A seedling throwing mechanism control method, a storage medium and a seedling throwing system

Abstract

The application 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 and throwing seedlings from a seedling tray on the seedling feeding module. The seedling feeding module comprises a seedling feeding tray and a conveying device. The conveying device is arranged on the seedling feeding tray and is used for driving the seedling tray to move towards a seedling taking port of the seedling taking module. The seedling throwing mechanism control method comprises the following steps: determining the residual amount of seedlings on the seedling feeding tray; and controlling the running speed of the conveying device based on the residual amount of seedlings on the seedling feeding tray, so that the moving speed of the seedling tray towards the seedling taking port is stable. The running speed of the conveying device is controlled by the residual amount of seedlings on the seedling feeding tray, so that the moving speed of the seedling tray towards the seedling taking port is stable. Therefore, the distance of the seedling tray moving towards the seedling taking port in a unit time length or in a seedling feeding cycle is always the same, the seedling taking amount of the seedling taking module in a single taking process is consistent in the whole seedling throwing cycle, and accurate seedling throwing is realized.

Description

TECHNICAL FIELD

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

[0002] Intelligent agriculture is a hot development field at present, and various functional agricultural machinery and equipment are successively launched to help realize mechanization and intelligent operation, reduce the difficulty of agricultural production, and improve agricultural output. Agricultural machinery and equipment include rotary tillers, seedling planters, harvesters, spraying machines, and seedling throwers, etc.

[0003] Among them, the flying seedling throwing system as a kind of seedling throwing machine can be used for aerial operation without being restricted by the terrain, and can quickly and efficiently complete the seedling throwing task, which has attracted the attention of those skilled in the art. At the same time, those skilled in the art have also begun to pay attention to how to control the flying seedling throwing system to ensure the accuracy of seedling throwing. SUMMARY

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

[0005] In order to achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0006] In a first aspect, the embodiments of the present application provide a seedling throwing mechanism control method, the seedling throwing mechanism comprising a seedling feeding module and a seedling taking module, the seedling taking module being used for separating and throwing seedlings from a seedling tray on the seedling feeding module, the seedling feeding module comprising a seedling feeding tray and a conveying device, the conveying device being arranged on the seedling feeding tray, the conveying device being used for driving the seedling tray to move towards a seedling taking port of the seedling taking module, the seedling throwing mechanism control method comprising:

[0007] determining the remaining amount of seedlings on the seedling feeding tray;

[0008] controlling the running speed of the conveying device based on the remaining amount of seedlings on the seedling feeding tray, so as to stabilize the speed of the seedling tray moving towards the seedling taking port.

[0009] In a second aspect, the embodiments of the present application provide a seedling throwing mechanism, the seedling throwing mechanism comprising a seedling feeding module, a seedling taking module and a control module, the seedling feeding module comprising a seedling feeding tray and a conveying device, the conveying device being arranged on the seedling feeding tray;

[0010] the conveying device being used for driving the seedling tray to move towards a seedling taking port of the seedling taking module;

[0011] the control module being in communication connection with the conveying device, the control module being used for controlling the running speed of the conveying device based on the remaining amount of seedlings on the seedling feeding tray.

[0012] The seedling taking module is used to separate the seedlings from the seedling tray on the seedling feeding module and throw them out.

[0013] In a third aspect, the embodiments of the present application provide a seedling throwing system, which comprises a movable platform and the seedling throwing mechanism.

[0014] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method.

[0015] Compared with the prior art, the seedling throwing mechanism control method, the storage medium and the seedling throwing system provided by the embodiments of the present application, the seedling throwing mechanism comprises a seedling feeding module and a seedling taking module, the seedling taking module is used to separate the seedlings from the seedling tray on the seedling feeding module and throw them out, the seedling feeding module comprises a seedling feeding tray and a conveying device, the conveying device is arranged on the seedling feeding tray, and the conveying device is used to drive the seedling tray to move towards the seedling taking port of the seedling taking module, the seedling throwing mechanism control method comprises the following steps: determining the residual amount of seedlings on the seedling feeding tray; and controlling the running speed of the conveying device based on the residual amount of seedlings on the seedling feeding tray, so as to stabilize the speed of the seedling tray moving towards the seedling taking port. The running speed of the conveying device is controlled by the residual amount of seedlings on the seedling feeding tray, the speed of the seedling tray moving towards the seedling taking port is stabilized, so that the distance of the seedling tray moving towards the seedling taking port in a unit time length or in a seedling feeding cycle is always the same, the seedling taking amount of the seedling taking module in a single time is consistent in the whole seedling throwing cycle, and thus the precise seedling throwing is realized.

[0016] In order to make the above objectives, characteristics and advantages of the present application more apparent, clear and easy to understand, the following will specifically describe the preferred embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without any creative effort.

[0018] Figure 1 The structural diagram of the seedling throwing system provided by the embodiments of the present application is shown in the figure;

[0019] Figure 2 The structural diagram of the seedling throwing mechanism provided by the embodiments of the present application is shown in the figure from the first perspective;

[0020] Figure 3 The structural diagram of the seedling throwing mechanism provided by the embodiments of the present application is shown in the figure from the second perspective;

[0021] Figure 4 A structure diagram of the seedling throwing system from a first perspective is provided for the embodiments of the present application.

[0022] Figure 5 A structure diagram of the seedling throwing system from a second perspective is provided for the embodiments of the present application.

[0023] Figure 6 A force diagram of the seedling tray sliding down is provided for the embodiments of the present application.

[0024] Figure 7 A flowchart of the seedling throwing mechanism control method is provided for the embodiments of the present application.

