers the perforated seedlings 10, and the seedling collection module 32 separates the perforated seedlings 10 delivered by the seedling delivery module 31 and throws them out as seedlings 11. When the drone 20 carries the seedling throwing mechanism 30 for aerial seedling throwing operations, the perforated seedlings 10 can be delivered by the seedling delivery module 31, and the seedling collection module 32 can separate the perforated seedlings 10 and throw them out as seedlings 11. It should be noted that there are many ways to separate the seedlings, such as cutting, grabbing, pushing, pressing, etc. The specific separation and seedling collection methods are not limited.

[0034] The drone 20 can be used to execute the rice-throwing control method provided in this embodiment. The drone 20 can be implemented through software and / or hardware. The drone 20 can consist of two or more physical entities, or it can consist of a single physical entity. The drone 20 refers to a flying device that operates according to remote control commands or preset commands. For example, the drone 20 is a rotary-wing drone, specifically a quadcopter drone; however, it can also be a single-rotor drone, a dual-rotor drone, a hexacopter drone, an octacopter drone, etc. The drone 20 can operate automatically according to preset paths, flight speeds, attitudes, etc., or it can be manually controlled by an operator.

[0035] The drone 20 is equipped with at least one type of operating system. The drone 20 can install at least one application based on this operating system. The application can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the drone 20 has at least one application capable of executing a rice-throwing control method.

[0036] It should be noted that the rice-throwing mechanism 30 also includes a control module, which can also be used to execute the rice-throwing control method provided in this embodiment.

[0037] For ease of understanding, this embodiment uses the UAV 20 as the main body for executing the rice seedling throwing control method as an example for description.

[0038] Figure 6 A flowchart of a rice transplanting control method provided in an embodiment of this application is given. (Reference) Figure 6 The specific methods for controlling rice transplanting include:

[0039] S110. Obtain the hole spacing of the seedlings.

[0040] refer to Figure 1 and Figure 2The perforated seedling 10 is a type of perforated seedling where grooves 12 are formed at the connection points between two adjacent seedlings 11. Each seedling 11 in the perforated seedling 10 has the same lateral and longitudinal width. The lateral and longitudinal grooves 12 in the perforated seedling 10 also have the same width. The perforation spacing of the perforated seedling 10 is the distance between two adjacent seedlings 11, and includes both lateral and longitudinal spacing. The lateral spacing d1 is the distance between two adjacent seedlings 11 planted laterally, and it is equal to the sum of the lateral width of the seedling 11 and the width of the laterally distributed grooves 12. The longitudinal spacing d2 is the distance between two adjacent seedlings 11 planted longitudinally, and it is equal to the sum of the longitudinal width of the seedling 11 and the width of the longitudinally distributed grooves 12. In this embodiment, the distance between two adjacent seedlings 11 can be determined by measuring the distance between the center points of two adjacent seedlings 11, or by measuring the distance between the same side of two adjacent seedlings 11, or by measuring the distance between the center points of two adjacently distributed trenches 12.

[0041] In one embodiment, a worker can manually measure the distance between two adjacent seedlings 11 planted laterally in the seedbed 10 to determine the lateral hole spacing of the seedbed 10, and manually measure the distance between two adjacent seedlings 11 planted longitudinally in the seedbed 10 to determine the longitudinal hole spacing of the seedbed 10. The lateral and longitudinal hole spacings of the seedbed 10 are configured into the aerial seeding-throwing operation task of the drone 20. When the drone 20 is performing the aerial seeding-throwing operation task, the lateral and longitudinal hole spacings of the seedbed 10 currently loaded on the seedling-throwing mechanism 30 can be obtained from the operation task.

[0042] In another embodiment, the drone 20 is equipped with a camera for acquiring images of the perforated seedlings 10 delivered by the seedling delivery module 31. The drone 20 can acquire images of the perforated seedlings 10 delivered by the seedling delivery module 31 and determine the hole spacing of the perforated seedlings 10 based on these images. For example, the drone 20 can identify seedlings 11 in the images of the perforated seedlings 10, and determine two horizontally adjacent seedlings 11 and two vertically adjacent seedlings 11 based on the identified positions of the seedlings 11. The horizontal hole spacing of the perforated seedlings 10 is determined based on the positions of the center points of the two horizontally adjacent seedlings 11. The vertical hole spacing of the perforated seedlings 10 is determined based on the positions of the center points of the two vertically adjacent seedlings 11.

