A seedling throwing mechanism and unmanned aerial vehicle

Abstract

The application discloses a seedling throwing mechanism and a unmanned aerial vehicle, and belongs to the field of agricultural equipment. The unmanned aerial vehicle comprises a load module, a seedling conveying module, a seedling throwing module and a seedling storing module. The seedling conveying module is used for conveying seedlings to the seedling throwing module. The seedling conveying module comprises a seedling conveying frame, and the seedling conveying frame has a seedling conveying support surface which is horizontal or substantially horizontal. The seedling storing module comprises a plurality of seedling storing frames which are arranged above the seedling conveying frame and are spaced apart. The seedling storing frame has a seedling storing support surface which is inclined or perpendicular to the seedling conveying support surface. The side of the seedling storing frame close to the seedling conveying frame forms a seedling supplementing opening, and the seedling supplementing opening provides a channel so that the seedlings of the seedling storing frame can fall to the seedling conveying support surface through the seedling supplementing opening. The seedling throwing mechanism and the unmanned aerial vehicle have a large seedling storage capacity, the seedling conveying frame below can be supplemented with seedlings by the seedling storing frames above, and the seedlings can be supplemented during flight. The plurality of seedling storing frames are arranged above the seedling conveying frame, so that the space above the seedling conveying frame is utilized, and the compactness of the structure is improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment technology, and in particular to a rice seedling throwing mechanism and a drone. Background Technology

[0002] In agricultural planting, some crops require seedling cultivation before planting. For mechanized seedling planting, related technologies rely on ground-based agricultural machinery for transplanting or throwing seedlings. However, this method requires reserved space on the ground for the machinery to travel, resulting in low space utilization due to site limitations. Some technologies also utilize drones equipped with seedling throwing systems, but the drone layout is often inefficient and inconvenient for farmers to use. Summary of the Invention

[0003] The purpose of this invention is to provide a rice seedling throwing mechanism and a drone. A single rice seedling throwing mechanism has a large seedling storage capacity, and can replenish seedlings to the seedling delivery frame through the seedling storage frame without the need for the drone to land.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A rice seedling throwing mechanism, comprising:

[0006] The payload module is used to connect to the drone;

[0007] A seedling throwing module is installed on the load module;

[0008] A seedling delivery module is installed on the load module; the seedling delivery module is used to deliver seedlings to the seedling throwing module; the seedling delivery module includes a seedling delivery frame, the seedling delivery frame has a seedling delivery support surface, the seedling delivery support surface is horizontal or the angle between the seedling delivery support surface and the reference plane of the seedling throwing mechanism is less than 40 degrees.

[0009] A seedling storage module is installed on the load module; the seedling storage module includes multiple seedling storage racks, which are arranged above the seedling delivery racks at intervals; each seedling storage rack has a seedling storage support surface, which is inclined or perpendicular to the seedling delivery support surface; a seedling replenishment opening is formed on the side of the seedling storage rack near the seedling delivery rack, and the seedling replenishment opening provides a channel so that the seedlings of the seedling storage rack can fall onto the seedling delivery support surface through the seedling replenishment opening.

[0010] Optionally, the seedling delivery module includes a first conveying component; the seedling delivery frame forms a seedling delivery port on one side in the y direction, and the first conveying component is used to convey seedlings on the seedling delivery support surface to the seedling delivery port in the y direction.

[0011] Multiple seedling storage racks are arranged at intervals along the y-direction.

[0012] Optionally, the seedling feeding support surface includes multiple seedling dropping areas distributed along the y-direction; multiple seedling replenishment ports are respectively located above the multiple seedling dropping areas; each seedling dropping area is provided with the first conveying component.

[0013] Optionally, the seedling delivery module includes multiple seedling position sensors, which are spaced apart along the y-direction on the seedling delivery frame.

[0014] Optionally, the seedling feeding frame includes a first frame and a second frame connected to each other; the seedling feeding support surface is formed on the top surface of the first frame; the second frame extends downward relative to the first frame, the top surface of the second frame forms a seedling sliding surface, and the seedling feeding port is formed at the bottom end of the second frame.

[0015] Optionally, the second frame is bent downwards, and the sliding surface is curved.

[0016] Optionally, the plurality of seedling storage support surfaces face the same side of the seedling throwing mechanism; the plurality of seedling storage support surfaces are parallel to each other, or the relative angle between any two seedling storage support surfaces is less than 10 degrees.

[0017] Optionally, the seedling storage module includes multiple seedling blocking components; the seedling blocking components are movably connected to the seedling storage frame, and the seedling blocking components can move between an open position where the seedling filling port is opened and a closed position where the seedling filling port is blocked.

[0018] Optionally, the seedling storage module includes multiple second conveying components; the seedling storage frame is provided with the second conveying components, which are used to convey seedlings on the seedling storage support surface to the seedling replenishment port.

[0019] Optionally, the seedling throwing module is used to separate and throw seedlings; the seedling throwing module includes a first driver, a seedling throwing seat, and a seedling picker; one or more of the seedling pickers are installed on the seedling throwing seat, the first driver is installed on the load module, and the first driver is connected to the seedling throwing seat to drive the seedling throwing seat to rotate.

[0020] Optionally, the seedling throwing module includes a seedling support plate, which is located next to the seedling delivery port and is used to support the seedlings delivered by the seedling delivery port; the seedling support plate is provided with a seedling picking opening, and the first driver is used to drive the seedling picker to rotate and pass through the seedling picking opening.

[0021] Optionally, the seedling throwing mechanism includes a lateral movement drive device, which is mounted on the load module;

[0022] The seedling delivery module is slidably mounted on the load module, and the lateral movement drive device is connected to the seedling delivery module. The lateral movement drive device is used to drive the seedling delivery module to move laterally relative to the seedling throwing module.

[0023] Alternatively, the seedling throwing module is slidably mounted on the load module, and the lateral movement drive device is connected to the seedling throwing module. The lateral movement drive device is used to drive the seedling throwing module to move laterally relative to the seedling delivery module.

[0024] Optionally, when the lateral movement drive device is connected to the seedling delivery module, the seedling delivery module has a first extreme position, a central position, and a second extreme position, and the lateral movement drive device is used to drive the seedling delivery module to move along the lateral movement direction between the first extreme position, the central position, and the second extreme position;

[0025] The seedling throwing mechanism also includes a lateral position sensor, which is located between the seedling feeding frame and the load module. The lateral position sensor senses a positioning signal when the seedling feeding module is in the center position.

