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

Abstract

The invention provides a seedling throwing mechanism control method, a storage medium and a seedling throwing system.The seedling throwing mechanism comprises a seedling feeding module and a seedling taking module, the seedling taking module is used for separating seedlings from a seedling tray on the seedling feeding module and throwing the seedlings out, the seedling feeding module comprises a seedling feeding tray and a conveying device, and the conveying device is arranged on the seedling feeding tray; the conveying device is used for driving the seedling tray to move towards a seedling taking opening of the seedling taking module. The seedling throwing mechanism control method comprises the steps that the seedling remaining amount of the seedling feeding tray is determined; the running speed of the conveying device is controlled based on the residual quantity of the seedlings on the seedling feeding disc, so that the moving speed of the seedling disc towards the seedling taking opening is stable. The running speed of the conveying device is controlled through the residual quantity of seedlings on the seedling feeding disc, and it is guaranteed that the moving speed of the seedling disc towards the seedling taking opening is stable, so that the moving distance of the seedling disc towards the seedling taking opening is always the same within the unit time length or one seedling feeding period, and the single-time seedling taking quantity of the seedling taking module is kept consistent in the whole seedling throwing period; therefore, accurate seedling throwing is realized.

Description

Technical Field

[0001] The present application relates to the field of mechanical equipment, and in particular to a seedling throwing mechanism control method, a storage medium and a seedling throwing system. Background Art

[0002] Smart agriculture is a hot development area at present. Agricultural machinery and equipment with various functions and uses have been launched one after another to help realize mechanized and intelligent operations, reduce the difficulty of agricultural production, and increase agricultural output. Agricultural machinery and equipment include rotary tillers, rice transplanters, harvesters, sprayers, and rice seedling throwers, etc.

[0003] Among them, the flying seedling throwing system, as a kind of seedling throwing machine, can perform aerial operations without being restricted by terrain, and complete the seedling throwing task quickly and efficiently, which has attracted the attention of technicians in the field. At the same time, technicians in the field have also begun to pay attention to how to control the flying seedling throwing system to ensure the accuracy of seedling throwing. Summary of the invention

[0004] The purpose of the present application is to provide a seedling throwing mechanism control method, a storage medium and a seedling throwing system, so as to at least partially improve the above-mentioned problems.

[0005] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a control method for a seedling throwing mechanism, wherein the seedling throwing mechanism comprises a seedling sending module and a seedling taking module, wherein the seedling taking module is used to separate the seedlings from the seedling tray on the seedling sending module and throw them out, wherein the seedling sending module comprises a seedling sending tray and a conveying device, wherein the conveying device is arranged on the seedling sending tray, and wherein the conveying device is used to drive the seedling tray to move toward the seedling taking port of the seedling taking module, and wherein the control method for the seedling throwing mechanism comprises:

[0007] Determining the amount of remaining seedlings on the seedling delivery tray;

[0008] The running speed of the conveying device is controlled based on the amount of remaining seedlings on the seedling delivery tray so that the speed at which the seedling tray moves toward the seedling taking port is stable.

[0009] In a second aspect, an embodiment of the present application provides a seedling throwing mechanism, the seedling throwing mechanism includes a seedling sending module, a seedling taking module and a control module, the seedling sending module includes a seedling sending tray and a conveying device, and the conveying device is arranged on the seedling sending tray;

[0010] The conveying device is used to drive the seedling tray to move toward the seedling taking port of the seedling taking module;

[0011] The control module is in communication connection with the conveying device, and the control module is used to control the running speed of the conveying device based on the amount of remaining seedlings on the seedling delivery tray;

[0012] The seedling taking module is used for separating the seedlings from the seedling tray on the seedling delivering module and throwing them out.

[0013] In a third aspect, an embodiment of the present application provides a seedling throwing system, which includes a movable platform and the above-mentioned seedling throwing mechanism, and the seedling throwing mechanism is deployed on the movable platform.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the above method when executed by a processor.

[0015] Compared with the prior art, the embodiments of the present application provide a control method for a seedling throwing mechanism, a storage medium, and a seedling throwing system, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, the seedling retrieval module is used to separate the seedlings from the seedling tray on the seedling delivery module and throw them out, the seedling delivery module includes a seedling delivery tray and a conveying device, the conveying device is arranged on the seedling delivery tray, and the conveying device is used to drive the seedling tray to move toward the seedling retrieval port of the seedling retrieval module, and the control method for the seedling throwing mechanism includes: determining the amount of residual seedlings on the seedling delivery tray; controlling the running speed of the conveying device based on the amount of residual seedlings on the seedling delivery tray, so that the speed at which the seedling tray moves toward the seedling retrieval port is stable. The running speed of the conveying device is controlled by the amount of residual seedlings on the seedling delivery tray, so as to ensure that the speed at which the seedling tray moves toward the seedling retrieval port is stable, so that the distance that the seedling tray moves toward the seedling retrieval port is always the same within a unit time length or a seedling delivery cycle, and the single seedling retrieval amount of the seedling retrieval module remains consistent throughout the seedling throwing cycle, thereby achieving precise seedling throwing.

[0016] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A structural diagram of a seedling throwing system provided in an embodiment of the present application;

[0019] Figure 2 A structural diagram of the seedling throwing mechanism provided in an embodiment of the present application from a first perspective;

[0020] Figure 3 A structural diagram of the seedling throwing mechanism provided in an embodiment of the present application from a second viewing angle;

[0021] Figure 4 A structural diagram of the seedling throwing system provided in an embodiment of the present application from a first perspective;

[0022] Figure 5 A structural diagram of the seedling throwing system provided in an embodiment of the present application from a second perspective;

[0023] Figure 6 A force diagram of the seedling tray sliding down provided in the embodiment of the present application;

[0024] Figure 7 One of the flow charts of the control method of the seedling throwing mechanism provided in the embodiment of the present application;

[0025] Figure 8 A schematic diagram of speed change provided in an embodiment of the present application;

[0026] Fig. 9 One of the sub-step schematic diagrams of S202 provided in an embodiment of the present application;

[0027] Fig.10 The second flowchart of the control method of the seedling throwing mechanism provided in the embodiment of the present application;

[0028] Fig.11 The second sub-step schematic diagram of S202 provided in the embodiment of the present application.