[0043] S120. Based on the hole spacing, determine the first driving parameters of the seedling delivery module and / or the second driving parameters of the seedling taking module.

[0044] The first driving parameter is the motion parameter of the seedling delivery module 31 when conveying the seedlings 10 through the perforated mat, and the second driving parameter is the motion parameter of the seedling picking module 32 when picking up the seedlings. (Reference) Figure 1 and Figure 5The perforated seedling 10 is placed on the seedling delivery module 31. When the seedling delivery module 31 moves the seedlings 11 of the perforated seedling 10 laterally or longitudinally to the seedling collection point, the seedling collection module 32 simultaneously separates the seedling 11 at the collection point from the adjacent seedlings 11 and places the seedling 11 into the field for planting. It can be understood that only when the seedling 11 moves to the collection point and the seedling collection module 32 simultaneously separates the seedling 11 from the adjacent seedlings 11 can the seedling 11 be accurately removed from the perforated seedling 10 without damage. The first driving parameter and the hole spacing determine the time interval between the delivery of two adjacent seedlings 11 to the seedling collection point by the seedling delivery module 31, while the second driving parameter determines the time interval between the separation of two adjacent seedlings 11 by the seedling collection module 32. When the seedling delivery time interval and the seedling collection time interval are the same, the separation operation of the seedling collection module 32 can be synchronized with the operation of the seedling delivery module 31 moving the seedlings 11 to the collection point. Therefore, based on the hole spacing of the perforated seedling 10 and the seedling delivery time interval or the seedling collection time interval, a first driving parameter and / or a second driving parameter can be determined to keep the operations of the seedling delivery module 31 and the seedling collection module 32 synchronized. Under the action of the first driving parameter and / or the second driving parameter, the seedling delivery module 31 and the seedling collection module 32 can cooperate with each other, so that the seedling collection module 32 can just separate the connection between two adjacent seedlings 11 in the perforated seedling 10.

[0045] refer to Figures 3-5 The seedling feeding module 31 includes a seedling support plate 312, a seedling feeding tray 311, and a drive device 315. The seedling support plate 312 has an opening 313. The lower part of the seedling feeding tray 311 is located inside the seedling support plate 312. The seedling feeding tray 311 is used to hold perforated seedlings 10. The drive device 315 is used to drive the seedling feeding tray 311 to move laterally relative to the seedling support plate 312. The seedling picking module 32 includes a drive source 321 and a cutter head 322. The drive source 321 is used to drive the cutter head 322 to rotate so as to separate the perforated seedlings 11 from the perforated seedlings 10 on the seedling feeding tray 311 through the opening 313 and throw out the separated seedlings 11. Figure 5 It can be seen that the seedling delivery module 31 includes multiple seedling delivery trays 311, which are arranged side by side on the seedling support plate 312 and move synchronously. Correspondingly, the seedling throwing mechanism 30 includes multiple seedling picking modules 32, which correspond one-to-one with the seedling delivery trays 311. The openings 313 on the seedling support plate 312 are the seedling picking points of the seedling picking modules 32. The seedling picking modules 32 and the seedling support plate 312 remain stationary, while the seedling delivery trays 311 can move laterally in the left and right directions. During this movement, the seedling picking modules 32 separate the seedlings 11 exposed at the openings 313 from adjacent seedlings 11, thereby achieving row-by-row, cluster-by-cluster separation and throwing of the seedlings 10. The drive source 321 can drive the cutter head 322 along... Figure 3The blade 322 rotates in the direction indicated by arrow A, thereby separating the seedlings 10 during contact with the seedlings in the contact hole. The separated seedlings 11 follow the rotation of the blade 322 in the direction of arrow A. When the rotation reaches a specific position, the seedlings 11 are thrown out under the action of centrifugal force and / or ejection force. Furthermore, the seedling picking module 32 can evenly arrange multiple blades 322. For example, when a seedling picking module 32 is equipped with two blades 322, the angle between the two blades 322 and the center of the drive source 321 is 180 degrees. Three blades 322 can be spaced 120 degrees apart, and four blades 322 can be spaced 90 degrees apart.

