Unmanned aerial vehicle seedling throwing control method and device, seedling throwing system and readable storage medium

Abstract

The invention provides an unmanned aerial vehicle seedling throwing control method and device, a seedling throwing system and a readable storage medium, and relates to the technical field of unmanned aerial vehicles. When the unmanned aerial vehicle executes flying seedling throwing operation and the driving source in the seedling throwing mechanism drives all the tool bits to rotate according to the fixed period, the driving source is controlled to drive any tool bit to rotate to the preset seedling taking position at the first rotating speed, so that the tool bit separates seedlings from blanket seedlings conveyed by a seedling conveying module in the seedling throwing mechanism; the driving source is controlled to drive the tool bit to carry the separated seedlings to rotate to a preset seedling throwing position at a second rotating speed higher than the first rotating speed, so that the seedlings are thrown out under the action of centrifugal force corresponding to the second rotating speed; therefore, a stable-frequency seedling throwing effect of orderly landing of the seedlings is realized through a mode of solidifying the rotation period of the cutter head and a mode of giving the enough initial throwing speed to the seedlings by ensuring that the thrown seedlings have the enough initial speed to resist the airflow interference of the propeller.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method and device for controlling unmanned aerial vehicle seedling throwing, a seedling throwing system and a readable storage medium. Background Art

[0002] With the continuous development of science and technology, the application of drone technology in various industries (such as agriculture, logistics, etc.) has become more and more extensive. Among them, drone rice seedling transplanting technology is a new research direction of drone technology today.

[0003] At present, in the process of UAV seedling throwing, the landing position of the thrown seedlings is often affected by many factors such as propeller airflow, initial throwing velocity, throwing direction, etc., which easily leads to the phenomenon that the actual landing position of the thrown seedlings cannot be distributed in an orderly manner, seriously affecting the land utilization rate and final yield of land planting operations. Therefore, how to achieve the seedling throwing effect of orderly landing of seedlings is an important technical problem that needs to be solved in today's UAV seedling throwing technology. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a control method and device for transplanting seedlings by an unmanned aerial vehicle, a transplanting system and a readable storage medium, which can drive the cutter heads to use a lower rotation speed to remove seedlings when the unmanned aerial vehicle is in flight and all the cutter heads of the transplanting mechanism rotate according to a fixed period to avoid damage to the roots and stems of the transplanted seedlings, and drive the cutter heads to use a higher rotation speed to transplant seedlings so that the transplanted seedlings have a sufficiently large initial velocity to resist the interference of the propeller airflow, so as to achieve a stable frequency transplanting effect in which the seedlings fall to the ground in an orderly manner.

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

[0006] In a first aspect, the present application provides a method for controlling a drone to throw seedlings, wherein the drone is equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, and the seedling retrieval module includes a driving source and at least one cutter head, wherein the driving source is used to drive the at least one cutter head to rotate according to a fixed period to separate seedlings from a blanket of seedlings transported by the seedling delivery module and then throw them out; the method includes:

[0007] When the drone performs the flying seedling throwing operation, the driving source is controlled to drive any one of the cutter heads to rotate at a first speed to a preset seedling picking position, so that any one of the cutter heads separates the seedlings from the blanket of seedlings transported by the seedling delivery module;

[0008] The driving source is controlled to drive any of the cutter heads to carry the separated seedlings and rotate to a preset seedling throwing position at a second rotation speed, so that the seedlings are thrown out under the action of the centrifugal force corresponding to the second rotation speed, wherein the second rotation speed is greater than the first rotation speed.

[0009] In an optional embodiment, the driving source is a servo motor, and the seedling taking module includes one cutter head. Then, the preset seedling taking position corresponds to a seedling taking motor position at the driving source, and the preset seedling throwing position corresponds to a seedling throwing motor position at the driving source. At this time, the step of controlling the driving source to drive any cutter head to rotate at a first speed to the preset seedling taking position includes:

[0010] During the process of the driving source rotating from the position of the seedling throwing motor to the position of the seedling taking motor, the actual rotation speed applied by the driving source to the cutter head is lowered so that the actual rotation speed of the cutter head when the driving source rotates to the position of the seedling taking motor is consistent with the first rotation speed.