[0029] In the figure: 1000-seedling throwing system; 100-seedling throwing mechanism; 10-load module; 20-seedling delivery module; 21-seedling supporting plate; 211-opening; 22-seedling delivery tray; 23-driving device; 24-conveying device; 25-seedling pressing device; 251-rotating shaft; 252-pressing bar; 30-seedling taking module; 31-driving source; 32-transmission box; 33-cutter head; 331-mounting part; 332-cutter body; 333-slot; 40-support module; 43-first bracket; 46-second bracket; 47-third bracket; 200-drone; 300-blanket seedling; 310-seedling; 501-residual material detection sensor. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0032] In the description of this application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0033] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0034] Please refer to Figure 1 and Figure 2 , this embodiment provides a seedling throwing mechanism 100 and a seedling throwing system 1000. Specifically, the seedling throwing system 1000 includes a movable platform and at least one set of seedling throwing mechanisms 100. The movable platform can be but is not limited to a drone, an unmanned vehicle, an unmanned ship, etc., and a drone 200 is used as an example of the movable platform hereinafter. The seedling throwing mechanism 100 is carried on the drone 200. The seedling throwing mechanism 100 is used to separate the seedlings in the seedling tray. The seedling tray can be a blanket seedling or a pot seedling. The blanket seedling 300 is used as an example hereinafter. The seedling throwing mechanism 100 realizes the seedling throwing operation by centrifugal force and / or ejection force. At the same time, in conjunction with the flight of the drone 200, the flying seedling throwing operation is realized.

[0035] There are many ways for the seedling throwing mechanism 100 to throw the seedlings 310. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the seedlings 310 can be thrown out by centrifugal force. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the separated seedlings 310 can be ejected and thrown out by an ejection force (the seedling throwing mechanism 100 can be provided with an ejection member, and the ejection member can provide an ejection force). In one embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and ejection force to throw out the separated seedlings 310.

[0036] The seedling throwing mechanism 100 includes a load module 10, a seedling delivery module 20 and a seedling retrieval module 30. The load module 10 is used to be set on the drone 200. The seedling delivery module 20 is set on the load module 10, and the seedling delivery module 20 is used to transport the blanket seedlings 300. The seedling retrieval module 30 is set on the load module 10, and the seedling retrieval module 30 is used to separate the seedlings 310 from the seedling tray (blanket seedlings 300) on the seedling delivery module 20 and then throw them out through centrifugal force and / or ejection force. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation, and the blanket seedlings 300 are transported by the seedling delivery module 20, and the seedling retrieval module 30 separates the blanket seedlings 300 and then throws the seedlings 310, so as to realize the flying seedling throwing operation of the blanket seedlings 300.

[0037] It should be noted that there are many ways to separate, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling removal method is not limited.

[0038] In this embodiment, the drone 200 is a rotor drone, specifically a quad-rotor drone. Of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone 200 can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. For ease of description, the drawings show directions such as front, back, left, right, up, and down. These directions are all relative positional relationships that can be clearly known to those skilled in the art when the drone 200 is conventionally placed or flying.

[0039] Figure 1 What is shown is a split-type seedling throwing system 1000. Specifically, the load module 10 of the seedling throwing mechanism 100 can be detachably mounted on the lower part of the drone 200, that is, the drone 200 and the seedling throwing mechanism 100 adopt an upper and lower split design. The drone 200 serves as a mobile platform and is a split design with the seedling throwing mechanism 100. In other words, this type of seedling throwing mechanism 100 is an independent structure that does not rely on the fuselage frame of the drone 200. Based on this type, the corresponding device can be replaced according to actual operation requirements in a specific operation scene. For example, after the seedling throwing mechanism 100 is disassembled, a sowing device is installed to achieve the sowing of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0040] Please refer to Figure 2 and Figure 3 , each module of the seedling throwing mechanism 100 will be described in detail below.

[0041] Specifically, the seedling removal module 30 includes a driving source 31 and a cutter head 33. The driving source 31 is connected to the cutter head 33 to drive the cutter head 33 to separate the seedling blanket 300 on the seedling delivery module 20, and to eject the separated seedlings 310 by centrifugal force and / or ejection force. Generally, the driving source 31 is a motor, which drives the cutter head 33 along the Figure 3 The cutter head 33 rotates in the direction indicated by the arrow A, thereby separating the seedling blanket 300 during the contact process. The separated seedling 310 follows the cutter head 33 to rotate in the direction of the arrow A. When the cutter head 33 rotates to a specific position, the seedling 310 is ejected under the action of the centrifugal force and / or the ejection force. The cutter head 33 may be provided with an ejection member, which can complete energy storage and energy release through the cam member during the rotation of the cutter head. When the ejection member releases energy, the seedling 310 is ejected under the ejection force provided by the ejection member.

[0042] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the driving source 31, and the driving source 31 directly drives the cutter head 33 to rotate, or the cutter head 33 can be rotatably mounted on the load module 10, and the driving source 31 is mounted on the load module 10, and connected to the cutter head 33 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force. Of course, the driving source 31 can also be other than a motor, for example, a pneumatic motor, a gasoline engine, etc.

[0043] In order to facilitate the throwing of the rice seedlings 310, Figure 3 In this embodiment, the cutter head 33 includes a mounting portion 331 and a cutter body 332 disposed on the mounting portion 331. The mounting portion 331 is connected to the driving source 31. A notch 333 is formed on the cutter body 332. The notch 333 is used to hold the rice seedling 310 after the cutter body 332 separates the rice seedling 310, so that the rice seedling 310 rotates with it and is thrown out under the action of centrifugal force and / or ejection force. It can be understood that during the specific operation, the notch 333 on the cutter body 332 will hold the soil part at the root of the rice seedling 310, and then drive it to rotate during the rotation process, so as to throw it out. Of course, the specific structure of the cutter head 33 can also be a rice seedling needle.

[0044] Combination Figure 2 and Figure 3 In this embodiment, the seedling removal module 30 further includes a transmission box 32, a driving source 31 is connected to the transmission box 32, and is used to drive the transmission box 32 to rotate, and at least one cutter head 33 is arranged on each transmission box 32. The transmission box 32 can give the cutter head 33 a specific motion trajectory. Generally, a plurality of mutually meshing gears can be arranged inside the transmission box 32, the driving source 31 meshes with a gear in the transmission box 32, and the cutter head 33 meshes with another gear. The transmission box 32 can make the motion trajectory of the cutter head 33 and the posture of the cutter head 33 during the motion process meet the requirements.

[0045] On the other hand, the efficiency of the seedling throwing operation can also be improved by increasing the number of seedling delivery modules 20. Figure 3 In this embodiment, there are multiple seedling delivery modules 20 , and there are multiple seedling taking modules 30 , which correspond one to one with the multiple seedling delivery modules 20 .