[0026] A drone, comprising:

[0027] body;

[0028] The seedling throwing mechanism is as described in the above scheme; the load module is connected to the fuselage; wherein the reference plane is perpendicular to the heading axis of the UAV.

[0029] The beneficial effects of this invention are that the rice-throwing mechanism can be used in drone applications.

[0030] The rice-throwing mechanism and the drone that includes it have a large rice-throwing capacity per unit. The upper rice-storage frame can replenish rice seedlings to the lower rice-delivery frame, enabling replenishment during flight. Multiple rice-storage frames are positioned above the rice-delivery frame to utilize the space above it, which helps improve the structural compactness when the rice-throwing mechanism is applied to a drone. Attached Figure Description

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0032] Figure 1 This is a schematic diagram of the structure of the UAV described in an embodiment of the present invention;

[0033] Figure 2 This is one of the schematic diagrams of the rice-throwing mechanism described in an embodiment of the present invention (some structures are omitted in the figure);

[0034] Figure 3 This is a second schematic diagram of the rice-throwing mechanism described in an embodiment of the present invention (some structures are omitted in the diagram);

[0035] Figure 4 This is one of the schematic diagrams of the seedling replanting process of the seedling throwing mechanism described in the embodiment of the present invention;

[0036] Figure 5 This is a second schematic diagram of the seedling replanting process of the seedling throwing mechanism described in this embodiment of the invention;

[0037] Figure 6 This is one of the schematic diagrams showing the cooperation between the seedling delivery module and the seedling throwing module according to an embodiment of the present invention (the seedling delivery frame is located in the center of the diagram);

[0038] Figure 7 This is a second schematic diagram of the cooperation between the seedling delivery module and the seedling throwing module according to an embodiment of the present invention (the seedling delivery frame is located at the first extreme position in the figure);

[0039] Figure 8 This is one of the schematic diagrams of the seedling storage tray described in the embodiments of the present invention;

[0040] Figure 9 This is a second schematic diagram of the seedling storage tray described in an embodiment of the present invention;

[0041] Figure 10 This is the third schematic diagram of the seedling storage tray described in the embodiment of the present invention;

[0042] Figure 11 This is a schematic diagram of the structure of the rice transplanting module according to one embodiment of the present invention;

[0043] Figure 12 This is a schematic diagram of the structure of the wolf tooth wheel described in an embodiment of the present invention;

[0044] Figure 13 A diagram showing the distribution of pitch, roll, and yaw axes for a UAV.

[0045] Figure 14 This is a schematic diagram of a seedling tray for potted seedlings in related technologies;

[0046] Figure 15 A three-dimensional schematic diagram of the tufted seedlings;

[0047] Figure 16 This is a side view of the seedling.

[0048] Figure 17 A schematic diagram of a *Phyllostachys edulis* seedling;

[0049] Figure 18 The seedling is a single seedling removed from the blanket-like seedlings by the seedling picker in an embodiment of the present invention.

[0050] In the diagram: 10, Load module; 20, Seedling delivery module; 21, Seedling delivery frame; 2101, First frame; 2102, Second frame; 211, Seedling delivery support surface; 212, Sliding surface; 213, Seedling delivery port; 22, First conveying component; 30, Seedling throwing module; 31, First driver; 32, Seedling throwing seat; 33, Seedling picker; 40, Seedling storage module; 41, Seedling storage frame; 411, Seedling storage support surface; 412, Seedling replenishment port; 42, Seedling blocking component; 50, Seedling support plate; 51, Seedling picking opening; 60, Lateral movement drive device; 80, Seedling dropping area; 90, Reference plane; 210, Machine body; 230, Machine frame; 231, Load frame; 232, Legs; 300, Blanket seedling; 310, Blanket base; 320, Leaf; 400, Single seedling. Detailed Implementation

[0051] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected" and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0053] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0054] For ease of description, the following embodiment uses a blanket-shaped seedling as an example to illustrate the seedling throwing mechanism and the structure and principle of the drone. Before the drone takes off, the seedlings to be thrown are loaded into the seedling delivery frame and the seedling storage frame.

[0055] Currently available rice transplanters typically use tractors pulled by tractors in the fields, which is costly, inefficient, and heavily restricted by terrain, making it inconvenient for ground-based agricultural machinery to reach and operate in special terrains such as terraced fields. Some drones are equipped with rice-throwing systems, but their layout is often inefficient and inconvenient for farmers to use.

[0056] This application provides a rice seedling throwing mechanism suitable for mounting on a drone for rice seedling throwing. It also provides a drone including this rice seedling throwing mechanism. The rice seedling throwing mechanism is equipped with a seedling storage module 40, which has a large seedling storage capacity and can replenish seedlings to the seedling delivery module 20 in mid-air, reducing the number of times the drone needs to land for replenishment during flight. Furthermore, the layout between the seedling delivery module 20 and the seedling storage module 40 is reasonable and compact, making it suitable for use in drones with limited space.

[0057] In related rice transplanting techniques, there are potted seedlings and matted seedlings. However, some equipment can only handle potted seedlings and is not suitable for matted seedlings. This application is suitable for transplanting matted seedlings 300, which includes both matted seedlings and perforated matted seedlings.

[0058] Among them, potted seedlings are non-blanket seedlings. Figure 14 The image shows a seedling tray with several evenly spaced grooves. Each groove has an opening at the top and contains one seedling. Each groove has a hole at the bottom. A needle is inserted into the groove through the hole at the bottom to push the seedling out for transplanting. However, this method of seedling cultivation is not widespread. Figure 15 , Figure 16 The diagram illustrates the structure of the blanket seedling. In blanket seedling breeding, the blanket seedling includes a bottom blanket base 310 and numerous seedling leaves 320 extending from the blanket base 310. The blanket base 310 includes soil and the roots of the seedlings, with the roots of the seedlings within the blanket base 310 interconnected. Farmers primarily use blanket seedlings for seedling cultivation. Figure 17 The diagram illustrates the structural form of the perforated seedling. The difference between the perforated seedling and the mat seedling lies in the fact that the perforated seedling has a grid-like groove on the back of its mat base 310, forming a grid-like distribution of protrusions on the back of the mat base 310 through the crisscrossing grooves. In other words, the perforated seedling differs from the mat seedling in that its mat base 310 is pre-cut but not completely severed. In related technologies, no drone has been found capable of transplanting the mat seedling 300 (mat seedling or perforated seedling), thus failing to meet the needs of some situations requiring drone-based transplanting.