[0046] refer to Figure 4 The seedling delivery module 31 also includes a conveying device 314, which drives the perforated seedlings 10 on the seedling delivery tray 311 to move toward the seedling support plate 312. The conveying device 314 can be a conveyor belt or a conveyor roller (e.g., a toothed roller).

[0047] This embodiment describes the seedling throwing process of the seedling throwing mechanism 30 using a seedling feeding module 31 equipped with a seedling feeding tray 311 as an example. Figures 7-10 This is a schematic diagram of the structure of the rice-throwing mechanism 30 provided in an embodiment of this application. Figures 7-10As shown, the seedling delivery tray 311 initially holds eight rows and five columns of perforated seedlings 10. The initial position of the seedling delivery tray 311 is the right side of the seedling support plate 312. When the drone 20 begins to perform the aerial seedling throwing operation, the seedling delivery tray 311 is controlled to move laterally and the seedling picking module 32 is controlled to rotate. The blade 322 of the seedling picking module 32 rotates to the opening 313 to cut the connection between the seedlings 11 in the first row and first column of the perforated seedling 10 and the seedlings 11 in the first row and second column, and throws the seedlings 11 in the first row and first column into the field for planting. The seedling delivery tray 311 moves laterally to the left. When the seedlings 11 in the first row and second column move to the opening 313, the blade 322 of the seedling picking module 32 rotates to the opening 313 to cut the connection between the seedlings 11 in the first row and third column, and throws the seedlings 11 in the first row and second column into the field for planting. Repeating this process, when the seedling delivery tray 311 moves laterally to the left side of the seedling support plate 312, the seedlings 11 in the first row and fifth column move to the opening 313. The blade 322 of the seedling taking module 32 rotates to the opening 313 and throws the seedlings 11 in the first row and fifth column into the field for planting. At this time, the first row of seedlings 11 of the perforated seedlings 10 has been thrown out. The seedling delivery tray 311 can be stopped from moving laterally and the conveying device 314 can be started to move the perforated seedlings 10 on the seedling delivery tray 311 toward the seedling support plate 312. The conveying device 314 is stopped when the second row of seedlings 11 of the perforated seedlings 10 moves to the seedling support plate 312. At the same time as the conveying device 314 stops, the blade 322 of the seedling taking module 32 rotates to the opening 313 and cuts off the connection between the seedlings 11 in the second row and fifth column and the seedlings 11 in the second row and fourth column at the opening 313, and throws out the seedlings 11 in the second row and fifth column. At the same time, the seedling tray 311 is moved to the right to move the seedlings 11 in the fourth column of the second row to the opening 313. This process is repeated until all the seedlings 11 on the seedling tray 311 are thrown out.

[0048] It should be noted that the initial position of the seedling tray 311 can also be the left side of the seedling support plate 312, and it moves to the right after starting. This embodiment does not limit the initial position of the seedling tray 311.

[0049] In one embodiment, the first driving parameter includes the lateral movement speed of the seedling feeding tray 311, and the second driving parameter includes the first rotational speed of the seedling picking module 32, wherein the first rotational speed of the seedling picking module 32 is the rotational speed of the cutter head 322 when the seedling feeding tray 311 moves laterally. As can be seen from the above seedling throwing process, when the seedling feeding tray 311 moves two laterally adjacent seedlings 11 in the perforated seedling 10 back and forth to the opening 313, the first time interval T1 is equal to the second time interval T2 during the lateral movement of the seedling feeding tray 311, when the two adjacent cutter heads 322 of the seedling picking module 32 rotate back and forth to the opening 313 to separate the seedlings 11 at the opening 313. This ensures that the cutter head 322 accurately cuts the connection between the two adjacent seedlings 11. (Reference) Figure 7 and Figure 8The seedling delivery tray 311 moves two horizontally adjacent seedlings 11 from the perforated seedling 10 to the opening 313. The lateral displacement is equal to the lateral hole spacing of the perforated seedling 10. Therefore, the first time interval T1 = d1 / v1, where d1 is the lateral hole spacing of the perforated seedling 10 and v1 is the lateral movement speed of the seedling delivery tray 311. The second time interval T2 = α / w1, where α is the included angle of the cutter head 322 of the seedling picking module 32 and w1 is the first rotational speed of the seedling picking module 32. The included angle of the cutter head 322 is the angle between two adjacent cutter heads 322 in the seedling picking module 32. If the seedling picking module 32 has only one cutter head 322, then the included angle of the cutter head 322 is 360 degrees. When T2 = T1, d1 / v1 = α / w1. From d1 / v1 = α / w1, it can be seen that when any three parameters in this formula are met, the last parameter can be determined. The lateral hole spacing and the included angle of the cutter head 322 are predetermined parameters. Therefore, this embodiment proposes that the lateral movement speed of the seedling feeding tray 311 and / or the first rotation speed of the seedling picking module 32 can be determined based on the lateral hole spacing.