[0025] Figure 8 A speed change diagram is provided for the embodiments of the present application.

[0026] Figure 9 A sub-step diagram of S202 is provided for the embodiments of the present application.

[0027] Figure 10 A flowchart of the seedling throwing mechanism control method is provided for the embodiments of the present application.

[0028] Figure 11 A sub-step diagram of S202 is provided for the embodiments of the present application.

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

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0031] The following detailed description of embodiments of the application in the drawings is not intended to limit the scope of the application as claimed, but merely represents selected embodiments of the application. Based upon the embodiments of the application, all other embodiments obtained by persons of ordinary skill in the art without creative work are within the scope of protection of the application.

[0032] In the description of the application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set", "connected" should be understood broadly, for example, can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0033] Some embodiments of the application will be described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0034] Please refer to Figure 1 and Figure 2 , the embodiment provides a seedling throwing mechanism 100 and a seedling throwing system 1000. Specifically, the seedling throwing system 1000 comprises a movable platform and at least one set of seedling throwing mechanism 100, the movable platform can be but is not limited to unmanned aerial vehicle, unmanned vehicle and unmanned ship, etc., hereinafter the unmanned aerial vehicle 200 is taken as the movable platform for example. The seedling throwing mechanism 100 is carried on the unmanned aerial vehicle 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, hereinafter the blanket seedling 300 is taken as an example for description. The seedling throwing mechanism 100 realizes the seedling throwing operation by centrifugal force and / or ejection force of the separated seedlings 310. At the same time, the flight of the unmanned aerial vehicle 200 is coordinated to realize the flight seedling throwing operation.

[0035] The seedling throwing mechanism 100 can have multiple ways to throw the seedlings 310. In one embodiment, the seedling throwing mechanism 100 can throw the seedlings 310 out by centrifugal force after separating the seedlings 310 from the blanket seedling 300. In one embodiment, the seedling throwing mechanism 100 can throw the separated seedlings 310 out by ejection force after separating the seedlings 310 from the blanket seedling 300 (the seedling throwing mechanism 100 can be provided with an ejection member, which can provide ejection force). In one embodiment, the seedling throwing mechanism 100 can throw the separated seedlings 310 out by the combined action of centrifugal force and ejection force.

[0036] The seedling throwing mechanism 100 comprises a load module 10, a seedling conveying module 20, and a seedling taking module 30. The load module 10 is arranged on the unmanned aerial vehicle 200. The seedling conveying module 20 is arranged on the load module 10, and is used to convey the blanket seedling 300. The seedling taking module 30 is arranged on the load module 10, and is used to separate the seedling 310 from the seedling tray (blanket seedling 300) on the seedling conveying module 20 and throw out the seedling 310 by centrifugal force and / or elastic force. In this way, the unmanned aerial vehicle 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation. The blanket seedling 300 is conveyed by the seedling conveying module 20, and the seedling taking module 30 separates the blanket seedling 300 and throws out the seedling 310, thereby realizing the flying seedling throwing operation of the blanket seedling 300.

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

[0038] In this embodiment, the unmanned aerial vehicle 200 is a rotor unmanned aerial vehicle, specifically a four-rotor unmanned aerial vehicle. Of course, it can also be a single-rotor unmanned aerial vehicle, a double-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, etc. The unmanned aerial vehicle 200 can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. In order to facilitate description, the front, rear, left, right, upper, and lower directions are shown in the drawings. The relative positional relationship can be clearly understood by those skilled in the art when the unmanned aerial vehicle 200 is normally placed or is flying.

[0039] Figure 1 As shown in FIG. 1, the seedling throwing mechanism 100 is a split type. Specifically, the load module 10 of the seedling throwing mechanism 100 is detachably carried on the lower part of the unmanned aerial vehicle 200, that is, the unmanned aerial vehicle 200 and the seedling throwing mechanism 100 are designed in an upper-lower split type. The unmanned aerial vehicle 200 serves as a mobile platform, and the seedling throwing mechanism 100 is designed in a split type. In other words, the seedling throwing mechanism 100 in this form is an independent structure, which does not depend on the body frame of the unmanned aerial vehicle 200. Based on this type, in specific operation scenarios, the corresponding device can be replaced according to actual operation needs, for example, after the seedling throwing mechanism 100 is detached, a sowing device is installed to realize the sowing of pesticides, fertilizers, seeds, etc. Similarly, after the seedling throwing mechanism 100 is detached, a surveying and mapping device, a spraying device, etc. can be installed.

[0040] Please refer to Figure 2 and Figure 3 The various modules 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 and is used to drive the cutter head 33 to separate the seedlings 300 on the seedling delivery module 20 and 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 blade head 33 rotates in the direction indicated by the arrow A, thereby separating the seedlings 300 while contacting them. The separated seedlings 310 rotate along the direction of the arrow A with the blade head 33. When the blade head 33 rotates to a specific position, the seedlings 310 are ejected under the action of centrifugal force and / or ejection force. The blade head 33 may be provided with an ejection member that can store and release energy via a cam member during the blade head rotation. When the ejection member releases energy, the seedlings 310 are 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 drive source 31, with the drive source 31 directly driving the cutter head 33 to rotate. Alternatively, the cutter head 33 can be rotatably mounted on the load module 10, with the drive source 31 mounted on the load module 10 and connected to the cutter head 33 via a transmission mechanism, such as a gearbox, connecting rod mechanism, sprocket mechanism, or pulley mechanism, to provide driving force. Of course, the drive 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 blade head 33 includes a mounting portion 331 and a blade body 332 mounted on the mounting portion 331. The mounting portion 331 is connected to the drive source 31. The blade body 332 is formed with a notch 333. The notch 333 is used to hold the seedling 310 after the blade body 332 separates the seedling 310, causing the seedling 310 to rotate with it and be ejected under the action of centrifugal force and / or ejection force. It is understood that during the specific operation, the notch 333 on the blade body 332 will hold the soil at the root of the seedling 310, then drive it into rotation during the rotation process, thereby ejecting it. Of course, the specific structure of the blade head 333 can also be selected as a seedling needle.