[0046] Specifically, Figure 3 In the figure, the number of seedling delivery modules 20 is three, and correspondingly, the number of seedling retrieval modules 30 is also three. Of course, when the number of seedling delivery modules 20 is greater than three, the number of seedling retrieval modules 30 can also be increased accordingly. Generally, the seedlings 310 transported by multiple seedling delivery modules 20 are the same kind of seedlings 310, and the seedling throwing operation is carried out in the same farmland. Therefore, the multiple seedling retrieval modules 30 can be controlled to work synchronously by a control device arranged on the load module 10, or by the flight control of the drone 200. Of course, it is not ruled out that multiple seedling delivery modules 20 work independently, for example, the seedling retrieval efficiencies of the multiple seedling retrieval modules 30 are controlled to be unequal, or some of the seedling retrieval modules 30 are controlled to work while the remaining seedling retrieval modules 30 do not work.

[0047] In order to achieve the separation and throwing of the blanket seedlings 300 row by row and bunch by bunch, in this embodiment, the seedling delivery module 20 includes a seedling supporting plate 21 and a seedling delivery tray 22. The seedling supporting plate 21 is arranged on the load module 10. The seedling supporting plate 21 is provided with an opening 211. The seedling delivery tray 22 is used to transport the blanket seedlings 300. The lower part of the seedling delivery tray 22 is located in the seedling supporting plate 21. The seedling delivery tray 22 can move laterally relative to the seedling supporting plate 21. Among them, the seedling taking module 30 is used to separate the blanket seedlings 300 through the opening 211 and throw out the separated seedlings 310.

[0048] In other words, the positions of the seedling taking module 30, the opening 211 of the seedling supporting plate 21, etc. remain unchanged relative to the load module 10, and the seedling delivery tray 22 can reciprocate in the left and right directions. In this way, the seedling taking module 30 only separates the blanket seedlings 300 exposed in the opening 211, so that the blanket seedlings 300 can be separated and thrown row by row and bunch by bunch. Of course, in other embodiments, the position of the seedling delivery tray 22 relative to the load module 10 can also remain unchanged, while the seedling supporting plate 21 and the seedling taking module 30 can move horizontally in the left and right directions.

[0049] In this embodiment, the seedling support plate 21 can be understood as an open plate in a long strip shape. The seedling support plate 21 is relatively fixed to the load module 10 and does not move with the left and right reciprocating motion of the seedling delivery tray 22. The seedling support plate 21 has a certain supporting effect on the seedling delivery tray 22. Figure 3 In this embodiment, the number of the seedling taking modules 30 is three and they are distributed at intervals. Therefore, the number of the openings 211 is also three and they are distributed at corresponding intervals, so that each seedling taking module 30 can separate and throw the blanket seedlings 300 in the corresponding opening 211.

[0050] In order to facilitate the lateral movement of the seedling delivery tray 22 , in this embodiment, the seedling delivery module 20 further includes a driving device 23 , which is disposed on the load module 10 and is used to drive the seedling delivery tray 22 to move laterally relative to the seedling supporting plate 21 .

[0051] Generally, the driving device 23 can use a motor with a gear rack mechanism to achieve the left and right reciprocating movement of the seedling tray 22, or a motor with a screw mechanism or a synchronous belt. Of course, it is not excluded to use the rotor power of the drone 200 to drive the seedling tray 22 to move left and right.

[0052] Combination Figure 3 Generally, the seedling delivery tray 22 is set to be placed in an inclined state. This design allows the seedling blanket 300 to move downward under the action of gravity after the seedling delivery tray 22 moves horizontally once, so that the seedling removal module 30 can carry out the next round of seedling removal. Of course, a power source can also be set to drive it, for example, in combination with Figure 3 In this embodiment, the seedling delivery module 20 also includes a conveying device 24, which is arranged on the seedling delivery tray 22. The conveying device 24 is used to drive the seedling tray (blanket seedlings 300) to move toward the seedling supporting plate 21, that is, to drive the seedling tray to move toward the seedling taking port of the seedling taking module 30.

[0053] The conveying device 24 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel). In addition, the conveying device 24 can be set at different positions in the height direction of the seedling delivery tray 22. It should be noted that the inclined setting of the seedling delivery tray 22 can also achieve effective utilization of the longitudinal space to reduce the space occupied by the seedling delivery tray 22 in the horizontal width. At the same time, due to the inclined setting, the blanket seedlings 300 can use their gravity to slide down, and the power consumption of the conveying device 24 can also be reduced.

[0054] In addition, considering the possible separation of the blanket seedling 300 after being placed on the seedling delivery tray 22, combined with Figure 2 and Figure 3 In this embodiment, the seedling delivery module 20 further includes a seedling pressing device 25, which is disposed on the seedling delivery tray 22, and is used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or a rod, etc. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and a plurality of pressure strips 252, the rotating shaft 251 is rotatably disposed horizontally on the seedling delivery tray 22, and the plurality of pressure strips 252 are vertically and spaced apart from the rotating shaft 251, and the plurality of pressure strips 252 are used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22.

[0055] In this embodiment, in a specific scenario, the rotating shaft 251 can rotate relative to the seedling delivery tray 22 with a certain damping, so the force of the pressure bar 252 on the blanket seedling 300 can be adjusted, and the pressure state can be maintained. Of course, a torsion spring can also be installed on the rotating shaft 251 to provide pressure to rotate in the direction of the blanket seedling 300.

[0056] Combination Figure 3 In this embodiment, the seedling delivery tray 22 is a rectangular frame structure, specifically, it includes a load-bearing plate and two baffles arranged on the left and right edges of the load-bearing plate, and no baffles are arranged above or below it, so that an upper opening is formed at the top to facilitate placing the seedlings, and a lower opening is formed at the bottom to facilitate taking the seedlings. The width of the seedling delivery tray 22 can match the width of a tray of seedling blankets 300. In addition, the height of the seedling delivery tray 22 is not limited to the height of a tray of seedling blankets 300. During installation, the two ends of the rotating shaft 251 can be rotatably arranged on the two baffles of the seedling delivery tray 22, respectively. Figure 3 In the embodiment, four pressure strips 252 are correspondingly arranged on a rotating shaft 251. In other words, four pressure strips 252 are distributed on a seedling delivery tray 22 to limit the blanket seedlings 300 in the seedling delivery tray 22, so that the blanket seedlings 300 can be pressed on the seedling delivery tray 22 by the pressure strips 252, which greatly ensures that the blanket seedlings 300 will not be blown away during the flight of the drone 200. Of course, the number of pressure strips 252 corresponding to a seedling delivery tray 22 may not be limited to four, for example, it may also be three, five or more. In addition, since in the present embodiment, the number of seedling delivery modules 20 is multiple, the number of seedling pressing devices 25 may also be multiple, and each seedling delivery tray 22 is correspondingly provided with a seedling pressing device 25. In a certain scenario, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 may share a rotating shaft 251.