[0050] For example, if a first rotational speed of the seedling-picking module 32 is preset, a first seedling-picking time interval can be determined based on the first rotational speed of the seedling-picking module 32. The first seedling-picking time interval is the time interval between picking two laterally adjacent seedlings 11 in the perforated seedling tray 10. Based on the first seedling-picking time interval and the lateral hole spacing, the lateral movement speed of the seedling delivery tray 311 is determined. Understandably, the first seedling-picking time interval is the second time interval T2. Based on the first rotational speed w1, the included angle α of the cutter head 322, and the calculation formula T2 = α / w1, the second time interval T2 can be determined. Since the second time interval T2 is equal to the first time interval T1, the lateral hole spacing d1, and the calculation formula T1 = d1 / v1, the lateral movement speed v1 can be determined.

[0051] If the lateral movement speed of the seedling feeding tray 311 is preset, the first seedling picking time interval can be determined based on the lateral hole spacing and the preset lateral movement speed; based on the first seedling picking time interval, the first rotational speed of the seedling picking module 32 can be determined. For example, the first time interval T1 can be determined based on the lateral hole spacing d1, the lateral movement speed v1, and the calculation formula T1 = d1 / v1. Since the first time interval T1 is equal to the second time interval T2, the first rotational speed w1 can be determined based on the second time interval T2, the included angle α of the cutter head 322, and the calculation formula T2 = α / w1.

[0052] If a second time interval T2 is preset, the lateral movement speed of the seedling feeding tray 311 can be determined based on the preset first seedling picking time interval and the lateral hole spacing; the first rotational speed of the seedling picking module 32 can be determined based on the preset first seedling picking time interval. For example, since the second time interval T2 is equal to the first time interval T1, the lateral hole spacing d1 and the calculation formula T1 = d1 / v1 can be used to determine the lateral movement speed v1. The first rotational speed w1 can be determined based on the second time interval T2, the included angle α of the cutter head 322 and the calculation formula T2 = α / w1.

[0053] It should be noted that when the UAV 20 performs seedling transplanting operations in a stable environment, the second time interval T2 is approximately equal to the third time interval T3 between the planting of two adjacent seedlings 11 in the field. The third time interval T3 = d3 / v2, where d3 is the spacing between adjacent seedlings 11 planted in the field, and v2 is the first flight speed of the UAV 20 as it moves laterally across the seedling delivery tray 311. Since the spacing between adjacent seedlings 11 in the field is required, if the first flight speed of the UAV 20 is not adjusted when the first rotation speed of the seedling picking module 32 changes, the seedlings 11 transplanted by the UAV 20 will not meet the required spacing. Therefore, the first flight speed of the UAV 20 can be determined based on the preset seedling spacing and the first rotation speed. For example, the first rotational speed v1 and the included angle α between the cutter head 322 can determine the second time interval T2. Since the second time interval T2 is equal to the third time interval T3, the first flight speed v2 can be determined based on the seedling spacing d3, the third time interval T3 and the calculation formula T3=d3 / v2.