[0044] Combine Figure 2 and Figure 3 In this embodiment, the seedling removal module 30 further includes a transmission box 32. A drive source 31 is connected to the transmission box 32 and is used to drive the transmission box 32 to rotate. Each transmission box 32 is provided with at least one cutter head 33. The transmission box 32 can impart a specific motion trajectory to the cutter head 33. Generally, the transmission box 32 can be provided with multiple intermeshing gears. The drive 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 ensure that the motion trajectory of the cutter head 33 and the posture of the cutter head 33 during motion meet the requirements.

[0045] On the other hand, the efficiency of the seedling throwing operation can also be improved synchronously by increasing the number of seedling feeding modules 20. Please refer to Figure 3 In the embodiment, the number of seedling feeding modules 20 is multiple, and the number of seedling taking modules 30 is also multiple and corresponds to the multiple seedling feeding modules 20.

[0046] Specifically, Figure 3 In the embodiment, the number of seedling feeding modules 20 is three, and correspondingly, the number of seedling taking modules 30 is also three. Of course, when the number of seedling feeding modules 20 is greater than three, the number of seedling taking modules 30 can also be increased correspondingly. Generally, the seedlings 310 transported by the multiple seedling feeding modules 20 are of the same type, and the seedling throwing operation is performed in the same piece of farmland, so the multiple seedling taking modules 30 can be controlled to operate synchronously by the control device arranged on the load module 10, or the flight control of the unmanned aerial vehicle 200 can be controlled. Of course, it is not excluded that the multiple seedling feeding modules 20 operate independently, for example, the taking efficiency of the multiple seedling taking modules 30 is not equal, or part of the seedling taking modules 30 are controlled to work while the rest of the seedling taking modules 30 do not work.

[0047] In order to realize the separation and throwing of the blanket seedlings 300 row by row and shot by shot, in the embodiment, the seedling feeding module 20 includes a seedling supporting plate 21 and a seedling feeding disc 22. The seedling supporting plate 21 is arranged on the load module 10, and the seedling supporting plate 21 is provided with an opening 211. The seedling feeding disc 22 is used to transport the blanket seedlings 300, the lower part of the seedling feeding disc 22 is located in the seedling supporting plate 21, and the seedling feeding disc 22 is transversely movable relative to the seedling supporting plate 21. 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 feeding disc 22 can reciprocate in the left-right direction. In this way, the seedling taking module 30 only separates the blanket seedlings 300 exposed to the opening 211, so that the separation and throwing of the blanket seedlings 300 row by row and shot by shot can be realized. Of course, in other embodiments, the position of the seedling feeding disc 22 relative to the load module 10 can remain unchanged, and the seedling supporting plate 21 and the seedling taking module 30 can be transversely movable in the left-right direction.

[0049] In the embodiment, the seedling supporting plate 21 can be understood as an open plate in a long strip shape. The seedling supporting plate 21 is relatively fixed with the load module 10, and it does not move with the left-right reciprocation of the seedling feeding disc 22. The seedling supporting plate 21 has a certain supporting effect on the seedling feeding disc 22. In combination with Figure 3 In the embodiment, the number of seedling taking modules 30 is three and is distributed at intervals, so the number of openings 211 is also three and is distributed at intervals, so that each seedling taking module 30 can separate and throw the blanket seedlings 300 in the opening 211 corresponding thereto.

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

[0051] Generally, the driving device 23 can be a motor cooperating with a gear and rack mechanism to realize the reciprocating movement of the seedling conveying tray 22 left and right, or a motor cooperating with a screw mechanism or a synchronous belt driving scheme. Of course, it is not excluded that the rotor power of the unmanned aerial vehicle 200 is used to drive the seedling conveying tray 22 to move left and right.

[0052] In combination Figure 3 Generally, the seedling conveying tray 22 is arranged in an inclined state, which can make the blanket seedlings 300 move downward under the action of gravity after the seedling conveying tray 22 moves left and right once, so as to facilitate the seedling taking module 30 to take seedlings in the next round. Of course, a power source can also be arranged to drive it, for example, in combination Figure 3 In the embodiment, the seedling conveying module 20 further comprises a conveying device 24 arranged on the seedling conveying tray 22, which is used to drive the seedling tray (blanket seedlings 300) to move towards the seedling supporting plate 21, that is, to drive the seedling tray to move towards the seedling taking port of the seedling taking module 30.

[0053] The conveying device 24 can be a conveyor belt or a conveyor roller (such as a wolf tooth wheel). In addition, the conveying device 24 can be arranged at different positions of the seedling conveying tray 22 in the height direction. It should be noted that the inclined arrangement of the seedling conveying tray 22 can also realize the effective use of the longitudinal space, so as to reduce the space occupied by the seedling conveying tray 22 in the horizontal width. At the same time, due to the inclined arrangement, the blanket seedlings 300 can slide downward by using the gravity, which can also reduce the power consumption of the conveying device 24.