[0011] In an optional embodiment, the step of controlling the driving source to drive any one of the cutter heads to carry the separated seedlings and rotate to a preset seedling throwing position at a second rotation speed includes:

[0012] During the process of the driving source rotating from the position of the vine-picking motor to the position of the vine-throwing motor, the actual rotation speed applied by the driving source to the cutter head is increased so that the actual rotation speed of the cutter head when the driving source rotates to the position of the vine-throwing motor is consistent with the second rotation speed.

[0013] In an optional embodiment, the driving source is a servo motor, and the seedling taking module includes a plurality of cutter heads. Then, the preset seedling taking position corresponds to a plurality of seedling taking motor positions at the driving source, and the preset seedling throwing position corresponds to a plurality of seedling throwing motor positions at the driving source, wherein there is a seedling throwing motor position between two adjacent seedling taking motor positions, and the total number of the seedling taking motor positions is consistent with the number of cutter heads. At this time, the step of controlling the driving source to drive any cutter head to rotate at a first speed to the preset seedling taking position includes:

[0014] In the process of the driving source rotating from any seedling throwing motor position to the seedling retrieval motor position adjacent to the seedling throwing motor position, the actual rotational speed of the driving source applied to all the cutter heads at the same time is lowered so that the actual rotational speed of all the cutter heads when the driving source rotates to the seedling retrieval motor position is consistent with the first rotational speed.

[0015] In an optional embodiment, the step of controlling the driving source to drive any one of the cutter heads to carry the separated seedlings and rotate to a preset seedling throwing position at a second rotation speed includes:

[0016] During the process of the driving source rotating from any seedling retrieval motor position to the seedling throwing motor position adjacent to the seedling retrieval motor position, the actual rotational speed of the driving source applied to all the cutting heads at the same time is increased so that the actual rotational speed of all the cutting heads when the driving source rotates to the seedling throwing motor position is consistent with the second rotational speed.

[0017] In an optional embodiment, the multiple cutter heads included in the seedling pluck module are connected to the drive source in a uniform circular distribution, and the position interval angle between two adjacent cutter heads, the position interval angle between two adjacent seedling pluck motor positions, and the position interval angle between two adjacent seedling throwing motor positions remain consistent.

[0018] In an optional embodiment, the method further comprises:

[0019] configuring the first rotation speed of the seedling picking module at the preset seedling picking position according to the seedling separation standard;

[0020] According to the positive correlation between the seedling throwing speed and the seedling burying depth, the second rotation speed of the seedling taking module at the preset seedling throwing position is configured to be a desired rotation speed that satisfies the desired burying depth.

[0021] In a second aspect, the present application provides a drone seedling throwing control device, wherein the drone is equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, and the seedling retrieval module includes a driving source and at least one cutter head, and the driving source is used to drive the at least one cutter head to rotate according to a fixed period to separate the seedlings from the blanket seedlings transported by the seedling delivery module and then throw them out; the device includes:

[0022] a seedling picking control module, used for controlling the driving source to drive any one of the cutter heads to rotate at a first speed to a preset seedling picking position when the UAV performs a flying seedling throwing operation, so that any one of the cutter heads separates the seedlings from the blanket of seedlings transported by the seedling delivery module;

[0023] The seedling throwing control module is used to control the driving source to drive any one of the cutting heads to carry the separated seedlings and rotate at a second speed to a preset seedling throwing position, so that the seedlings are thrown out under the action of the centrifugal force corresponding to the second speed, wherein the second speed is greater than the first speed.