[0054] Furthermore, if the first flight speed of the drone 20 is preset, the third time interval can be determined based on the first flight speed and the spacing between the seedlings 11, thereby obtaining the second time interval and the first time interval. The lateral movement speed can be determined based on the first time interval and the lateral hole spacing, and the first rotational speed can be determined based on the second time interval and the included angle of the cutter head 322.

[0055] In one embodiment, the first driving parameter includes the conveying displacement of the conveying device 314, wherein the conveying displacement is the distance the conveying device 314 moves from start to stop, which is equal to the longitudinal movement distance of the perforated seedling 10. It is understood that if the conveying device 314 stops conveying before moving the current first row of seedlings 11 of the perforated seedling 10 onto the seedling support plate 312, then when the conveying device 314 stops, there is a certain longitudinal distance between the current first row of seedlings 11 and the opening 313. This results in the cutting head 322 of the seedling picking module 32 failing to pick up the seedlings 11 or cutting the seedlings 11 when it rotates to the opening 313, affecting the seedling throwing efficiency of the drone 20. To address this, this embodiment proposes that the conveying displacement of the conveying device 314 can be determined based on the longitudinal hole spacing. (Reference) Figure 9 and Figure 10 After the first row of seedlings 11 is transplanted, the longitudinal distance between the current first row of seedlings 11 and the seedling support plate 312 is equal to the longitudinal hole spacing of the perforated seedlings 10. Therefore, the longitudinal hole spacing is determined as the conveying displacement of the conveying device 314, so that the conveying device 314 moves the perforated seedlings 10 on the seedling tray 311 toward the seedling support plate 312. After this conveying displacement, the current first row of seedlings 11 moves onto the seedling support plate 312.

[0056] In this embodiment, the second driving parameter includes the second rotational speed of the seedling-picking module 32, which is the rotational speed of the cutter head 322 during the conveying process of the conveying device 314. As can be seen from the conveying process of the conveying device 314, when the fourth time interval T4 from the start to the stop of the conveying device 314 is equal to the fifth time interval T5 during the conveying process of the conveying device 314, when the two adjacent cutter heads 322 of the seedling-picking module 32 rotate back and forth to the opening 313 to separate the seedlings 11 at the opening 313, it can be ensured that the cutter head 322 accurately cuts the connection between two adjacent seedlings 11. The fourth time interval T4 = d4 / v3, and the fifth time interval T5 = α / w2, where d4 is the conveying displacement of the conveying device 314, v3 is the conveying speed of the conveying device 314, and w2 is the second rotational speed of the seedling-picking module 32. When T4 = T5, d4 / v3 = α / w2. Therefore, after determining the conveying displacement of the conveying device 314, the second seedling picking time interval can be determined based on the conveying displacement and the conveying speed of the conveying device 314. The second seedling picking time interval is the time interval between picking two longitudinally adjacent seedlings 11 on the side of the perforated seedling 10. Based on the second seedling picking time interval, the second rotational speed of the seedling picking module 32 is determined. Understandably, the second seedling picking time interval is the fifth time interval T5. Based on the conveying displacement d4, the conveying speed v3, and the calculation formula T4 = d4 / v3, the fourth time interval T4 can be determined. Since the fourth time interval T4 is equal to the fifth time interval T5, the second rotational speed w2 can be determined based on the fifth time interval T5, the included angle α of the cutter head 322, and the calculation formula T5 = α / w2.

[0057] To maintain the consistency between the first rotational speed w1 and the second rotational speed w2, the conveying speed of the conveying device 314 can be determined based on the first rotational speed and the conveying displacement. For example, when the first rotational speed w1 equals the second rotational speed w2, the fifth time interval T5 is determined based on the second rotational speed w2, the included angle α of the cutter head 322, and the calculation formula T5 = α / w2. Since the fifth time interval T5 equals the fourth time interval T4, the conveying speed v3 can be determined based on the fourth time interval T4, the conveying displacement d4, and the calculation formula T4 = d4 / v3.

[0058] It should be noted that, in order to ensure that the seedlings 11 planted by the UAV 20 meet the plant spacing requirements during the conveying process of the conveying device 314, the second flight speed of the UAV 20 can be determined according to the preset plant spacing of the seedlings 11 and the second rotation speed. The second flight speed is the second flight speed of the UAV 20 during the conveying process of the conveying device 314.