[0059] Please refer to Figures 1 to 12The following describes a seedling throwing mechanism and a drone provided in this application. For ease of description, this application uses the throwing of a blanket-like seedling 300 as an example. When using the seedling throwing mechanism of this application to plant the blanket-like seedling 300, the seedling-taking device 33 needs to cut the blanket-like seedling 300 into multiple individual seedlings 400 (e.g., ...). Figure 18 (As shown).

[0060] The drone includes a fuselage 210 and a rice-throwing mechanism. The fuselage 210 includes rotors, and the rice-throwing mechanism can be one or more.

[0061] The seedling throwing mechanism includes a load module 10, a seedling throwing module 30, a seedling delivery module 20, and a seedling storage module 40.

[0062] The load module 10 is used to connect directly or indirectly to the UAV fuselage 210. The seedling delivery module 20 is located on the load module 10, and it supports and delivers the blanket-shaped seedlings 300 to the seedling throwing module 30. The seedling throwing module 30 is located on the load module 10, and it separates individual seedlings 400 from the blanket-shaped seedlings 300 on the seedling delivery module 20 and throws them out using centrifugal force and / or ejection force. In this way, the UAV can be equipped with a seedling throwing mechanism to perform seedling throwing operations. The seedling delivery module 20 delivers the blanket-shaped seedlings 300, and the seedling throwing module 30 separates the blanket-shaped seedlings 300 and throws out individual seedlings 400, thus achieving the aerial seedling throwing operation of the blanket-shaped seedlings 300. The seedling storage module 40 is installed on the load module 10. The seedling storage module 40 is used to store the blanket seedlings 300 and to provide the blanket seedlings 300 to the seedling delivery module 20 when the seedling delivery module 20 needs to replenish the blanket seedlings 300, so that the blanket seedlings 300 can be continuously delivered to the seedling throwing module 30.

[0063] The seedling separation method of the seedling throwing module 30 (i.e., the seedling retrieval method) can be varied, such as cutting, grabbing, pushing, pressing, digging out, pulling, etc. The specific separation and seedling retrieval method is not limited.

[0064] The seedling throwing module 30 can throw seedlings in several ways. In one embodiment, after separating the seedlings from the blanket-like seedlings 300, the seedling throwing module 30 can use centrifugal force to fling the seedlings out. In another embodiment, after separating the seedlings from the blanket-like seedlings 300, the seedling throwing module 30 can use a launching force to launch the separated seedlings (the seedling throwing module 30 may be equipped with a launching element that can provide launching force). In yet another embodiment, the seedling throwing module 30 can use the combined action of centrifugal force and launching force to launch the separated seedlings.

[0065] This application provides a seedling throwing mechanism with a large seedling storage capacity, and a drone using this seedling throwing mechanism. Multiple seedling storage racks 41 are arranged above the seedling delivery rack 21 to utilize the space above the seedling delivery rack 21. This improves the structural compactness and the utilization efficiency of the limited space in the drone when the seedling delivery component is applied to a drone seedling throwing system. Aerial seedling replenishment operations do not require manual intervention. When applied to a drone seedling throwing system, it can increase the seedling storage capacity of a single drone seedling throwing system, reduce the number of times the seedling throwing drone needs to stop for replenishment, and improve seedling throwing efficiency.

[0066] When a drone's seedling-throwing mechanism is equipped with only one seedling delivery frame 21, the seedling-retrieving mechanism in the seedling-throwing system needs to return to the base for replenishment after all the seedlings on the delivery frame 21 have been removed and thrown, resulting in low efficiency. This application allows for simultaneous seedling throwing and replenishment during flight, making it more convenient and practical. A single drone can carry multiple seedling-throwing mechanisms with large storage capacity, improving seedling throwing efficiency and reducing the number of times it needs to land for replenishment.

[0067] It should be noted that in this application, "multiple sets" refers to two or more sets, and "multiple" refers to two or more sets.

[0068] Please refer to Figures 1 to 12 The following is a further explanation of the rice-throwing mechanism and the drone.

[0069] The seedling delivery module 20 includes a seedling delivery frame 21, which has a seedling delivery support surface 211 for supporting the blanket-shaped seedlings 300. A seedling delivery port 213 is provided at one end of the seedling delivery frame 21, and the seedling throwing module 30 is located next to the seedling delivery port 213. The seedling delivery module 20 is used to transport the blanket-shaped seedlings 300 to the seedling delivery port 213.

[0070] The seedling storage module 40 includes multiple seedling storage racks 41, which are positioned above the seedling delivery rack 21 and spaced apart. Each seedling storage rack 41 has a seedling storage support surface 411, which is inclined or perpendicular to the seedling delivery support surface 211. A seedling replenishment opening 412 is formed on the side of the seedling storage rack 41 near the seedling delivery rack 21, providing a channel for seedlings in the seedling storage rack 41 to fall onto the seedling delivery support surface 211.

[0071] For example, the seedling throwing mechanism includes a seedling delivery frame 21 and three supplementary seedling frames arranged at intervals, as shown in the reference. Figure 1 Before the drone takes off, the first blanket-shaped seedling 300 is loaded onto the seedling delivery rack 21, the second blanket-shaped seedling 300 is loaded onto the seedling storage rack 41 located at the rear, the third blanket-shaped seedling 300 is loaded onto the seedling storage rack 41 located in the middle, and the fourth blanket-shaped seedling 300 is loaded onto the seedling storage rack 41 located at the front. (Refer to...) Figure 4 , reference Figure 5When it is necessary to replenish the seedlings of the seedling delivery frame 21, the seedlings of the seedling storage frame 41 are sent to the seedling delivery frame 21 through the replenishment port 412 for replenishment and continuation.

[0072] During the process of the drone flying and throwing rice seedlings, the seedlings on the seedling delivery frame 21 are transported from back to front. The seedling throwing module 30 first picks up and throws the first row of seedlings sent out by the seedling delivery frame 21. After the first row of seedlings is picked up, the seedlings on the seedling delivery frame 21 are then transported forward to the next row.