[0057] In addition, combined Figure 3 In this embodiment, the seedling delivery tray 22 is supported at multiple positions in the height direction by the load module 10. For example, in this embodiment, the seedling throwing mechanism 100 further includes a support module 40, for example, the support module 40 includes a first bracket 43, one end of the first bracket 43 is connected to the load module 10, and the other end of the first bracket 43 supports the upper part of the seedling delivery tray 22. Figure 3 and Figure 4 Since the seedling delivery tray 22 needs to move horizontally, in order to facilitate support, the support position of the first bracket 43 and the seedling delivery tray 22 can be supported horizontally by the cooperation of a slide rail and a pulley. For example, a pulley is provided at the end of the first bracket 43, and a slide rail is provided on the seedling delivery tray 22, and the two are rollingly matched. Alternatively, a slide rail is provided at the end of the first bracket 43, and a pulley is provided on the seedling delivery tray 22. In addition, in some scenarios, the height of the first bracket 43 is adjustable, and the inclination angle of the seedling delivery tray 22 can also be adjusted.

[0058] At the same time, the lower part of the seedling delivery tray 22 is supported by the seedling support plate 21 to improve the overall compactness of the structure. Of course, the middle part of the seedling delivery tray 22 can also be supported by the load module 10. It should be noted here that the upper part is only to indicate that the position of the support is higher than the middle and lower parts in the height direction.

[0059] Of course, the support module 40 may also include a second bracket 46 and a third bracket 47. One end of the second bracket 46 is connected to the load module 10, and the other end of the second bracket 46 is installed with the above-mentioned seedling support plate 21. One end of the third bracket 47 is connected to the load module 10, and the other end of the third bracket 47 is installed with the above-mentioned seedling removal module 30 (specifically, the driving source 31). Of course, the second bracket 46 and the third bracket 47 may also be a bracket structure, that is, the seedling support plate 21 and the seedling removal module 30 are installed on the load module 10 through the same bracket.

[0060] Figure 1-Figure 3 The illustrated embodiment demonstrates the main structure of the seedling throwing mechanism 100 provided by the present invention. In addition, the multiple modules mentioned in this application (load module 10, seedling delivery module 20, seedling retrieval module 30, etc.) can be manufactured and sold separately in the early stage, and then assembled to form an integral structure in the later stage.

[0061] Figure 4 and Figure 5 Another embodiment of the seedling throwing system 1000 is shown, wherein the description of the same modules, mechanisms or components can refer to the above text. In this embodiment, the seedling throwing system 1000 is a double system, that is, it has two sets of seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 share a load module 10. The two sets of seedling throwing mechanisms 100 are arranged back to back. Of course, in other embodiments, the two sets of seedling throwing mechanisms can also be arranged in other ways (for example, arranged in the same direction), or three, four or more sets of seedling throwing mechanisms 100 can be arranged.

[0062] According to a seedling throwing system 1000 provided in this embodiment, the working principle of the seedling throwing system 1000 is as follows:

[0063] When the drone 200 is flying, the driving source 31 drives the transmission box 32 to rotate, and the transmission box 32 drives the cutter head 33 to achieve high-speed rotation. When the cutter head 33 rotates to the opening 211, it separates and removes the rice seedlings 310, drives the rice seedlings 310 to rotate, and when the rice seedlings 310 rotate to a certain angle, the rice seedlings 310 are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thereby realizing the flying and throwing of the blanket seedlings 300. At the same time, the rice seedling delivery tray 22 moves horizontally, driving the blanket seedlings 300 to move left and right, so that the blanket seedlings 300 are separated and thrown row by row. After a row of rice seedlings 310 in the left and right directions of the blanket seedlings 300 is separated, the entire blanket seedlings 300 moves downward under the action of gravity and the driving force of the conveying device 24, so that in the process of the rice seedling delivery tray 22 moving horizontally again, it is separated and thrown row by ...

[0064] In the present application, the seedling delivery tray 22 is tilted, and the blanket seedlings 300 are placed on the seedling delivery tray 22 at an angle. Due to the tilted setting, the blanket seedlings 300 can use their gravity to slide down, and the power consumption of the conveying device 24 can also be reduced. During the flight, the seedling tray (blanket seedling 300) is affected by the flight vibration of the drone 200 and the water content of each seedling in the seedling tray (blanket seedling 300). If the conveying device 24 maintains a uniform motion, at the beginning of seedling throwing, the amount of residual seedlings in the seedling delivery tray 22 is relatively large. In a single seedling delivery cycle, the displacement of the seedling tray (blanket seedling 300) relative to the seedling delivery tray 22 is relatively large. At this time, the speed of seedling placement is the fastest. As the seedling throwing process continues, the amount of residual seedlings in the seedling delivery tray 22 gradually decreases. In a single seedling delivery cycle, the displacement of the seedling tray (blanket seedling 300) relative to the seedling delivery tray 22 gradually decreases. At this time, the speed of seedling placement slows down, which is bound to cause different amounts of seedling delivery at each time at the beginning and end of the route, resulting in less and less seedlings being taken, resulting in uneven force on the seedlings, inaccurate landing positions, large differences in plant spacing, and reduced yields and production efficiency.

[0065] That is, at the beginning of the route, the seedling throwing mechanism 100 has a fast seedling lowering speed, and within a single seedling feeding cycle, the seedling tray (seedling blanket 300) has a large amount of feeding, that is, the seedlings are sent down a long distance, so that the seedling picking module 30 can pick up more seedlings when picking up seedlings, that is, the amount of seedlings taken is large, that is, the amount of each seedling taken at this time is large; on the contrary, at the end of the route, a lot of seedlings are consumed, the seedling throwing speed is slow, and within a single seedling feeding cycle, the seedling tray (seedling blanket 300) The feeding amount becomes smaller, the seedlings taken by the seedling picking module 30 become less, that is, each seedling taken becomes smaller, the amount of seedlings taken is uneven, and it is difficult to accurately throw the seedlings.