[0054] In addition, considering the situation that the blanket seedlings 300 may be separated after being placed on the seedling conveying tray 22, in combination Figure 2 and Figure 3 In the embodiment, the seedling conveying module 20 further comprises a seedling pressing device 25 arranged on the seedling conveying tray 22, which is used to limit the blanket seedlings 300 in the seedling conveying tray 22. The seedling pressing device 25 can adopt the form of a plate or a rod. Specifically, in the embodiment, the seedling pressing device 25 comprises a rotating shaft 251 and a plurality of pressing strips 252. The rotating shaft 251 is horizontally arranged on the seedling conveying tray 22 and can rotate. The plurality of pressing strips 252 are vertically and spacedly arranged on the rotating shaft 251 and are used to limit the blanket seedlings 300 in the seedling conveying tray 22.

[0055] In some specific scenarios in the embodiment, the rotating shaft 251 can rotate with certain damping relative to the seedling feeding tray 22, so that the force of the pressing strip 252 pressing on the blanket seedling 300 can be adjusted, and the pressing state can be maintained. Of course, a torsional spring can also be sleeved on the rotating shaft 251 to provide a rotating pressure in the direction of the blanket seedling 300.

[0056] In combination Figure 3 , in the embodiment, the seedling feeding tray 22 is a rectangular frame structure, specifically, it includes a bearing plate and two side plates arranged on the left and right sides of the bearing plate, and no side plate is arranged on the upper and lower sides, so that an upper opening is formed on the upper side to facilitate seedling feeding, and a lower opening is formed on the lower side to facilitate seedling taking. The width of the seedling feeding tray 22 can match the width of a tray of blanket seedlings 300, and in addition, the height of the seedling feeding tray 22 is not limited to the height of a tray of blanket seedlings 300. When installed, the two ends of the rotating shaft 251 can be rotatably arranged on the two side plates of the seedling feeding tray 22, Figure 3 , four pressing strips 252 are arranged on one rotating shaft 251. In other words, four pressing strips 252 are arranged on one seedling feeding tray 22 to limit the blanket seedling 300 in the seedling feeding tray 22, so that the blanket seedling 300 can be pressed on the seedling feeding tray 22 by the pressing strips 252, which greatly ensures that the blanket seedling 300 will not be blown away during the flight of the unmanned aerial vehicle 200. Of course, the number of pressing strips 252 corresponding to one seedling feeding tray 22 can not be limited to four, for example, it can also be three, five or more. In addition, since the number of seedling feeding modules 20 in the embodiment is multiple, the number of seedling pressing devices 25 can also be multiple, and each seedling feeding tray 22 is correspondingly provided with a seedling pressing device 25. In some scenarios, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 can share one rotating shaft 251.

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

[0058] Meanwhile, the lower part of the seedling conveying plate 22 is supported by the seedling supporting plate 21, which can improve the compactness of the whole structure. Of course, the middle part of the seedling conveying plate 22 can also be supported by the load module 10. It should be noted that the upper part is only used to indicate that the position of the support is higher than the middle part and the lower part in the height direction.

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

[0060] Figures 1-3 The embodiment shown shows the main structure of the seedling throwing mechanism 100 provided by the present application, and the modules (the load module 10, the seedling conveying module 20, the seedling taking module 30, etc.) mentioned in the present application can be manufactured, sold, etc. separately in the early stage, and assembled to form the whole structure in the later stage.

[0061] Figure 4 With Figure 5 Another embodiment of the seedling throwing system 1000 is shown, and the same modules, mechanisms or components can be referred to the foregoing. 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 one load module 10. The two sets of seedling throwing mechanisms 100 are arranged in a back-to-back manner. 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), and three sets, four sets or more seedling throwing mechanisms 100 can also be arranged.

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

[0063] When the unmanned aerial vehicle 200 flies, the driving source 31 drives the transmission box 32 to rotate, the transmission box 32 drives the cutter head 33 to rotate at high speed, the cutter head 33 separates and takes off the seedlings 310 when rotating to the opening 211, and drives the seedlings 310 to rotate. When the seedlings 310 rotate to a certain angle, the seedlings 310 are thrown out and fall into the field under the action of centrifugal force and / or elastic force, so that the blanket seedlings 300 are thrown while flying. At the same time, the seedling feeding plate 22 moves horizontally, and the blanket seedlings 300 move left and right to be separated and thrown row by row. When a row of seedlings 310 in the left and right directions of the blanket seedlings 300 is separated, the whole blanket seedlings 300 move downward under the action of gravity and the driving force of the conveying device 24. Thus, in the process of the seedling feeding plate 22 moving horizontally again, the seedling feeding plate 22 is separated and thrown row by row. In this way, the process is repeated and circulated until all the blanket seedlings 300 are separated and thrown.

[0064] In the scheme, the seedling feeding plate 22 is inclined, and the blanket seedlings 300 are placed on the seedling feeding plate 22 in an inclined manner. Due to the inclined arrangement, the blanket seedlings 300 can slide downward by gravity, and the power consumption of the conveying device 24 can be reduced. During flight, the seedling plate (blanket seedlings 300) is affected by the flight vibration of the unmanned aerial vehicle 200 and the water content of each seedling in the seedling plate (blanket seedlings 300). If the conveying device 24 maintains a constant speed, the seedling feeding plate 22 has more seedling reserves at the beginning of seedling throwing. In a single seedling feeding period, the displacement of the seedling plate (blanket seedlings 300) relative to the seedling feeding plate 22 is large, and the speed of the seedling feeding plate 22 is the fastest. As the seedling throwing process continues, the amount of seedling reserves in the seedling feeding plate 22 gradually decreases, and the displacement of the seedling plate (blanket seedlings 300) relative to the seedling feeding plate 22 gradually decreases in a single seedling feeding period. At this time, the speed of the seedling feeding plate 22 slows down. Thus, the amount of seedling feeding at the beginning and end of the flight line is different, which causes the amount of seedling feeding to be less and less, and the seedlings are thrown unevenly, which leads to inaccurate landing position and large plant spacing, reducing yield and production efficiency.