[0073] The following is an example of a replanting method based on this seedling throwing mechanism:

[0074] like Figure 4 As shown, after the first blanket of seedlings is conveyed forward a certain distance, the end of the first blanket of seedlings moves to the vicinity of the seedling replenishment port 412 at the bottom of the rear seedling storage frame 41. At this time, the second blanket of seedlings is sent downward through the rear seedling storage frame 41 to replenish the seedlings, so that the front end of the second blanket of seedlings is connected to the rear end of the first blanket of seedlings.

[0075] like Figure 5 As shown, the second blanket of seedlings, which is in contact with the seedling support surface 211, continues to be conveyed forward until the end of the second blanket of seedlings moves to the vicinity of the supplementary seedling opening 412 at the bottom of the intermediate seedling storage frame 41. At this time, the third blanket of seedlings is sent downward through the intermediate seedling storage frame 41 to supplement the seedlings, so that the front end of the third blanket of seedlings connects to the rear end of the second blanket of seedlings. This process continues until the third blanket of seedlings is also received and supported by the seedling delivery frame 21.

[0076] Seedling storage frame 41 is connected to load module 10 and their relative positions are fixed, as shown in the reference. Figure 3 The seedling storage frame 41's supplementary seedling opening 412 can be projected downwards onto the seedling delivery support surface 211. Thus, when throwing or supplementing seedlings, there is no need to move the horizontal position of the seedling storage frame 41. Multiple seedling storage frames 41, arranged in the same direction and tilted, can be used to supplement seedlings from different positions on the seedling delivery support surface 211. This increases the seedling storage capacity while simplifying the connection structure between the seedling storage frame 41 and the load module 10, saving space and facilitating assembly and maintenance.

[0077] The seedling storage rack 41 is positioned above the seedling delivery rack 21 to utilize the space above the seedling delivery rack 21 and improve the compactness of the drone structure. Under the influence of gravity or conveying force, the seedlings inside the storage rack 41 are delivered through the replenishment opening 412 at the bottom of the storage rack 41, and the soft, blanket-like seedlings slowly fall onto the seedling delivery support surface 211 for replenishment. Multiple seedling storage racks 41 are spaced apart to reserve space between adjacent storage racks 41 for pre-storing the blanket-like seedlings 300. When replenishment is needed, the storage rack 41 does not need to move relative to the seedling delivery rack 21; the seedlings stored in the storage rack 41 can simply be placed downwards.

[0078] The seedling throwing mechanism of this application needs to be mounted on a drone. After multiple seedling storage racks 41 are vertically tilted or set above the seedling delivery rack 21, the seedling storage module 40 occupies a large vertical space of the drone. Based on this, the seedling delivery rack 21 is configured to be horizontal or basically horizontal. On the one hand, it can increase the seedling storage capacity and solve the overall height space of the drone, achieving a compact effect. On the other hand, the horizontal or basically horizontal seedling delivery rack 21 can provide a larger seedling receiving surface through the seedling delivery support surface 211. The seedling replenishment openings 412 of the multiple seedling storage racks 41 arranged at intervals above the seedling delivery rack 21 are all located above the seedling delivery rack 21. The position of the seedling storage rack 41 does not need to be moved, and there is no need to configure corresponding mechanisms to adjust the position of the seedling replenishment rack. The blanket-like seedlings 300 sliding out of the seedling replenishment openings 412 can fall directly onto the seedling delivery rack 21, saving the lateral space of the drone.

[0079] It is understood that the seedling delivery frame 21 is horizontal or basically horizontal, meaning the seedling delivery support surface 211 is horizontal or basically horizontal. When the drone lands on a flat surface, the seedling delivery support surface 211 is horizontal or basically horizontal with respect to the horizontal plane. Here, "basically horizontal" means that the seedling delivery support surface 211 can have a small angle of inclination relative to the horizontal plane, for example, an inclination of 0.5 degrees to 40 degrees. It is understood that the horizontality of the seedling delivery support surface 211 can be detected by setting a level on the seedling delivery support surface 211 when the drone is parked on a relatively flat surface.

[0080] In one embodiment, to ensure that the seedling delivery support surface 211 is horizontal or substantially horizontal when the seedling throwing mechanism is mounted on a drone, the seedling delivery support surface 211 is configured to be substantially horizontal relative to the reference plane 90 of the seedling throwing mechanism during assembly; that is, the angle between the seedling delivery support surface 211 and the reference plane 90 is 0 to 40 degrees. Optionally, the angle between the seedling delivery support surface 211 and the reference plane 90 of the seedling throwing mechanism is less than 20 degrees. Optionally, the angle between the seedling delivery support surface 211 and the reference plane 90 of the seedling throwing mechanism is less than 10 degrees.

[0081] In the figure, S2 indicates a surface parallel to the seedling delivery support surface 211, and S3 indicates a surface parallel to the seedling storage support surface 411. The reference plane 90 of the seedling throwing mechanism is a virtual plane. When the seedling throwing mechanism is mounted on the UAV fuselage 210 or frame 230, the UAV's heading axis is perpendicular to this virtual plane. In one embodiment, the seedling throwing mechanism has two perpendicular x-axis, y-axis, and z-axis, and the virtual plane is the xy-plane. When assembling the seedling throwing mechanism onto the UAV, the seedling throwing mechanism is adjusted so that the UAV's heading axis passes through the xy-plane. Figure 13The diagram illustrates the pitch axis, roll axis (also called yaw axis), and yaw axis of the drone. The pitch axis, roll axis, and yaw axis are imaginary lines passing through the center of the drone. In some embodiments, the x-axis of the rice-throwing mechanism is aligned with the pitch axis of the drone, and the y-axis of the rice-throwing mechanism is aligned with the roll axis of the drone.

[0082] The seedling delivery module 20 includes a first conveying component 22. A seedling delivery opening 213 is formed on one side of the seedling delivery frame 21 in the y-direction. The first conveying component 22 is used to convey seedlings from the seedling delivery support surface 211 to the seedling delivery opening 213 along the y-direction. After the seedling delivery frame 21 is set horizontally or nearly horizontally, the first conveying component 22 is configured to ensure that the nearly horizontally leveled, blanket-like seedlings 300 can be continuously conveyed to the seedling delivery opening 213, allowing the seedling throwing module 30 to pick up seedlings row by row.