[0059] S130. Control the seedling delivery module and / or seedling taking module according to the first driving parameter and / or the second driving parameter, so that the seedling taking module can separate the seedlings at the connection between two adjacent seedlings in the seedbed.

[0060] For example, if the drone 20 has a pre-set first rotational speed for the seedling-collecting module 32, then after determining the lateral movement speed of the seedling-delivering tray 311, the seedling-collecting module 32 and the seedling-delivering tray 311 can be controlled separately according to the first rotational speed and the lateral movement speed. This allows the seedling-delivering tray 311 to laterally move the seedlings 11 of the perforated seedling 10 to the opening 313 of the seedling support plate 312, at which point the cutting head 322 of the seedling-collecting module 32 cuts the connection between the seedling 11 at the opening 313 and the adjacent seedling 11, and then throws the seedling 11 at the opening 313 into the field for planting. In another embodiment, if the drone 20 has a pre-set lateral movement speed for the seedling-delivering tray 311, then after determining the first rotational speed of the seedling-collecting module 32, the seedling-collecting module 32 and the seedling-delivering tray 311 can be controlled separately according to the lateral movement speed and the first rotational speed. If the drone 20 has a second time interval set in advance, the lateral movement speed of the seedling delivery tray 311 and the first rotation speed of the seedling picking module 32 can be determined, and the seedling picking module 32 and the seedling delivery tray 311 can be controlled separately according to the lateral movement speed and the first rotation speed.

[0061] Furthermore, when the seedling delivery tray 311 moves to the boundary position of the seedling support plate 312, the conveying device 314 is controlled to move and convey the displacement. The boundary position of the seedling support plate 312 is either its left or right side. For example, if the first and second rotational speeds are consistent, after determining the conveying speed of the conveying device 314, when the seedling delivery tray 311 moves laterally to the left or right side of the seedling support plate 312, the seedling delivery tray 311 is controlled to stop moving and the conveying device 314 is started. After the conveying device 314 moves the conveying displacement at this conveying speed, the conveying device 314 is controlled to stop conveying. The rotational speed of the cutter head 322 of the seedling picking module 32 remains constant, so that when the first row of seedlings 11 of the perforated seedling 10 is conveyed to the opening 313 of the seedling support plate 312, the cutter head 322 of the seedling picking module 32 separates the connection between the seedling 11 at the opening 313 and the adjacent seedling 11, and throws the seedling 11 at the opening 313 into the field for planting. When the conveying device 314 stops conveying, the seedling tray 311 is activated so that the seedling tray 311 moves the remaining seedlings 11 of the first row of seedlings 11 laterally to the opening 313.

[0062] In another embodiment, if the conveying speed of the conveying device 314 is preset, after determining the second rotational speed, when the seedling delivery tray 311 moves to the boundary position of the seedling support plate 312, the conveying device 314 is controlled to move at the conveying speed, and the seedling picking module 32 is controlled to rotate at the second rotational speed. For example, when the seedling delivery tray 311 moves laterally to the left or right side of the seedling support plate 312, the seedling delivery tray 311 is controlled to stop moving and the conveying device 314 is activated. After the control conveying device 314 moves the conveying displacement at a preset conveying speed, the control conveying device 314 stops conveying. When the conveying device 314 is started, the rotation speed of the cutter head 322 of the seedling picking module 32 is adjusted from the first rotation speed to the second rotation speed. When the first row of seedlings 11 of the perforated seedling 10 is conveyed to the opening 313 of the seedling support plate 312, the cutter head 322 of the seedling picking module 32 separates the connection between the seedling 11 at the opening 313 and the adjacent seedling 11, and throws the seedling 11 at the opening 313 into the field for planting. When the conveying device 314 stops conveying, the seedling feeding tray 311 is activated and the rotation speed of the cutter head 322 of the seedling picking module 32 is adjusted from the second rotation speed to the first rotation speed. This allows the seedling feeding tray 311 to move the remaining seedlings 11 of the first row of seedlings 11 laterally to the opening 313. At this time, the cutter head 322 of the seedling picking module 32 separates the connection between the seedling 11 at the opening 313 and the adjacent seedling 11, and throws the seedling 11 at the opening 313 into the field for planting.