[0065] That is, at the beginning of the flight line, the seedling throwing mechanism 100 has a fast seedling feeding speed, and in a single seedling feeding period, the seedling plate (blanket seedlings 300) has a large displacement, that is, the seedling feeding distance is large, so that the seedling feeding module 30 can take more seedlings, that is, the amount of seedling feeding is large, that is, the amount of each seedling taken at this time is large. Conversely, at the end of the flight line, the seedlings are consumed a lot, the seedling feeding speed is slow, the displacement of the seedling plate (blanket seedlings 300) in a single seedling feeding period is small, and the seedlings taken by the seedling feeding module 30 are less, that is, each seedling taken is smaller, and the amount of seedling feeding is uneven, which makes it difficult to accurately throw seedlings.

[0066] In order to overcome this problem, the inventor analyzes the force diagram of the seedling plate (blanket seedlings 300) sliding downward. Please refer to Figure 6 , Figure 6A force diagram of the seedling tray sliding is provided in the embodiments of the present application. When entering the seedling feeding period (for example, the seedling feeding tray 22 slides to the left and right ends of the seedling supporting plate 21), the conveying device 24 is started and provides a pushing force F to the seedling tray (seedling mat 300). When the remaining seedlings in the seedling tray (seedling mat 300) are more, that is, the amount of seedling surplus in the seedling feeding tray 22 is more, the pushing force F is less than or equal to the maximum static friction umg between the conveying device 24 and the seedling tray (seedling mat 300), and there is no relative sliding between the conveying device 24 and the seedling tray (seedling mat 300). In the same seedling feeding period, the moving distance of the conveying device 24 is equal to the moving distance of the seedling tray (seedling mat 300). As the remaining seedlings in the seedling tray (seedling mat 300) decrease, that is, the amount of seedling surplus in the seedling feeding tray 22 decreases, the maximum static friction umg between the conveying device 24 and the seedling tray (seedling mat 300) decreases, resulting in that the pushing force F is greater than the maximum static friction umg between the conveying device 24 and the seedling tray (seedling mat 300). In the same seedling feeding period, the conveying device 24 and the seedling tray (seedling mat 300) slide relative to each other, and the moving distance of the seedling tray (seedling mat 300) is less than the moving distance of the conveying device 24. That is, the moving distance of the conveying device 24 remains unchanged in the same seedling feeding period, but the moving distance of the seedling tray (seedling mat 300) decreases, the downward moving speed of the seedling tray (seedling mat 300) slows down, and the seedling tray (seedling mat 300) and the conveying device 24 are out of synchronization, thereby causing uneven seedling taking amount and difficulty in accurate seedling throwing.

[0067] Therefore, the embodiments of the present application provide a scheme of linkage control of the seedling throwing mechanism and the amount of seedling surplus, so as to accurately control the amount of seedlings fed in each seedling feeding period. Optionally, the seedling throwing mechanism further comprises a control module, the control module is connected with the conveying device 24, and the control module is used for controlling the running speed of the conveying device 24 based on the amount of seedling surplus on the seedling feeding tray 22.

[0068] The control module is further used for executing the seedling throwing mechanism control method described below, and details are described below, which will not be repeated here.

[0069] The control module can be an integrated circuit chip having a signal processing capability. In the implementation process, the steps of the flying seedling throwing system control method can be completed by the integrated logic circuit of the hardware or the instruction in the form of software in the control module. The control module described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; 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 gate or transistor logic devices, discrete hardware components. Specifically, the control module can be a flight control device on the unmanned aerial vehicle 200, that is, the flight control device not only performs the method provided in the application, but also is responsible for the flight control of the unmanned aerial vehicle 200 and other businesses. In other embodiments, the control module can also be a control device of the seedling throwing mechanism. The control module can be electrically connected with the flight control device of the unmanned aerial vehicle 200, and the two communicate to cooperate.

[0070] The seedling throwing mechanism control method provided in the embodiments of the application can be applied to the seedling throwing mechanism 100 described above, and the specific process is described with reference to Figure 7 The seedling throwing mechanism control method includes steps S201 and S202, which are specifically described as follows.

[0071] S201, determining the seedling residue amount of the seedling feeding tray.

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

[0073] S202, controlling the running speed of the conveying device based on the seedling residue amount on the seedling feeding tray, so that the speed of the seedling tray moving towards the seedling taking port is stable.

[0074] In the scheme of the application, the running speed of the conveying device 24 is controlled by the seedling residue amount on the seedling feeding tray 22, so that the speed of the seedling tray moving towards the seedling taking port is stable. Therefore, the distance of the seedling tray moving towards the seedling taking port in a unit time length or a seedling feeding period is always the same, the seedling taking amount of the seedling taking module 30 in a single taking is consistent in the whole seedling throwing period, and thus the precise seedling throwing is realized.

[0075] In some optional scenarios, the conveying device 24 operates according to a preset seedling conveying period, and the seedling conveying disc 22 performs reciprocating movement in the left-right direction. When the seedling conveying disc 22 moves from left to right to the end, the seedling conveying period is entered, the conveying device 24 drives the seedling tray to move towards the seedling taking port, after the end of the seedling conveying period, the seedling conveying disc 22 moves from right to left to the end, and enters the seedling conveying period again. The above process is repeated until all the seedlings in the seedling tray are thrown out.