[0083] The first conveying component 22 is located at the bottom and / or side of the seedling delivery frame 21. The first conveying component 22 may be a conveyor belt, a conveyor roller (such as a toothed wheel), a conveyor chain, etc. The first conveying component 22 may be partially inserted into the blanket base 310 of the blanket seedling 300 to increase friction for conveying the blanket seedling 300. When conveying the blanket seedling 300, the first conveying component 22 may contact one or more of the bottom, side, and top surfaces of the blanket base 310.

[0084] Reference Figures 1 to 4 Multiple seedling storage racks 41 are arranged at intervals along the y-direction, that is, multiple seedling storage racks 41 are arranged at intervals along the seedling delivery direction of the seedling delivery rack 21. This not only makes effective use of the space above the seedling delivery rack 21, but also makes the overall structure compact. Furthermore, multiple seedling storage racks 41 can be used to replenish seedlings from different positions without interfering with each other.

[0085] Reference Figure 3 The seedling delivery module 20 is used to deliver seedlings along the y-direction. Correspondingly, the seedling delivery support surface 211 includes multiple seedling dropping areas 80 distributed along the y-direction. Multiple seedling replenishment ports 412 are located above the multiple seedling dropping areas 80, which not only facilitates a compact layout but also ensures that the seedlings of each seedling storage rack 41 are received by the seedling delivery support surface 211 after they fall.

[0086] Each seedling dropping area 80 is equipped with a first conveying component 22 to ensure that after the blanket-shaped seedlings 300 from the seedling storage frame 41 fall to the seedling delivery frame 21 for replenishment, the replenished blanket-shaped seedlings 300 contact the first conveying component 22, and can be reliably conveyed forward to continue the process, so that the replenished blanket-shaped seedlings 300 continue at the tail end of the previous blanket-shaped seedlings 300. In other words, for the seedling delivery frame 21 set horizontally or nearly horizontally, the first conveying component 22 is set in each seedling dropping area 80 to ensure that the replenished blanket-shaped seedlings 300 continue behind the previous blanket-shaped seedlings 300 while taking into account the compactness of space, thereby improving the continuity of seedling delivery from the seedling delivery module 20 to the seedling throwing module 30.

[0087] The seedling delivery module 20 includes multiple seedling position sensors, which are spaced apart along the y-direction on the seedling delivery frame 21. The seedling position sensors are used to sense the position of the seedlings on the seedling delivery frame 21. The seedling position sensors can be pressure sensors, photoelectric sensors, etc.

[0088] In one embodiment, a set of seedling position sensors is provided in each seedling dropping area 80. The seedling position sensors sense the position of the end of the blanket-shaped seedlings 300 on the seedling delivery frame 21, so as to control the corresponding supplementary seedling frame to release supplementary blanket-shaped seedlings 300 through the supplementary seedling opening 412 at an appropriate time.

[0089] For example, the system includes three seedling feeding frames. The seedling feeding frame 21 includes three seedling dropping areas 80, and each of the three dropping areas 80 is equipped with a seedling position sensor. When the tail end of the blanket-like seedling 300 on the seedling feeding support surface 211 passes the seedling position sensor located on the rear side, a first seedling feeding signal is generated. Figure 4 The rear-mounted seedling rack releases blanket-shaped seedlings 300 for replenishment; then, when the tail end of the blanket-shaped seedlings 300 on the seedling support surface 211 passes the seedling position sensor located in the middle, a first replenishment signal is generated, referring to... Figure 5 The middle seedling rack releases 300 blanket-shaped seedlings for replenishment; similarly, the seedling sensor on the front side senses the passing of the tail end and generates a third seedling replenishment signal, and the seedling rack on the front side releases 300 blanket-shaped seedlings for replenishment.

[0090] In other embodiments, the seedling position sensor may not be provided, and the seedling delivery speed of the seedling delivery frame 21 and the seedling replenishment time of the replenishment frame may be controlled by preset parameters.

[0091] In some embodiments, the front end of the seedling delivery frame 21 is tilted to facilitate seedling delivery. (Refer to...) Figures 1 to 3The seedling delivery frame 21 includes a first frame 2101 and a second frame 2102 connected to each other. The first frame 2101 is a flat plate, and a seedling delivery support surface 211 is formed on the top surface of the first frame 2101. The second frame 2102 extends downward; in other words, the second frame 2102 is angled to the first frame 2101. A seedling sliding surface 212 is formed on the top surface of the second frame 2102, and a seedling delivery port 213 is formed at the bottom end of the second frame 2102. The first frame 2101 is set horizontally or nearly horizontally, which can save space in the height of the drone. Multiple seedling storage racks 41 are set above the first frame 2101 of the seedling delivery frame 21 to replenish seedlings to the first frame 2101. The second frame 2102 extends downwards. When the blanket-shaped seedlings 300 are conveyed close to the seedling delivery port 213, the front end of the blanket-shaped seedlings 300 can slide downwards towards the seedling delivery port 213 under the action of gravity, reducing the conveying power consumption of the first conveying component 22 and making it easier to deliver the blanket-shaped seedlings 300 to the seedling delivery port 213 for the seedling throwing module 30 to pick up and throw the seedlings. In some embodiments, both the first frame 2101 and the second frame 2102 are provided with the first conveying component 22. In some embodiments, the first conveying component 22 is provided only on the first frame 2101.

[0092] Reference Figures 1 to 3 The second frame 2102 bends downward to form an arc-shaped, curved seedling-sliding surface 212. The transition between the arc-shaped seedling-sliding surface 212, the seedling-feeding support surface 211, the seedling-sliding surface 212, and the seedling-feeding opening 213 is smooth, which helps to protect the blanket base 310 of the blanket seedling 300 from being scratched and prevents the blanket base 310 from becoming loose due to scratches. In other embodiments, the seedling-sliding surface 212 can also be flat.

[0093] In other embodiments, a flat plate can also be used as the seedling delivery frame 21, that is, the second frame 2102 extending downward is not provided.