[0066] In order to overcome this problem, the inventor analyzed the force diagram of the seedling tray (blanket seedling 300) sliding down, please refer to Figure 6 , Figure 6The force diagram of the seedling tray sliding down provided in the embodiment of the present application. When entering the seedling delivery cycle (for example, the seedling delivery tray 22 slides to the left and right ends of the seedling support plate 21), the conveying device 24 is started and provides a thrust F to the seedling tray (blanket seedling 300). When there are more residual seedlings in the seedling tray (blanket seedling 300), that is, when there are more residual seedlings in the seedling delivery tray 22, the thrust F is less than or equal to the maximum static friction force umg between the conveying device 24 and the seedling tray (blanket seedling 300), and there is no relative sliding between the conveying device 24 and the seedling tray (blanket seedling 300). In the same seedling delivery cycle, the moving distance of the conveying device 24 is equal to the moving distance of the seedling tray (blanket seedling 300). As the remaining seedlings in the seedling tray (blanket seedling 300) decrease, that is, the amount of remaining seedlings in the seedling delivery tray 22 decreases, the maximum static friction force umg between the conveying device 24 and the seedling tray (blanket seedling 300) decreases, resulting in a thrust F greater than the maximum static friction force umg between the conveying device 24 and the seedling tray (blanket seedling 300). In the same seedling delivery cycle, the conveying device 24 and the seedling tray (blanket seedling 300) slide relative to each other, and the moving distance of the seedling tray (blanket seedling 300) is less than the moving distance of the conveying device 24. That is, in the same seedling delivery cycle, the moving distance of the conveying device 24 remains unchanged, but the moving distance of the seedling tray (blanket seedling 300) decreases, and the downward movement speed of the seedling tray (blanket seedling 300) slows down, resulting in the seedling tray (blanket seedling 300) and the conveying device 24 being out of sync, resulting in uneven seedling quantity, and difficulty in accurate seedling throwing.

[0067] Based on this, the embodiment of the present application provides a solution for linkage control of the seedling throwing mechanism and the amount of remaining seedlings, so as to achieve the purpose of accurately controlling the amount of seedlings delivered in each seedling delivery cycle. Optionally, the seedling throwing mechanism also includes a control module, which is connected to the conveying device 24, and the control module is used to control the running speed of the conveying device 24 based on the amount of remaining seedlings on the seedling delivery tray 22.

[0068] The control module is also used to execute the following seedling throwing mechanism control method. Please refer to the following for details and will not be elaborated here.

[0069] The control module can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the flying seedling throwing system control method can be completed by the hardware integrated logic circuit or software instructions in the control module. The above-mentioned control module can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. Specifically, the control module can be a flight control device on the drone 200, that is, the flight control device is responsible for the flight control and other services of the drone 200 in addition to executing the method provided in this application. In other embodiments, the control module can also be the control device of the seedling throwing mechanism itself, and the control module can be electrically connected to the flight control device of the drone 200, and the two communicate to cooperate in operation.

[0070] The present application provides a method for controlling a seedling throwing mechanism, which can be applied to, but is not limited to, the above-mentioned seedling throwing mechanism 100. For the specific process, please refer to Figure 7 The control method of the seedling throwing mechanism includes: step S201 and step S202, which are specifically described as follows.

[0071] S201, determining the remaining amount of seedlings on the seedling delivery tray.

[0072] The remaining amount of rice seedlings can be understood as the number or weight of the remaining rice seedlings in the seedling tray.

[0073] S202, controlling the running speed of the conveying device based on the remaining amount of seedlings on the seedling delivery tray to stabilize the speed at which the seedling tray moves toward the seedling taking port.

[0074] In the present application, the running speed of the conveying device 24 is controlled by the remaining amount of seedlings on the seedling delivery tray 22 to ensure that the speed of the seedling tray moving toward the seedling taking port is stable, so that the distance the seedling tray moves toward the seedling taking port within a unit time length or a seedling delivery cycle is always the same, and the single seedling taking amount of the seedling taking module 30 remains consistent throughout the entire seedling throwing cycle, thereby achieving precise seedling throwing.

[0075] In some optional scenarios, the conveying device 24 operates according to a preset seedling delivery cycle, and the seedling delivery tray 22 reciprocates in the left and right directions. When the seedling delivery tray 22 moves from left to right to the end and enters the seedling delivery cycle, the conveying device 24 drives the seedling tray to move toward the seedling delivery port. After the seedling delivery cycle ends, the seedling delivery tray 22 moves from right to left to the end and enters the seedling delivery cycle again. This is repeated until all the seedlings in the seedling tray are thrown out.

[0076] On the basis that the conveying device 24 operates according to the preset seedling delivery cycle, Figure 7 The content of S202 in this application also provides an optional implementation method to ensure that the distance that the seedling tray moves toward the seedling taking port within a unit time length or a seedling delivery cycle is always the same, and the single seedling taking amount of the seedling taking module 30 remains consistent throughout the seedling throwing cycle, thereby achieving accurate seedling throwing. Specifically, please refer to the following, S202, controlling the running speed of the conveying device based on the amount of seedlings remaining on the seedling delivery tray, includes: S202-0, S202-1, S202-3 and S202-5, which are specifically described as follows.

[0077] S202-0, determine whether the amount of remaining seedlings is greater than a first remaining amount threshold. If yes, execute S202-1; if no, execute S202-3.

[0078] S202-1, when the remaining amount of seedlings is greater than the first remaining amount threshold, when entering the seedling delivery cycle, control the conveying device to operate at a standard operating speed.

[0079] Optionally, when the amount of remaining seedlings is greater than the first remaining amount threshold, the thrust F is less than or equal to the maximum static friction force umg between the conveying device 24 and the seedling tray (seedling blanket 300), there is no relative sliding between the conveying device 24 and the seedling tray (seedling blanket 300), and in the same seedling delivery cycle, the moving distance of the conveying device 24 is equal to the moving distance of the seedling tray (seedling blanket 300). The conveying device operates at a standard operating speed, and its rotation distance (also called moving distance) in the seedling delivery cycle remains consistent, so the moving distance of the seedling tray in the seedling delivery cycle remains consistent.

[0080] In an optional embodiment, when the amount of remaining seedlings decreases to the first remaining amount threshold, the thrust F is greater than the maximum static friction force umg between the conveying device 24 and the seedling tray (seedling blanket 300) for a period of time. Figure 8 As shown, Figure 8 A schematic diagram of speed change provided in an embodiment of the present application. Figure 8Before the origin (0), the thrust F is less than or equal to the maximum static friction force umg between the conveying device 24 and the seedling tray (seedling blanket 300), the conveying device 24 and the seedling tray remain relatively still, both move at the standard operating speed, and move the standard distance within the seedling delivery cycle. After the origin, the thrust F is greater than the maximum static friction force umg between the conveying device 24 and the seedling tray (seedling blanket 300), at this time the conveying device 24 still runs at the standard speed, the conveying device 24 and the seedling tray no longer remain relatively still, and the moving speed (V) of the seedling tray gradually decreases according to the acceleration (a) until the amount of seedling residue is less than or equal to the first residue threshold, that is, Figure 8 The time point corresponding to the first remaining threshold is reached.