[0076] On the basis of the operation of the conveying device 24 according to the preset seedling conveying period, the operation of the conveying device 24 is controlled according to the residual amount of seedlings on the seedling conveying disc. Figure 7 The content of S202 in the above embodiment, the present application also provides an optional implementation to ensure that the distance of the seedling tray moving towards the seedling taking port in a unit time length or in a seedling conveying period is always the same, and the amount of seedlings taken by the seedling taking module 30 in a single taking is consistent in the whole seedling throwing period, so as to realize accurate seedling throwing. Specifically, please refer to the following S202, the operation speed of the conveying device is controlled based on the residual amount of seedlings on the seedling conveying disc, including S202-0, S202-1, S202-3 and S202-5, which are specifically described as follows.

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

[0078] S202-1, in the case that the residual amount of seedlings is greater than the first threshold, when entering the seedling conveying period, the conveying device is controlled to work at a standard operation speed.

[0079] Optionally, in the case that the residual amount of seedlings is greater than the first threshold, the pushing force F is less than or equal to the maximum static friction umg between the conveying device 24 and the seedling tray (seedling blanket 300), and there is no relative sliding between the conveying device 24 and the seedling tray (seedling blanket 300). In the same seedling conveying period, the moving distance of the conveying device 24 is equal to the moving distance of the seedling tray (seedling blanket 300). The conveying device works at a standard operation speed, and the rotating distance (also referred to as moving distance) of the conveying device in the seedling conveying period remains consistent, so the moving distance of the seedling tray in the seedling conveying period remains consistent.

[0080] In an optional embodiment, when the residual amount of seedlings decreases to the first threshold, the pushing force F is greater than the maximum static friction umg between the conveying device 24 and the seedling tray (seedling blanket 300) for a certain period of time. As shown in Figure 8 , and Figure 8 is a speed change schematic diagram provided by the present application. Figure 8Before the origin point (0), the pushing force F is less than or equal to the maximum static friction umg between the conveying device 24 and the seedling tray (blanket seedlings 300), the conveying device 24 and the seedling tray remain relatively static, and both move at a standard running speed for a standard distance in a seedling delivery cycle. After the origin point, the pushing force F is greater than the maximum static friction umg between the conveying device 24 and the seedling tray (blanket seedlings 300), at which time the conveying device 24 still moves at a standard running speed, the conveying device 24 and the seedling tray do not remain relatively static, and the moving speed (V) of the seedling tray gradually decreases according to the acceleration (a) until the seedling residue amount is less than or equal to the first residue threshold, that is Figure 8 The time point corresponding to the arrival of the first residue threshold.

[0081] S202-3, when the seedling residue amount decreases to the first residue threshold, the target running speed corresponding to the next seedling delivery cycle is determined based on the historical running speed of the conveying device and the first preset growth amplitude before entering the next seedling delivery cycle.

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

[0083] Optionally, the first preset growth amplitude is an empirical value corresponding to the first residue threshold, and the first preset growth amplitude changes when the first residue threshold changes.

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

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

[0086] Figure 8 V in the formula (1) 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 a standard running speed, and S represents the moving path length when the seedling tray moves at a target running speed.

[0087] S202-5, when entering the next seedling delivery cycle, the conveying device is controlled to work at the target running speed.

[0088] In the scheme of the present application, the target running speed corresponding to the next seedling conveying period is determined by the historical running speed and the first preset growth range, and the conveying device 24 is controlled to move based on the target running speed, so as to ensure that the time length of seedling tray seedling conveying is the same as the standard time length, i.e. the moving distance of the seedling tray in a single seedling conveying period is close to the standard distance, so that the single seedling taking amount of the seedling taking module 30 is kept consistent.

[0089] In an alternative embodiment, when the seedling residual amount is reduced to the Nth residual amount threshold, 2≤N, the conveying device 24 is controlled to work at the standard running speed, indicating that the current batch of seedlings is completed by the throwing.

[0090] On the basis of the foregoing, as to how to more finely control the running speed of the conveying device to make the moving distance of the seedling tray in the seedling conveying period closer to the standard distance, the present application further provides a possible implementation, please refer to Figure 9 , S202, controlling the running speed of the conveying device based on the seedling residual amount on the seedling conveying tray, comprising: S202-0, S202-1, S202-2, S202-3, S202-4 and S202-5, which are specifically described as follows.

[0091] S202-0, determining whether the seedling residual amount is greater than the first residual amount threshold. If yes, S202-1 is executed; if no, S202-2 is executed.

[0092] S202-1, in the case that the seedling residual amount is greater than the first residual amount threshold, when entering the seedling conveying period, the conveying device is controlled to work at the standard running speed.

[0093] S202-2, determining whether the seedling residual amount is greater than the ith residual amount threshold. If yes, S202-3 is executed; if no, S202-4 is executed.

[0094] S202-3, when the seedling residual amount is reduced to the first residual amount threshold, before entering the next seedling conveying period, the target running speed corresponding to the next seedling conveying period is determined based on the historical running speed and the first preset growth range.

[0095] S202-4, when the seedling residual amount is reduced to the ith residual amount threshold, before entering the next seedling conveying period, the target running speed corresponding to the next seedling conveying period is determined based on the historical running speed and the ith preset growth range, 2≤i≤N.

[0096] Optionally, the less the amount of seedling residue, the greater the difference between the pushing force F and the maximum static friction umg between the conveying device 24 and the seedling tray (seedling blanket 300), and in this case, the amount of seedling residue needs to be monitored through multiple monitoring points of the amount of seedling residue. When the amount of seedling residue decreases to the ith residue threshold value, the corresponding acceleration needs to be changed synchronously, that is, the growth amplitude corresponding to each seedling feeding cycle (the ith preset growth amplitude).