[0094] To improve the compactness of the seedling storage module 40, multiple seedling storage frames 41 are arranged in parallel or nearly parallel configurations. Multiple seedling storage support surfaces 411 face the same side of the seedling throwing mechanism; the multiple seedling storage support surfaces 411 are parallel to each other, or the relative angle between any two seedling storage support surfaces 411 is less than 10 degrees. This highly compact seedling storage module 40 is suitable for use in space-constrained drones.

[0095] Reference Figures 8 to 10 The seedling storage module 40 includes multiple seedling retainers 42, and each seedling storage frame 41 is equipped with a seedling retainer 42. The seedling retainer 42 is configured to move between an open position where the seedling filling opening 412 is opened and a closed position that blocks the seedling filling opening 412. Figure 8 As shown, the seedling retainer 42 is in the closed position, the seedling filling port 412 is closed, and the blanket-like seedlings 300 on the seedling storage frame 41 do not fall. Figure 9 , Figure 10As shown, when the seedling blocking component 42 is in the open position, the seedling replenishment opening 412 is opened, and the blanket-like seedlings 300 in the seedling storage frame 41 can be sent to the seedling delivery frame 21 through the seedling replenishment opening 412 for replenishment. The seedling blocking component 42 can be controlled to open or close by means of motor drive or other means to control the replenishment.

[0096] Figures 8 to 10 The invention provides a seedling retainer 42 that is rotatably mounted on a seedling storage frame 41. The seedling retainer 42 is used as a flip-up door panel and can be switched between an open position and a closed position by rotation. Figures 6 to 8 In this design, a seedling storage rack 41 is equipped with two opposing, opening and closing seedling-blocking components 42. This reduces the travel required for a single seedling-blocking component 42 to flip open, avoiding excessive space occupation and waste, and promoting a compact design. In other embodiments, only one flipping seedling-blocking component 42 may be configured. Figures 8 to 10 The rotation axis of the seedling container is perpendicular to the seedling support surface 411.

[0097] In another embodiment, a seedling retainer 42 that can be flipped to open or close the seedling filling port 412 is also used, with the flipping axis parallel to the seedling storage support surface 411, which saves more vertical space.

[0098] In other embodiments, a laterally telescopic seedling retainer can also be configured to open or close the seedling filling opening 412.

[0099] In other embodiments, the seedling retainer 42 may be omitted, and a notch may be designed directly in the seedling storage frame 41, with a similar feature provided at the notch location. Figure 12 The toothed conveyor wheel and the wolf tooth wheel are shown. The wolf tooth wheel only conveys the blanket-like seedlings 300 downwards when it rotates.

[0100] The seedling storage module 40 includes multiple second conveying components; the seedling storage frame 41 is equipped with the second conveying components, which are used to convey seedlings on the seedling storage support surface 411 to the seedling replenishment opening 412. The second conveying components can convey seedlings to the seedling replenishment opening 412 more stably and can control the seedling replenishment speed. The second conveying components can be conveyor belts, conveyor rollers (such as toothed wheels), conveyor chains, etc. In other embodiments, the seedling storage frame 41, which is inclined or vertically arranged, may not be equipped with second conveying components. When the seedling replenishment opening 412 is opened, the blanket-like seedlings 300 inside the seedling storage frame 41 can slide down to the seedling delivery frame 21 under the action of gravity.

[0101] The seedling throwing module 30 includes a seedling picker 33 and a first driver 31. The main body of the first driver 31 is connected to the load module 10, and the driving part of the first driver 31 is connected to the seedling picker 33. The seedling picker 33 can be a seedling picker claw, a seedling picker blade, a seedling picker pin, a seedling picker top frame, etc., and different seedling pickers 33 are selected according to different seedling shapes. The seedling picking and throwing principle of the seedling picker 33 is as follows: the seedling picker 33 rotates under the drive of the first driver 31 to move along the working trajectory. The working trajectory can be circular or irregular curved (such as kidney-shaped). The seedling picker 33 can rotate or reciprocate. When the seedling picker 33 moves along the first stroke of the movement trajectory, it picks off a single seedling 400 from the blanket-shaped seedling 300 delivered from the seedling delivery port 213 by cutting or other means, thus separating the blanket-shaped seedling 300 delivered by the seedling delivery frame 21. When the seedling picker 33 moves along the second stroke of its trajectory, the seedlings on the seedling picker 33 are thrown out of the seedling picker 33 by centrifugal force and / or ejection force, thus realizing the unmanned aerial vehicle seedling throwing.

[0102] To improve the efficiency of seedling picking at a single location, the seedling throwing module 30 includes a seedling throwing seat 32 and multiple seedling pickers 33. A first driver 31 is connected to the seedling throwing seat 32 via a first rotating shaft. The first driver 31 drives the seedling throwing seat 32 to rotate around the axis of the first rotating shaft. The multiple seedling pickers 33 are spaced apart around the first rotating shaft in the seedling throwing module 30.

[0103] A seedling throwing module 30 may include multiple seedling pickers 33, which may be two, three, or four, etc. The seedling pickers 33 are evenly distributed around the seedling throwing base 32. For example, the angle from two seedling pickers 33 to the center of the turntable is 180 degrees, three seedling pickers 33 are spaced 120 degrees apart, and four seedling pickers 33 are spaced 90 degrees apart.

[0104] The seedling throwing module 30 includes a seedling support plate 50, which is located next to the seedling delivery port 213. The seedling support plate 50 is used to support the seedlings delivered by the seedling delivery port 213. The seedling support plate 50 is provided with a seedling picking opening 51. The first driver 31 is used to drive the seedling picker 33 to rotate and pass through the seedling picking opening 51.

[0105] To facilitate the individual collection and throwing of seedlings from the outermost row of the blanket-like seedlings 300, the seedling throwing mechanism also includes a seedling support plate 50. The seedling support plate 50 is located next to the seedling delivery port 213 and is used to support the blanket-like seedlings 300 delivered by the seedling delivery module 20. In practice, the seedling support plate 50 can be configured to support the outermost row of the blanket-like seedlings 300, i.e., the row to be collected. The seedling support plate 50 has a seedling collection opening 51. When the seedling throwing module 30 performs the seedling collection action, the seedling collector 33 passes through the seedling collection opening 51 to cut the blanket-like seedlings 300 supported by the seedling support plate 50, thereby separating and removing individual seedlings 400.