[0081] S202-3, when the remaining amount of seedlings is reduced to a first remaining threshold value, before entering the next seedling delivery cycle, the target operating speed corresponding to the next seedling delivery cycle is determined based on the historical operating speed of the conveying device and the first preset growth range.

[0082] The historical operating speed is the operating speed of the conveying device during the last seedling delivery cycle.

[0083] Optionally, the first preset growth range is an empirical value, which corresponds to the first remaining capacity threshold. When the first remaining capacity threshold changes, the first preset growth range changes accordingly.

[0084] Optionally, the target operating speed = historical operating speed + first preset growth rate, that is, in each seedling delivery cycle, the operating speed of the conveying device 24 increases by the first preset growth rate, maintaining a constant acceleration growth.

[0085] Please continue to refer to Figure 8 After reaching the time point corresponding to the first surplus threshold, in each seedling delivery cycle, the running speed of the conveying device 24 increases by a first preset growth rate, which is equivalent to maintaining a constant acceleration growth.

[0086] Figure 8 V represents the moving speed of the seedling tray, a represents the acceleration of the seedling tray, S' represents the moving path length when the seedling tray moves at the standard running speed, and S represents the moving path length when the seedling tray moves at the target running speed.

[0087] S202-5, when entering the next seedling delivery cycle, control the conveying device to operate at the target operating speed.

[0088] In the present application, the target operating speed corresponding to the next seedling delivery cycle is determined by the historical operating speed and the first preset growth rate, and the movement of the conveying device 24 is controlled based on the target operating speed, so as to ensure that the time length for completing the seedling delivery of the seedling tray is the same as the standard time length, that is, the moving distance of the seedling tray in a single seedling delivery cycle is close to the standard distance, so that the single seedling taking amount of the seedling taking module 30 remains consistent.

[0089] In an optional embodiment, when the amount of remaining seedlings is reduced to the Nth remaining amount threshold, 2≤N, the conveying device 24 is controlled to operate at a standard operating speed, indicating that the blanket seedlings of this batch have been thrown.

[0090] On the basis of the foregoing, regarding how to more meticulously control the running speed of the conveying device so that the moving distance of the seedling tray within the seedling delivery cycle is closer to the standard distance, the embodiment of the present application also provides a possible implementation method, please refer to Fig. 9 , S202, controlling the running speed of the conveying device based on the remaining amount of seedlings on the seedling delivery tray, including: S202-0, S202-1, S202-2, S202-3, S202-4 and S202-5, which are specifically described as follows.

[0091] S202-0, determine whether the amount of remaining seedlings is greater than a first remaining amount threshold. If yes, execute S202-1; if no, execute S202-2.

[0092] S202-1, when the remaining amount of seedlings is greater than the first remaining amount threshold, when entering the seedling delivery cycle, control the conveying device to operate at a standard operating speed.

[0093] S202-2, determine whether the amount of remaining seedlings is greater than the i-th remaining amount threshold. If yes, execute S202-3; if no, execute S202-4.

[0094] S202-3, when the remaining amount of seedlings is reduced to a first remaining threshold value, before entering the next seedling delivery cycle, the target operating speed corresponding to the next seedling delivery cycle is determined based on the historical operating speed of the conveying device and the first preset growth range.

[0095] S202-4, when the remaining amount of seedlings is reduced to the i-th remaining threshold, before entering the next seedling delivery cycle, the target operating speed corresponding to the next seedling delivery cycle is determined based on the historical operating speed of the conveying device and the i-th preset growth range, 2≤i≤N.

[0096] Optionally, the less the amount of remaining seedlings, the greater the difference between the thrust F and the maximum static friction force umg between the conveying device 24 and the seedling tray (seedling blanket 300). At this time, it is necessary to monitor the amount of remaining seedlings through multiple monitoring points. When the amount of remaining seedlings is reduced to the i-th remaining threshold, it is necessary to synchronously change the corresponding acceleration, that is, the growth amplitude corresponding to each seedling delivery cycle (the i-th preset growth amplitude).

[0097] S202-5, when entering the next seedling delivery cycle, control the conveying device to operate at the target operating speed.

[0098] It should be noted that, since the properties of the same batch of seedlings (growth potential, water content, soil quality, seedling variety, etc.) are similar, after determining the kth preset growth rate corresponding to one of the seedling trays between the kth margin threshold and the k+1th margin threshold, the kth preset growth rate can be directly used to adjust the speed when the seedling trays are subsequently thrown, so that the seedling trays maintain a uniform downward speed. The accuracy of the kth preset growth rate will directly affect the moving distance of the seedling tray and the accuracy of the entire seedling throwing operation.

[0099] Optionally, there are N monitoring points for the amount of rice seedling residue, which are respectively the first residue threshold to the Nth residue threshold. On this basis, the present application embodiment also provides an optional implementation method, please refer to Fig.10 Before S201, the seedling throwing mechanism 100 is in the initial or experimental stage of seedling throwing, and the seedling throwing mechanism control method also includes: step S101, which is specifically described as follows.

[0100] S101, starting from k=1, obtaining the kth preset growth range corresponding to the amount of remaining seedlings between the kth remaining threshold and the k+1th remaining threshold one by one, wherein 1≤k≤N-1.

[0101] Among them, the kth preset growth rate gradually increases with the value of k.

[0102] Optionally, the kth preset growth range corresponding to the value between the kth surplus threshold and the k+1th surplus threshold can be stored, and when the seedling tray is subsequently transplanted, the kth preset growth range can be directly called for speed adjustment.

[0103] Regarding how to accurately obtain the kth preset growth range corresponding to the range between the kth remaining amount threshold and the k+1th remaining amount threshold, please refer to the following text. S101 includes: S101-1, which is described in detail as follows.

[0104] S101-1, gradually adjust the kth preset growth rate until A+A'=B+B', wherein A represents the target number of seedlings sent when the remaining amount of seedlings is reduced to the kth surplus threshold value when the seedling tray maintains the standard operating speed, B represents the actual number of seedlings sent when the remaining amount of seedlings is reduced to the kth surplus threshold value under actual circumstances, A' represents the target number of seedlings sent when the remaining amount of seedlings is reduced to the k+1th surplus threshold value when the seedling tray maintains the standard operating speed, and B' represents the actual number of seedlings sent when the remaining amount of seedlings is reduced to the k+1th surplus threshold value under actual circumstances.

[0105] Among them, the target number of seedling delivery times indicates the number of seedling delivery cycles required for the remaining amount of seedlings to be reduced to the corresponding remaining threshold while the seedling tray maintains the standard operating speed; the actual number of seedling delivery times indicates the number of seedling delivery cycles required for the remaining amount of seedlings to be reduced to the corresponding remaining threshold during actual execution.