[0097] S202-5, when entering the next seedling feeding cycle, the control conveying device works according to the target running speed.

[0098] It should be noted that since the attributes (growth, water content, soil quality, seedling variety, etc.) of the same batch of seedlings are similar, after determining the kth preset growth amplitude corresponding to the seedling tray between the kth residue threshold value and the k+1th residue threshold value, the kth preset growth amplitude can be directly used for speed adjustment when the subsequent seedling tray is thrown, so that the seedling tray maintains a uniform speed. The accuracy of the kth preset growth amplitude will directly affect the moving distance of the seedling tray and the precision of the entire seedling throwing operation.

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

[0100] S101, starting from k=1, the kth preset growth amplitude corresponding to the amount of seedling residue between the kth residue threshold value and the k+1th residue threshold value is obtained one by one, wherein 1≤k≤N-1.

[0101] Wherein, the kth preset growth amplitude gradually increases with the value of k.

[0102] Optionally, the kth preset growth amplitude between the kth residue threshold value and the k+1th residue threshold value can be stored, and the kth preset growth amplitude can be directly called for speed adjustment when the subsequent seedling tray is thrown.

[0103] For how to accurately obtain the kth preset growth amplitude corresponding to the kth residue threshold value to the k+1th residue threshold value, please refer to the following text, S101 includes: S101-1, which is specifically described as follows.

[0104] S101-1, gradually adjust the kth preset increment until A+A' = B+B', wherein A represents the target number of seedling feeding times for reducing the seedling excess amount to the kth excess amount threshold value in the case that the seedling tray moves at the standard running speed, B represents the actual number of seedling feeding times for reducing the seedling excess amount to the kth excess amount threshold value in the actual case, A' represents the target number of seedling feeding times for reducing the seedling excess amount to the (k+1)th excess amount threshold value in the case that the seedling tray moves at the standard running speed, and B' represents the actual number of seedling feeding times for reducing the seedling excess amount to the (k+1)th excess amount threshold value in the actual case.

[0105] wherein the target number of seedling feeding times represents the number of seedling feeding cycles required for reducing the seedling excess amount to the corresponding excess amount threshold value in the case that the seedling tray moves at the standard running speed, and the actual number of seedling feeding times represents the number of seedling feeding cycles required for reducing the seedling excess amount to the corresponding excess amount threshold value in the actual execution.

[0106] It should be noted that when A+A'≠B+B', the kth preset increment can be adjusted, and then B and B' are repeatedly counted until A+A' = B+B', and the kth preset increment finally obtained is recorded.

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

[0108] On the basis that the conveying device 24 runs according to the preset seedling feeding cycle, the content of S202 is as follows. Figure 7 The embodiments of the present application also provide an alternative implementation to guarantee that the distance of the seedling tray moving towards the seedling taking port in a unit time length or in one seedling feeding cycle is always the same, and the amount of seedlings taken by the seedling taking module 30 in one taking is consistent in the whole seedling throwing cycle, so as to realize precise seedling throwing. Specifically, please refer to Figure 11 S202, controlling the running speed of the conveying device based on the seedling excess amount on the seedling feeding 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, determining whether the relative static condition is met based on the current seedling excess amount. If yes, S202-9 is executed; if no, S202-7 is executed.

[0110] wherein the relative static condition represents that the moving distance of the seedling tray in one seedling feeding cycle is equal to the moving distance of the conveying device. ​

[0111] Optionally, the current seedling residue amount can be acquired by a gravity sensor, the current maximum static friction force is determined based on the current seedling residue amount, and whether the relative static condition is met is determined by judging whether the pushing force is greater than the maximum static friction force.

[0112] S202-7, if not, the target running speed corresponding to the next seedling feeding period is determined according to the current seedling residue amount.

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

[0114] S202-8, when entering the next seedling feeding period, the conveying device is controlled to work at the target running speed.

[0115] S202-9, when entering the next seedling feeding period, the conveying device is controlled to work at the standard running speed.

[0116] On the basis of the foregoing, as to how to detect the seedling residue amount, the present application embodiment further provides an optional implementation, please refer to Figure 6 The seedling residue detection sensor 501 is arranged on the seedling feeding tray 22, and is used to detect the seedling residue amount on the seedling feeding tray 22. The seedling residue detection sensor 501 is in communication connection with the control module, so that the seedling residue amount can be transmitted to the control module.

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

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

[0119] When the seedling tray is loaded to the seedling feeding tray, all the N micro switches are switched to the compressed state, and when the mth micro switch is switched to the open state, it indicates that the seedling residue amount is reduced to the mth residue threshold, wherein 1≤m≤N.

[0120] In an optional implementation, the seedling residue 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 seedling residue amount. When the number of gravity sensors is greater than 1, multiple gravity sensors are distributed on the seedling feeding tray 22.

[0122] In an optional embodiment, the seedling feeding module 20 further comprises a seedling supporting plate 21. The seedling supporting plate 21 is arranged on the loading module 10. The seedling supporting plate 21 is provided with an opening 211. The seedling feeding tray 22 is used to transport the mat seedlings 300. The lower part of the seedling feeding tray 22 is located in the seedling supporting plate 21. The seedling feeding tray 22 is transversely movable relative to the seedling supporting plate 21. The seedling taking module 30 is used to separate the mat seedlings 300 through the opening 211 and throw out the separated seedlings 310.

[0123] In an optional embodiment, the seedling feeding module 20 further comprises a driving device 23. The driving device 23 is arranged on the loading module 10. The driving device 23 is used to drive the seedling feeding tray 22 to move transversely 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 feeding tray 22. That is, the less the amount of residual seedlings on the seedling feeding tray 22, the faster the running speed of the conveying device 24.