[0106] The seedling support plate 50 supports the first row of blanket-like seedlings 300 to be harvested, preventing the outermost blanket-like seedlings 300 from shaking and becoming difficult to separate. This ensures that when the seedling harvester 33 rotates through the harvesting opening 51, it cuts the supported blanket-like seedlings 300 that are only exposed within the harvesting opening 51, accurately cutting the target area and avoiding cutting the blanket-like seedlings 300 in non-target areas, thus separating individual seedlings 400. In other words, the seedling support plate 50 also improves the uniformity of the amount of seedlings harvested each time.

[0107] To achieve the separation and throwing of the blanket-like seedlings 300 one by one, the seedling delivery module 20 and the seedling throwing module 30 are configured to move relative to each other in the lateral direction, such as... Figure 6 , Figure 7 As shown, by moving the seedling feeding module 20 and the seedling throwing module 30 laterally relative to each other, the seedling throwing module 30 can pick up and throw seedlings from different areas on the seedling feeding module 20. To provide lateral movement force, the seedling throwing mechanism includes a lateral movement drive mechanism, which is mounted on the load module 10.

[0108] In some embodiments, the seedling delivery module 20 is slidably mounted on the load module 10, and the lateral movement drive device 60 is connected to the seedling delivery module 20. The lateral movement drive device 60 is used to drive the seedling delivery module 20 to move laterally relative to the seedling throwing module 30. That is, when throwing seedlings, the seedling delivery module 20 moves laterally, while the seedling support plate 50 and the seedling throwing module 30 do not move laterally.

[0109] In other embodiments, the seedling throwing module 30 is slidably mounted on the load module 10, and the lateral movement drive device 60 is connected to the seedling throwing module 30. The lateral movement drive device 60 is used to drive the seedling throwing module 30 to move laterally relative to the seedling delivery module 20. That is, during seedling throwing, the seedling support plate 50 and the seedling throwing module 30 move laterally synchronously, while the seedling delivery module 20 does not move laterally.

[0110] It should be noted that in this application, the lateral direction of the rice-throwing mechanism is the x-direction. Lateral movement refers to movement along the x-direction.

[0111] When the lateral drive device 60 is connected to the seedling delivery module 20, the seedling delivery frame 21 needs to be laterally moved to directly below the seedling replenishment frame before the seedling replenishment can be carried out, so as to prevent the replenished seedlings from falling outside the seedling delivery frame 21.

[0112] The seedling delivery module 20 has a first extreme position, a central position, and a second extreme position. The transverse drive device 60 is used to drive the seedling delivery module 20 to move between the first extreme position, the central position, and the second extreme position along the transverse direction. When the seedling delivery module 20 is in the central position, the seedling delivery frame 21 is located directly below the seedling storage frame 41, and the downward projection of the seedling replenishment port 412 of the seedling storage frame 41 falls completely into the seedling delivery support surface 211.

[0113] The seedling throwing mechanism and drone of this application detect the position of the seedling delivery frame 21 and determine that the seedling delivery frame 21 is in the center position before replanting seedlings. Specifically, the seedling throwing mechanism also includes a lateral position sensor, which is located between the seedling delivery frame 21 and the load module 10. The lateral position sensor senses a positioning signal when the seedling delivery module 20 is in the center position. The controller generates a replanting signal based on the positioning signal from the lateral position sensor and controls the seedling storage module 40 to replant seedlings.

[0114] In one embodiment, the seedling feeder 21 includes a plurality of seedling feed trays arranged along the x-direction, each seedling feed tray having a width consistent with the width of a blanket of seedlings. Correspondingly, the seedling storage rack 41 includes a plurality of seedling storage trays arranged along the x-direction.

[0115] In one embodiment, the seedling delivery frame 21 includes a first base plate and first side plates connected to both sides of the width of the first base plate. The first side plates are used to restrict lateral movement of the blanket-like surface, thus providing greater stability. Correspondingly, the seedling storage frame 41 includes a second base plate and second side plates connected to both sides of the width of the second base plate. The second side plates are used to restrict lateral movement of the blanket-like surface, thus providing greater stability.

[0116] In some embodiments, the load module 10 includes a main support, a first support, a second support, a third support, a fourth support, and a fifth support; the seedling delivery frame 21 is mounted to the main support via the first support, the seedling storage frame 41 is mounted to the main support via the second support, the seedling throwing module 30 is mounted to the main support via the third support, the seedling support plate 50 is mounted to the main support via the fourth support, and the lateral movement drive device 60 is mounted to the main support via the fifth support. It is understood that in other embodiments, the load module 10 can also be configured in other ways to achieve the installation of various components, modules, and devices.

[0117] When assembling the rice-throwing mechanism onto the drone, the load module 10 is connected to the drone's frame 230, or the load module 10 is connected to the drone's fuselage 210.

[0118] In some embodiments, the drone includes a fuselage 210, a frame 230, and a rice-throwing mechanism. The load module 10 is mounted on the frame 230. The frame 230 may include a load frame 231 and a footrest 232. When it is necessary to assemble or disassemble the rice-throwing mechanism, the load module 10 of the rice-throwing mechanism can be assembled or disassembled with the drone frame 230.

[0119] In other embodiments, the drone includes a fuselage 210 and a rice-throwing mechanism. The load module 10 includes a load frame 231, a tripod 232, and other structures. When it is necessary to assemble or disassemble the rice-throwing mechanism, the load module 10 of the rice-throwing mechanism can be assembled or disassembled with the drone fuselage 210.

[0120] In this embodiment, the drone is a rotary-wing drone, specifically a quadcopter drone. Of course, it could also be a single-rotor drone, a dual-rotor drone, a hexacopter drone, an octacopter drone, etc. The drone can operate automatically according to a preset path, flight speed, and attitude, or it can be manually controlled by an operator. For ease of description, the accompanying drawings show the forward, backward, left, right, up, and down directions, which are relative positional relationships that can be clearly understood by those skilled in the art when the drone is normally placed or in flight.

[0121] The diagram shows a split-type rice-throwing mechanism. Specifically, the load module 10 of the rice-throwing mechanism is detachably mounted on the lower part of the drone. That is, the drone and the rice-throwing mechanism adopt a split-type design, with the drone serving as a mobile platform and the rice-throwing mechanism being separate components. In other words, this type of rice-throwing mechanism is an independent structure, not dependent on the drone's fuselage 210 frame. Based on this type, appropriate devices can be replaced according to actual operational needs in specific operational scenarios. For example, after disassembling the rice-throwing mechanism, a spreading device can be installed to spread pesticides, fertilizers, seeds, etc. Similarly, the rice-throwing mechanism can be disassembled to install surveying devices, spraying devices, and other agricultural operation mechanisms.