[0106] It should be noted that when A+A'≠B+B', the kth preset growth rate can be adjusted, and then the statistics of B and B' are repeated until A+A'=B+B', and the kth preset growth rate finally obtained is recorded.

[0107] It should be noted that the conveying device 24 increases its running speed by the kth preset growth rate in a seedling feeding cycle, and its corresponding acceleration is a'. The seedling feeding motor increases the rotation angle a't in each rotation. 2 / 2, and the rotation time of the rice seedling sending motor is equal to the length of the rice seedling sending cycle and remains unchanged. The rice seedling sending motor is used to drive the conveying device 24 to move or rotate.

[0108] On the basis that the conveying device 24 operates according to the preset seedling delivery cycle, Figure 7 In S202, the present application also provides an optional implementation method to ensure that the distance that the seedling tray moves toward the seedling removal port in a unit time length or a seedling delivery cycle is always the same, and the seedling removal amount of the seedling removal module 30 remains consistent throughout the seedling throwing cycle, thereby achieving accurate seedling throwing. For details, please refer to Fig.11 , S202, controlling the running speed of the conveying device based on the remaining amount of seedlings on the seedling delivery tray, including: S202-6, S202-7, S202-8 and S202-9, which are specifically described as follows.

[0109] S202-6, before entering the next seedling feeding cycle, determine whether the relative static condition is met based on the current amount of remaining seedlings. If yes, execute S202-9; if no, execute S202-7.

[0110] The relative static condition means that the moving distance of the seedling tray in one seedling delivery cycle is equal to the moving distance of the conveying device.

[0111] Optionally, the current amount of remaining seedlings can be obtained through a gravity sensor, and the current maximum static friction force can be determined based on the current amount of remaining seedlings. By judging whether the thrust is greater than the maximum static friction force, it is determined whether the relative stillness condition is met.

[0112] S202-7: If not satisfied, the target running speed corresponding to the next seedling delivery cycle is determined according to the current remaining amount of seedlings.

[0113] Optionally, the corresponding target running speed can be calculated back based on the current maximum static friction force, the thrust of the conveying device 24, and the standard distance moved in each seedling delivery cycle.

[0114] S202-8, when entering the next seedling delivery cycle, control the conveying device to operate at the target operating speed.

[0115] S202-9, when entering the next seedling delivery cycle, control the conveying device to operate at the standard operating speed.

[0116] Based on the above, regarding how to detect the amount of remaining seedlings, the present application embodiment also provides an optional implementation method, please refer to Figure 6 A residual material detection sensor 501 is provided on the seedling delivery tray 22, and the residual material detection sensor 501 is used to detect the residual amount of seedlings on the seedling delivery tray 22. The residual material detection sensor 501 is communicatively connected with the control module, so that the residual amount of seedlings can be transmitted to the control module.

[0117] Optionally, the residual material detection sensor 501 includes N micro switches, the first micro switch is arranged at a first preset distance from the end of the long side of the seedling delivery tray 22, and the Nth micro switch is arranged at a second preset distance from the tail of the long side of the seedling delivery tray 22.

[0118] When N≥3, the second micro switch to the N-1th micro switch are evenly spaced and distributed between the first micro switch and the Nth micro switch.

[0119] When the seedling tray is loaded onto the seedling delivery tray, N micro switches are all switched to the pressed state. When the mth micro switch is switched to the disconnected state, it indicates that the remaining amount of seedlings is reduced to the mth remaining amount threshold, where 1≤m≤N.

[0120] In an optional embodiment, the residual material detection sensor 501 includes a group of gravity sensors.

[0121] Optionally, the gravity information detected by the gravity sensor can be derived or equivalent to the amount of residual rice seedlings. When the number of gravity sensors is greater than 1, multiple gravity sensors are distributed on the rice seedling delivery tray 22.

[0122] In an optional embodiment, the seedling delivery module 20 further includes a seedling support plate 21. The seedling support plate 21 is disposed on the load module 10, and is provided with an opening 211. The seedling delivery tray 22 is used to deliver the blanket seedlings 300, and the lower part of the seedling delivery tray 22 is located inside the seedling support plate 21, and the seedling delivery tray 22 can move laterally relative to the seedling support plate 21; wherein, the seedling removal module 30 is used to separate the blanket seedlings 300 through the opening 211, and throw out the separated seedlings 310.

[0123] In an optional embodiment, the seedling delivery module 20 further includes a driving device 23 , which is disposed on the load module 10 , and is used to drive the seedling delivery tray 22 to move laterally relative to the seedling supporting plate 21 .

[0124] In an optional embodiment, the running speed of the conveying device 24 is negatively correlated with the amount of residual seedlings on the seedling delivery tray 22. That is, the less the amount of residual seedlings on the seedling delivery tray 22, the faster the running speed of the conveying device 24.

[0125] The present application also provides a computer-readable storage medium, which stores computer instructions and programs, and when the computer instructions and programs are read and run, the above-mentioned method for controlling the seedling throwing structure is executed. The storage medium may include a memory, a flash memory, a register, or a combination thereof.

[0126] In summary, the embodiments of the present application provide a method for controlling a seedling throwing mechanism, a storage medium, and a seedling throwing system. The seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module. The seedling retrieval module is used to separate the seedlings from the seedling tray on the seedling delivery module and throw them out. The seedling delivery module includes a seedling delivery tray and a conveying device. The conveying device is arranged on the seedling delivery tray. The conveying device is used to drive the seedling tray to move toward the seedling retrieval port of the seedling retrieval module. The method for controlling the seedling throwing mechanism includes: determining the amount of seedling residue on the seedling delivery tray; controlling the running speed of the conveying device based on the amount of seedling residue on the seedling delivery tray, so that the speed at which the seedling tray moves toward the seedling retrieval port is stable. The running speed of the conveying device is controlled by the amount of seedling residue on the seedling delivery tray, so as to ensure that the speed at which the seedling tray moves toward the seedling retrieval port is stable, so that the distance that the seedling tray moves toward the seedling retrieval port is always the same within a unit time length or a seedling delivery cycle, and the single seedling retrieval amount of the seedling retrieval module remains consistent throughout the seedling throwing cycle, thereby achieving precise seedling throwing.