[0125] The embodiments of the present application further provide a computer readable storage medium. The storage medium stores computer instructions and programs. When the computer instructions and programs are read and run, the seedling throwing structure control method of the above embodiments is executed. The storage medium can include a memory, a flash memory, a register, or a combination thereof.

[0126] In summary, the embodiments of the present application provide 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 to separate seedlings from a seedling tray on the seedling feeding module and throw out the seedlings. The seedling feeding module comprises a seedling feeding tray and a conveying device. The conveying device is arranged on the seedling feeding tray. The conveying device is used to drive the seedling tray to move towards a seedling taking port of the seedling taking module. The seedling throwing mechanism control method comprises the following steps. The amount of residual seedlings on the seedling feeding tray is determined. The running speed of the conveying device is controlled based on the amount of residual seedlings on the seedling feeding tray, so that the speed of the seedling tray moving towards the seedling taking port is stable. The running speed of the conveying device is controlled by the amount of residual seedlings on the seedling feeding tray. The speed of the seedling tray moving towards the seedling taking port is stable. Therefore, the distance of the seedling tray moving towards the seedling taking port in a unit time length or a seedling feeding cycle is always the same. The amount of seedlings taken by the seedling taking module in a single time is consistent in the whole seedling throwing cycle. Therefore, accurate seedling throwing is achieved.

[0127] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. 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 application is not limited to the details of the above-exemplified embodiments and that the present application can be implemented in other particular forms without departing from the spirit or essential characteristics thereof. The embodiments should be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. No reference herein to any prior art is to be taken as an admission that the application is not entitled to antedate such prior art by virtue of prior application. Any reference to the use of a term in the singular herein shall be understood in the context to describe a particular example or embodiment and should not be construed as limiting the scope of the application to that particular example or embodiment. Any reference to the use of terms in the plural herein shall be understood as referring to a plurality of instances of the referenced term and should not be construed as limiting the scope of the application to the plurality.

Claims

1. A method for controlling a seedling throwing mechanism, characterized in that: 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 provided on the seedling delivery tray and is used to drive the seedling tray to move toward the seedling retrieval port of the seedling retrieval module. The control method of the seedling throwing mechanism includes: Determining the remaining amount of rice seedlings on the rice 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 method for controlling the seedling throwing mechanism according to claim 1, wherein: 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 remaining amount of the rice seedlings decreases to a first remaining amount threshold, before entering the next rice seedling delivery cycle, determining a target operating speed corresponding to the next rice seedling delivery cycle based on the historical operating speed of the conveying device and a first preset growth rate; Wherein, the historical operating speed is the operating speed of the conveying device during the last seedling feeding cycle; When entering the next seedling delivery cycle, the conveying device is controlled to operate at the target operating speed.

3. The method for controlling the seedling throwing mechanism according to claim 2, wherein: The controlling the running speed of the conveying device based on the amount of remaining seedlings on the seedling delivery tray includes: When the remaining amount of the rice seedlings decreases to the i-th remaining amount threshold, before entering the next rice seedling delivery cycle, the target operating speed corresponding to the next rice seedling delivery cycle is determined based on the historical operating speed of the conveying device and the i-th preset growth amplitude, 2≤i≤N; When entering the next seedling delivery cycle, the conveying device is controlled to operate at the target operating speed.

4. The method for controlling a rice seedling throwing mechanism according to claim 2 or 3, wherein: 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 and the k+1th remaining amount threshold is obtained one by one, wherein 1≤k≤N-1.

5. The method for controlling the seedling throwing mechanism according to claim 4, wherein: 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 includes: Gradually adjust the kth preset growth rate until A+A'=B+B', wherein A represents the target number of rice seedlings sent when the remaining amount of rice seedlings is reduced to the kth remaining amount threshold value when the seedling tray maintains the standard operating speed, B represents the actual number of rice seedlings sent when the remaining amount of rice seedlings is reduced to the kth remaining amount threshold value under actual circumstances, A' represents the target number of rice seedlings sent when the remaining amount of rice seedlings is reduced to the k+1th remaining amount threshold value when the seedling tray maintains the standard operating speed, and B' represents the actual number of rice seedlings sent when the remaining amount of rice seedlings is reduced to the k+1th remaining amount threshold value under actual circumstances.

6. The method for controlling a rice seedling throwing mechanism according to claim 1, wherein: 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 amount of remaining rice seedlings; Wherein, the relative static condition means that the moving distance of the seedling tray in one seedling feeding cycle is equal to the moving distance of the conveying device; If not, determining the target running speed corresponding to the next seedling feeding 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 rice seedling throwing mechanism according to any one of claims 1 to 3 or 6, wherein: 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 method for controlling the seedling throwing mechanism according to claim 7, wherein: 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 microswitch to the (N-1)th microswitch are equally spaced between the first microswitch and the (N)th microswitch; When the seedling tray is loaded onto the seedling delivery tray, the 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.

9. The method for controlling a seedling throwing mechanism according to claim 7, wherein: The residual material detection sensor includes a group of gravity sensors.

10. The method for controlling a rice seedling throwing mechanism according to any one of claims 1 to 3 or 6, wherein: 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 method for controlling a rice seedling throwing mechanism according to claim 10, wherein: The seedling delivery module further 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 method for controlling a rice seedling throwing mechanism according to claim 1, wherein: 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 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 to separate the seedlings from the seedling tray on the seedling delivering module and throw them out.

14. The seedling throwing mechanism according to claim 13, characterized in that: The control module is also used to execute the rice 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 includes 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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