[0063] Regardless of how the transverse and longitudinal hole spacing of the seedbed 10 changes, this embodiment can synchronize the timing of the seedling delivery module 31 delivering the seedling 11 to the seedling collection point with the timing of the seedling collection module 32 separating and throwing the seedling 11 at the seedling collection point, based on the first driving parameters and / or the second driving parameters determined by the transverse and longitudinal hole spacing. This ensures that one seedling 11 is accurately removed from the seedbed 10 without damaging the seedling 11.

[0064] In summary, the seedling throwing control method, seedling throwing mechanism 30, and seedling throwing system provided in this application embodiment obtain the hole spacing of the seedlings 10 loaded on the seedling throwing mechanism 30 by the drone 20 during the seedling throwing operation. Based on the hole spacing of the seedlings 10, the first driving parameter for the seedling delivery module 31 to deliver the seedlings 10 and / or the second driving parameter for the seedling taking module 32 to separate and throw out the seedlings 11 from the seedlings 10 are determined. The seedling delivery module 31 and / or the seedling taking module 32 are controlled according to the first driving parameter and / or the second driving parameter so that the seedling taking module 32 can separate the seedlings 11 at the connection between two adjacent seedlings 11 of the seedlings 10. Through the above-mentioned technical means, regardless of the type of perforated seedling 10 loaded on the seedling throwing mechanism 30 of the UAV 20, the UAV 20 can adjust the driving parameters of the seedling delivery module 31 and / or seedling taking module 32 based on the hole spacing of the perforated seedling 10. This allows the seedling delivery module 31 and seedling taking module 32 to cooperate with each other so that the seedling taking module 32 can just separate the connecting part between two adjacent seedlings 11 in the perforated seedling 10, thereby accurately taking one seedling 11 out of the perforated seedling 10 without damaging the seedling 11. This solves the problem that the UAV 20 is only suitable for taking and throwing seedlings of the same type of perforated seedling 10, and improves the applicability of the UAV 20.

[0065] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application. The scope of this application is determined by the scope of the claims.

Claims

1. A method for controlling rice seedling transplanting, characterized in that, A drone equipped with a seedling throwing mechanism, the seedling throwing mechanism comprising a seedling delivery module and a seedling collection module, the seedling delivery module for conveying seedlings from a perforated substrate, and the seedling collection module for separating the seedlings from the perforated substrate conveyed by the seedling delivery module and throwing them out; the method includes: Obtain the hole spacing of the perforated seedlings; Based on the hole spacing, determine the first driving parameters of the seedling delivery module and / or the second driving parameters of the seedling taking module; The seedling delivery module and / or seedling taking module are controlled according to the first driving parameter and / or the second driving parameter so that the seedling taking module can separate the seedlings at the connection between two adjacent seedlings of the perforated seedling.

2. The rice transplanting control method according to claim 1, characterized in that, The soil layer thickness at the connection between two adjacent seedlings in the perforated seedling system is thinner than the soil layer thickness at the root of the seedling, and the hole spacing of the perforated seedling system is the distance between two adjacent seedlings.

3. The rice transplanting control method according to claim 1, characterized in that, The seedling feeding module includes a seedling support plate, a seedling feeding tray, and a driving device. The seedling support plate has an opening, and the lower part of the seedling feeding tray is located inside the seedling support plate. The seedling feeding tray is used to place the perforated seedlings. The driving device is used to drive the seedling feeding tray to move laterally relative to the seedling support plate. The seedling picking module includes a driving source and a cutting head. The driving source is used to drive the cutting head to rotate so as to separate the perforated seedlings on the seedling feeding tray through the opening and throw out the separated seedlings.

4. The rice transplanting control method according to claim 3, characterized in that, The hole spacing includes the lateral hole spacing; correspondingly, determining the first driving parameter of the seedling delivery module and / or the second driving parameter of the seedling taking module based on the hole spacing includes: Based on the lateral hole spacing, the lateral movement speed of the seedling delivery tray and / or the first rotational speed of the seedling picking module are determined.