[0122] In the description herein, it should be understood that the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0123] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0124] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0125] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A rice seedling throwing mechanism, characterized in that, include: A load module (10) is used to connect to the drone; The seedling throwing module (30) is installed on the load module (10); A seedling delivery module (20) is installed on the load module (10); the seedling delivery module (20) is used to deliver seedlings to the seedling throwing module (30); the seedling delivery module (20) includes a seedling delivery frame (21), the seedling delivery frame (21) has a seedling delivery support surface (211), the seedling delivery support surface (211) is horizontal or the angle between the seedling delivery support surface (211) and the reference plane (90) of the seedling throwing mechanism is less than 40 degrees; A seedling storage module (40) is installed on the load module (10); the seedling storage module (40) includes multiple seedling storage racks (41), which are arranged above the seedling delivery rack (21) and spaced apart; the seedling storage rack (41) has a seedling storage support surface (411), which is inclined or perpendicular to the seedling delivery support surface (211); a seedling replenishment opening (412) is formed on the side of the seedling storage rack (41) close to the seedling delivery rack (21), through which the seedlings of the seedling storage rack (41) can fall onto the seedling delivery support surface (211).

2. The rice-throwing mechanism according to claim 1, characterized in that, The seedling delivery module (20) includes a first delivery component (22); the seedling delivery frame (21) forms a seedling delivery port (213) on one side in the y direction, and the first delivery component (22) is used to deliver the seedlings on the seedling delivery support surface (211) to the seedling delivery port (213) in the y direction; Multiple seedling storage racks (41) are arranged at intervals along the y-direction.

3. The rice-throwing mechanism according to claim 2, characterized in that, The seedling support surface (211) includes a plurality of seedling dropping areas (80) distributed along the y direction; a plurality of seedling replenishment ports (412) are respectively located above the plurality of seedling dropping areas (80); each seedling dropping area (80) is provided with the first conveying component (22).

4. The rice-throwing mechanism according to claim 2, characterized in that, The seedling delivery module (20) includes multiple seedling position sensors, which are spaced apart on the seedling delivery frame (21) along the y-direction.

5. The rice-throwing mechanism according to claim 2, characterized in that, The seedling delivery frame (21) includes a first frame (2101) and a second frame (2102) connected to each other; the seedling delivery support surface (211) is formed on the top surface of the first frame (2101); the second frame (2102) extends downward relative to the first frame (2101), the top surface of the second frame (2102) forms a seedling sliding surface (212), and the seedling delivery port (213) is formed at the bottom end of the second frame (2102).

6. The rice-throwing mechanism according to claim 5, characterized in that, The second frame (2102) bends downward, and the sliding surface (212) is curved.

7. The rice-throwing mechanism according to any one of claims 1-6, characterized in that, The plurality of seedling storage support surfaces (411) face the same side of the seedling throwing mechanism; the plurality of seedling storage support surfaces (411) are parallel to each other, or the relative angle between any two seedling storage support surfaces (411) is less than 10 degrees.

8. The rice-throwing mechanism according to any one of claims 1-6, characterized in that, The seedling storage module (40) includes multiple seedling blocking components (42); the seedling blocking components (42) are movably connected to the seedling storage frame (41), and the seedling blocking components (42) can move between the open position of opening the seedling filling port (412) and the closed position of blocking the seedling filling port (412).

9. The rice-throwing mechanism according to any one of claims 1-6, characterized in that, The seedling storage module (40) includes multiple second conveying components; the seedling storage frame (41) is provided with the second conveying components, which are used to convey the seedlings on the seedling storage support surface (411) to the seedling replenishment port (412).

10. The rice-throwing mechanism according to claim 2, characterized in that, The seedling throwing module (30) is used to separate and throw seedlings; the seedling throwing module (30) includes a first driver (31), a seedling throwing seat (32) and a seedling picker (33); one or more seedling pickers (33) are installed on the seedling throwing seat (32), the first driver (31) is installed on the load module (10), and the first driver (31) is connected to the seedling throwing seat (32) to drive the seedling throwing seat (32) to rotate.

11. The rice-throwing mechanism according to claim 10, characterized in that, The seedling throwing module (30) includes a seedling support plate (50), which is located next to the seedling delivery port (213). The seedling support plate (50) is used to support the seedlings delivered by the seedling delivery port (213). The seedling support plate (50) is provided with a seedling picking opening (51), and the first driver (31) is used to drive the seedling picker (33) to rotate and pass through the seedling picking opening (51).

12. The rice-throwing mechanism according to claim 1, characterized in that, The seedling throwing mechanism includes a lateral movement drive device (60), which is installed on the load module (10); The seedling delivery module (20) is slidably installed on the load module (10), and the transverse drive device (60) is connected to the seedling delivery module (20). The transverse drive device (60) is used to drive the seedling delivery module (20) to move laterally relative to the seedling throwing module (30). Alternatively, the seedling throwing module (30) is slidably mounted on the load module (10), and the lateral movement drive device (60) is connected to the seedling throwing module (30). The lateral movement drive device (60) is used to drive the seedling throwing module (30) to move laterally relative to the seedling delivery module (20).

13. The rice-throwing mechanism according to claim 12, characterized in that, When the lateral movement drive device (60) is connected to the seedling delivery module (20), the seedling delivery module (20) has a first extreme position, a central position and a second extreme position, and the lateral movement drive device (60) is used to drive the seedling delivery module (20) to move along the lateral movement direction between the first extreme position, the central position and the second extreme position; The seedling throwing mechanism also includes a lateral position sensor, which is located between the seedling feeding frame (21) and the load module (10). The lateral position sensor senses a positioning signal when the seedling feeding module (20) is in the center position.

14. An unmanned aerial vehicle (UAV), characterized in that, include: Fuselage (210); The rice-throwing mechanism as described in any one of claims 1-13; the load module (10) is connected to the machine body (210); wherein, The reference plane (90) is perpendicular to the heading axis of the UAV.

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