[0024] In an optional embodiment, the device further comprises:

[0025] An operation configuration module, configured to configure a first rotation speed of the seedling picking module at the preset seedling picking position according to a seedling separation standard;

[0026] The operation configuration module is also used to configure the second rotation speed of the seedling retrieval module at the preset seedling throwing position to an expected rotation speed that meets the expected seedling embedment depth according to the positive correlation between the seedling throwing speed and the seedling embedment depth.

[0027] In a third aspect, the present application provides a seedling throwing system, the system comprising a main control unit, a drone and a seedling throwing mechanism, the seedling throwing mechanism being mounted on the drone, wherein the seedling throwing mechanism comprises a seedling delivery module and a seedling retrieval module, wherein the seedling delivery module is used to deliver blanket seedlings, and the seedling retrieval module comprises a driving source and at least one cutter head, wherein the driving source is used to drive the at least one cutter head to rotate according to a fixed period to separate the seedlings from the blanket seedlings delivered by the seedling delivery module and then throw them out;

[0028] The drone includes a drone rotor and a rotor drive motor, wherein each rotor drive motor is connected to a corresponding drone rotor and is used to adjust the rotation state of the connected drone rotor;

[0029] The main control unit stores a computer program and can execute the computer program to control the UAV and the seedling throwing mechanism to work in coordination and implement the UAV seedling throwing control method described in any one of the aforementioned embodiments.

[0030] In a fourth aspect, the present application provides a readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a seedling throwing system constructed based on a drone, the drone seedling throwing control method described in any one of the aforementioned embodiments is implemented;

[0031] Among them, the seedling throwing system includes a seedling throwing mechanism installed on the drone, and the seedling throwing mechanism includes a seedling sending module and a seedling taking module, wherein the seedling sending module is used to transport the seedlings, and the seedling taking module includes a driving source and at least one cutter head, and the driving source is used to drive the at least one cutter head to rotate according to a fixed period to separate the seedlings from the seedlings transported by the seedling sending module and then throw them out.

[0032] In this case, the beneficial effects of the embodiments of the present application may include the following:

[0033] The present application controls the driving source to drive any one of the cutting heads to rotate at a first speed to a preset seedling picking position when the drone performs a flying seedling throwing operation and the seedling throwing mechanism includes a driving source to drive all the cutting heads to rotate according to a fixed cycle, so that the cutting head separates the seedlings from the blanket seedlings transported by the seedling feeding module included in the seedling throwing mechanism to avoid damage to the roots and stems of the taken seedlings, and controls the driving source to drive the cutting head to carry the separated seedlings to rotate at a second speed greater than the first speed to a preset seedling throwing position, so that the seedlings are thrown out under the action of the centrifugal force corresponding to the second speed, so as to ensure that the thrown seedlings have a sufficiently large initial velocity to resist the interference of the propeller airflow, thereby ensuring the stability of the seedling throwing frequency by using the method of solidifying the rotation cycle of the cutting head, and by giving the seedlings a sufficiently large initial velocity to be thrown, it is ensured that the actual landing positions of the thrown seedlings are orderly distributed, thereby achieving a stable frequency seedling throwing effect with orderly landing of the seedlings.

[0034] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A schematic diagram of the structure of a seedling throwing system provided in one embodiment of the present application;

[0037] Figure 2 A schematic structural diagram of a seedling throwing mechanism provided in an embodiment of the present application at a first viewing angle;

[0038] Figure 3 A schematic diagram of the structure of the seedling throwing mechanism provided in one embodiment of the present application at a second viewing angle;

[0039] Figure 4 A schematic structural diagram of a seedling throwing system provided in yet another embodiment of the present application at a first viewing angle;

[0040] Figure 5 A schematic structural diagram of a seedling throwing system provided in yet another embodiment of the present application at a second viewing angle;

[0041] Figure 6 A schematic diagram of the communication connection of the seedling throwing system provided in an embodiment of the present application;