[0127] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0128] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present application. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for controlling a seedling throwing mechanism, characterized in that: The seedling throwing mechanism includes a seedling sending module and a seedling taking module, the seedling taking module is used to separate the seedlings from the seedling tray on the seedling sending module and throw them out, the seedling sending module includes a seedling sending tray and a conveying device, the conveying device is arranged on the seedling sending tray, the conveying device is used to drive the seedling tray to move toward the seedling taking port of the seedling taking module, and the seedling throwing mechanism control method includes: Determining the amount of remaining seedlings on the seedling delivery tray; The running speed of the conveying device is controlled based on the amount of remaining seedlings on the seedling delivery tray so that the speed at which the seedling tray moves toward the seedling taking port is stable.

2. The control method of the seedling throwing mechanism according to claim 1, characterized in that: The conveying device operates according to a preset seedling delivery cycle, and the operating speed of the conveying device is controlled based on the amount of remaining seedlings on the seedling delivery tray, including: When the amount of remaining seedlings is greater than a first remaining amount threshold, when entering the seedling delivery cycle, controlling the conveying device to operate at a standard operating speed; When the amount of remaining seedlings is reduced to a first remaining amount threshold, before entering the next seedling delivery cycle, a target operating speed corresponding to the next seedling delivery cycle is determined based on the historical operating speed of the conveying device and a first preset growth range; Wherein, the historical operating speed is the operating speed of the conveying device during the last seedling delivery cycle; When entering the next seedling delivery cycle, the conveying device is controlled to operate at the target operating speed.

3. The control method of the seedling throwing mechanism according to claim 2, characterized in that: The controlling the running speed of the conveying device based on the amount of remaining seedlings on the seedling delivery tray comprises: When the amount of remaining seedlings is reduced to the i-th remaining amount threshold, before entering the next seedling delivery cycle, the target operating speed corresponding to the next seedling delivery cycle is determined based on the historical operating speed of the conveying device and the i-th preset growth range, 2≤i≤N; When entering the next seedling delivery cycle, the conveying device is controlled to operate at the target operating speed.

4. The control method of the seedling throwing mechanism according to claim 2 or 3, characterized in that: There are N monitoring points for the rice seedling residual amount, which are respectively the first residual threshold value to the Nth residual threshold value. In the initial stage or experimental stage of the rice seedling throwing mechanism, the rice seedling throwing mechanism control method further includes: Starting from k=1, the kth preset growth range corresponding to the remaining amount of the rice seedlings between the kth remaining amount threshold value and the k+1th remaining amount threshold value is obtained one by one, wherein 1≤k≤N-1.

5. The control method of the seedling throwing mechanism according to claim 4, characterized in that: The step of obtaining the kth preset growth rate corresponding to the amount of the remaining rice seedlings between the kth remaining amount threshold and the k+1th remaining amount threshold comprises: Gradually adjust the kth preset growth rate until A+A'=B+B', wherein A represents the target number of seedlings sent when the remaining amount of seedlings is reduced to the kth surplus threshold value when the seedling tray keeps moving at the standard operating speed, B represents the actual number of seedlings sent when the remaining amount of seedlings is reduced to the kth surplus threshold value under actual circumstances, A' represents the target number of seedlings sent when the remaining amount of seedlings is reduced to the k+1th surplus threshold value when the seedling tray keeps moving at the standard operating speed, and B' represents the actual number of seedlings sent when the remaining amount of seedlings is reduced to the k+1th surplus threshold value under actual circumstances.

6. The control method of the seedling throwing mechanism according to claim 1, characterized in that: The conveying device operates according to a preset seedling delivery cycle, and the operating speed of the conveying device is controlled based on the amount of remaining seedlings on the seedling delivery tray, including: Before entering the next rice seedling feeding cycle, determining whether a relative static condition is met based on the current rice seedling remaining amount; Wherein, the relative static condition means that the moving distance of the seedling tray in one seedling delivery cycle is equal to the moving distance of the conveying device; If not, determining the target running speed corresponding to the next seedling delivery cycle according to the current remaining amount of seedlings; When entering the next seedling delivery cycle, the conveying device is controlled to operate at the target operating speed.

7. The method for controlling a seedling throwing mechanism according to any one of claims 1 to 3 or 6, characterized in that: The seedling delivery tray is provided with a residual material detection sensor, and the residual material detection sensor is used to detect the amount of residual seedlings on the seedling delivery tray.

8. The control method of the seedling throwing mechanism according to claim 7, characterized in that: The residual material detection sensor includes N micro switches, the first micro switch is arranged at a first preset distance from the end of the long side of the seedling delivery tray, and the Nth micro switch is arranged at a second preset distance from the tail of the long side of the seedling delivery tray; When N≥3, the second micro switch to the N-1th micro switch are equally spaced between the first micro switch and the Nth micro switch; When the seedling tray is loaded onto the seedling delivery tray, the N micro switches are all switched to a pressed state, and when the mth micro switch is switched to a disconnected state, it indicates that the remaining amount of seedlings is reduced to the mth remaining amount threshold, wherein 1≤m≤N.

9. The control method of the seedling throwing mechanism according to claim 7, characterized in that: The residual material detection sensor includes a group of gravity sensors.

10. The control method of a rice seedling throwing mechanism according to any one of claims 1 to 3 or 6, characterized in that: The seedling delivery module also includes a seedling supporting plate; The seedling supporting plate is arranged on the load module, and the seedling supporting plate is provided with an opening. The lower part of the seedling sending tray is located in the seedling supporting plate, and the seedling sending tray can move laterally relative to the seedling supporting plate; the seedling taking module is used to separate the seedling tray through the opening and throw out the separated seedlings.

11. The control method of seedling throwing mechanism according to claim 10, characterized in that: The seedling delivery module also includes a driving device, which is arranged on the load module and is used to drive the seedling delivery plate to move laterally relative to the seedling supporting plate.

12. The control method of seedling throwing mechanism according to claim 1, characterized in that: The running speed of the conveying device is negatively correlated with the amount of residual seedlings on the seedling delivery tray.

13. A seedling throwing mechanism, characterized in that: The seedling throwing mechanism includes a seedling sending module, a seedling taking module and a control module, the seedling sending module includes a seedling sending tray and a conveying device, and the conveying device is arranged on the seedling sending tray; The conveying device is used to drive the seedling tray to move toward the seedling taking port of the seedling taking module. The control module is in communication connection with the conveying device, and the control module is used to control the running speed of the conveying device based on the amount of remaining seedlings on the seedling delivery tray; The seedling taking module is used for separating the seedlings from the seedling tray on the seedling delivering module and throwing them out.

14. The seedling throwing mechanism according to claim 13, characterized in that: The control module is also used to execute the seedling throwing mechanism control method as described in any one of claims 2-12.

15. A seedling throwing system, characterized in that: The seedling throwing system comprises a movable platform and the seedling throwing mechanism described in claim 13, and the seedling throwing mechanism is deployed on the movable platform.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

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