5. The rice transplanting control method according to claim 4, characterized in that, The determination of the lateral movement speed of the seedling delivery tray and / or the first rotational speed of the seedling picking module based on the lateral hole spacing includes: Based on the first rotation speed of the seedling picking module, a first seedling picking time interval is determined, which is the seedling picking time interval between two horizontally adjacent seedlings in the seedbed. The lateral movement speed of the seedling delivery tray is determined based on the first seedling picking time interval and the lateral hole spacing.

6. The rice transplanting control method according to claim 4, characterized in that, The determination of the lateral movement speed of the seedling delivery tray and / or the first rotational speed of the seedling picking module based on the lateral hole spacing includes: Based on the lateral hole spacing and the preset lateral movement speed, the first seedling picking time interval is determined; Based on the first seedling picking time interval, the first rotational speed of the seedling picking module is determined.

7. The rice transplanting control method according to claim 4, characterized in that, The determination of the lateral movement speed of the seedling delivery tray and / or the first rotational speed of the seedling picking module based on the lateral hole spacing includes: The lateral movement speed of the seedling delivery tray is determined based on the preset first seedling picking time interval and the lateral hole spacing. The first rotational speed of the seedling picking module is determined based on a preset first seedling picking time interval.

8. The rice transplanting control method according to claim 6 or 7, characterized in that, After determining the first rotational speed of the seedling-harvesting module, the method further includes: The first flight speed of the UAV is determined based on the preset seedling spacing and the first rotation speed.

9. The rice transplanting control method according to claim 3, characterized in that, The seedling delivery module also includes a conveying device, which drives the perforated seedlings on the seedling delivery tray to move toward the seedling support plate.

10. The rice transplanting control method according to claim 9, characterized in that, The hole spacing also includes the longitudinal hole spacing; correspondingly, determining the first driving parameter of the seedling delivery module and / or the second driving parameter of the seedling taking module based on the hole spacing includes: The conveying displacement of the conveying device is determined based on the longitudinal hole spacing.

11. The rice transplanting control method according to claim 10, characterized in that, The step of controlling the seedling delivery module and / or seedling collection module according to the first driving parameter and / or the second driving parameter includes: When the seedling tray moves to the boundary position of the seedling support plate, the conveying device is controlled to move the conveying displacement.

12. The rice transplanting control method according to claim 10, characterized in that, After determining the conveying displacement of the conveying device based on the longitudinal hole spacing, the method further includes: The second seedling picking time interval is determined based on the conveying displacement and the conveying speed of the conveying device; the second seedling picking time interval is the time interval between picking two longitudinally adjacent seedlings on the side of the perforated seedling. The second rotational speed of the seedling picking module is determined based on the second seedling picking time interval.

13. The rice transplanting control method according to claim 12, characterized in that, The step of controlling the seedling delivery module and / or seedling collection module according to the first driving parameter and / or the second driving parameter includes: When the seedling delivery tray moves to the boundary position of the seedling support plate, the conveying device is controlled to move the conveying displacement at the conveying speed, and the seedling picking module is controlled to rotate at the second rotation speed.

14. The rice transplanting control method according to claim 1, characterized in that, The process of obtaining the hole spacing of the seedlings includes: The image of the seedlings conveyed by the seedling delivery module is acquired, and the hole spacing of the seedlings is determined based on the image of the seedlings.

15. A rice seedling throwing mechanism, characterized in that, Mounted on a drone, the rice-throwing mechanism includes: The seedling delivery module is used to deliver seedlings from perforated mats; A seedling picking module is used to separate the seedlings from the perforated seedlings conveyed by the seedling delivery module and then throw them out. The control module is configured to perform the rice seedling throwing control method as described in any one of claims 1-14.

16. A rice transplanting system, characterized in that, The system includes a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism is mounted on the drone and includes a seedling delivery module and a seedling collection module, wherein: The seedling delivery module is used to deliver perforated seedlings; The seedling picking module is used to separate the seedlings from the perforated seedlings conveyed by the seedling delivery module and then throw them out. The drone is configured to perform the rice seedling throwing control method as described in any one of claims 1-14.

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