[0042] Figure 7 A schematic diagram of a flow chart of a method for controlling rice seedlings transplanting using a drone provided in one embodiment of the present application;

[0043] Figure 8 A schematic diagram of the operation of a seedling removal module provided in one embodiment of the present application;

[0044] Fig. 9 for Figure 8 The schematic diagram of the change of the rotation speed of the cutter head of the seedling removal module is shown;

[0045] Fig.10 A schematic diagram of the operation of a seedling removal module provided in another embodiment of the present application;

[0046] Fig.11 for Fig.10 The schematic diagram of the change of the rotation speed of the cutter head of the seedling removal module is shown;

[0047] Fig.12 A schematic diagram of a flow chart of a method for controlling rice seedlings transplanting using a drone provided in another embodiment of the present application;

[0048] Fig.13 A schematic diagram of the composition of a drone rice seedling throwing control device provided in one embodiment of the present application;

[0049] Fig.14 A schematic diagram of the composition of a drone rice seedling transplanting control device provided in yet another embodiment of the present application.

[0050] Icons: 1000-seedling throwing system; 100-seedling throwing mechanism; 10-load module; 20-seedling delivery module; 21-seedling support plate; 211-opening; 22-seedling delivery tray; 23-driving device; 24-conveying device; 25-seedling pressing device; 251-rotating shaft; 252-pressing bar; 30-seedling retrieval module; 31-driving source; 32-transmission box; 33-cutter head; 331-mounting part; 332-cutter body; 333-slot; 40-support module; 43-first bracket; 46-second bracket; 47-third bracket; 200-UAV; 300-blanket seedling; 310-seedling; 50-main control unit; 201-rotor drive motor; 400-UAV seedling throwing control device; 410-seedling retrieval control module; 420-seedling throwing control module; 430-operation configuration module. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0052] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0053] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0054] In the description of the present application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0055] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0056] In the description of the present application, it is to be understood that the relational terms such as the term "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "includes", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements defined by the sentence "comprising one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood by specific circumstances.

[0057] During the research and development process, the applicant discovered that the existing drone flying seedling throwing operation requires that the drone maintain a flying state, and the seedling throwing device on the drone drives the cutter head to rotate at a fixed speed to achieve the separation of the seedlings, and the centrifugal force generated by the rotation of the cutter head is used to throw the separated seedlings directly under the cutter head to achieve the flying seedling throwing effect.

[0058] However, it is worth noting that this type of drone seedling throwing solution is likely to result in a low initial velocity of the seedlings when the blade rotates slowly, causing the seedlings to be disturbed by the propeller wind field and unable to land in an orderly manner. At the same time, this type of drone seedling throwing solution is likely to result in damage to the roots and stems of the seedlings under the separation action of the blade when the blade rotates quickly, resulting in inconsistent growth cycles of the seedlings in the land, making it difficult to manage them in a unified manner, and posing a risk of reducing the final yield.

[0059] To this end, the embodiments of the present application provide a drone seedling throwing control method and device, a seedling throwing system and a readable storage medium, so as to ensure the stability of the seedling throwing frequency by solidifying the rotation cycle of the cutter head during the flight of the drone, and adopt a lower rotation speed to pick up the seedlings during the rotation of the cutter head to avoid damage to the roots and stems of the seedlings being picked. At the same time, a higher rotation speed is adopted for seedling throwing during the rotation of the cutter head, so that the seedlings being thrown have a sufficiently large initial velocity to resist the interference of the propeller airflow, and ensure that the actual landing positions of the seedlings being thrown are orderly distributed under the synergistic effect of the stable seedling throwing frequency and the higher initial seedling throwing velocity, thereby achieving a stable frequency seedling throwing effect with orderly landing of the seedlings.

[0060] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0061] Please refer to Figure 1 and Figure 2 The embodiment of the present application provides a seedling throwing mechanism 100 and a seedling throwing system 1000. Specifically, the seedling throwing system 1000 includes a drone 200 and at least one set of seedling throwing mechanisms 100, and the seedling throwing mechanisms 100 are mounted on the drone 200, so as to separate the blanket seedlings 300 by using the seedling throwing mechanisms 100, and the separated seedlings 310 are thrown out by centrifugal force and / or ejection force to realize the seedling throwing operation, and at the same time cooperate with the flight of the drone 200 to realize the flying seedling throwing operation.

[0062] There are many ways for the seedling throwing mechanism 100 to throw the seedlings 310. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the seedlings 310 can be thrown out by centrifugal force. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the separated seedlings 310 can be ejected and thrown out by an ejection force (the seedling throwing mechanism 100 can be provided with an ejection member, and the ejection member can provide an ejection force). In one embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and ejection force to throw out the separated seedlings 310.

[0063] The seedling throwing mechanism 100 may include a load module 10, a seedling delivery module 20, and a seedling retrieval module 30. The load module 10 is used to be arranged on the fuselage frame of the drone 200. The seedling delivery module 20 is arranged on the load module 10, and the seedling delivery module 20 is used to transport the seedling blanket 300. The seedling retrieval module 30 is arranged on the load module 10, and the seedling retrieval module 30 is used to separate the seedlings 310 from the seedling blanket 300 on the seedling delivery module 20 and then throw them out through centrifugal force and / or ejection force. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation in flight, and the seedling blanket 300 is transported by the seedling delivery module 20, and the seedling blanket 300 is separated by the seedling retrieval module 30 and then the seedlings 310 are thrown out, so as to realize the flying seedling throwing operation of the seedling blanket 300.

[0064] It should be noted that there are many ways to separate, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling removal method is not limited.

[0065] In the embodiment of the present application, the drone 200 is specifically a quad-rotor drone. Of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone 200 can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. For ease of description, the front, back, left, right, up, and down directions are shown in the accompanying drawings. These directions are all relative positional relationships that can be clearly known to those skilled in the art when the drone 200 is conventionally placed or flying.

[0066] Figure 1What is shown is a split-type seedling throwing system 1000. Specifically, the load module 10 of the seedling throwing mechanism 100 can be detachably mounted on the lower part of the drone 200, that is, the drone 200 and the seedling throwing mechanism 100 adopt an upper and lower split design, and the drone 200 serves as a mobile platform, and is a split design with the seedling throwing mechanism 100. In other words, this form of seedling throwing mechanism 100 is an independent structure, which does not rely on the fuselage frame of the drone 200. Based on this type, in a specific operation scene, the corresponding device can be replaced according to actual operation needs. For example, after the seedling throwing mechanism 100 is disassembled, a spreading device is installed to achieve the spreading of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled, and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0067] Please refer to Figure 2 and Figure 3 , each module of the seedling throwing mechanism 100 will be described in detail below.

[0068] Specifically, the seedling removal module 30 may include 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 seedling blanket 300 on the seedling delivery module 20, and to eject the separated seedlings 310 by centrifugal force and / or ejection force. Generally, the driving source 31 is a motor, which drives the cutter head 33 along the Figure 2 The cutter head 33 rotates in the direction indicated by the arrow A, thereby separating the seedling blanket 300 during the contact process. The separated seedling 310 follows the cutter head 33 to rotate in the direction of the arrow A. When the cutter head 33 rotates to a specific position, the seedling 310 is ejected under the action of the centrifugal force and / or the ejection force. The cutter head 33 may be provided with an ejection member, which can complete energy storage and energy release through the cam member during the rotation of the cutter head. When the ejection member releases energy, the seedling 310 is ejected under the ejection force provided by the ejection member.

[0069] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the driving source 31, and the driving source 31 directly drives the cutter head 33 to rotate, or the cutter head 33 can be rotatably mounted on the load module 10, and the driving source 31 is mounted on the load module 10, and connected to the cutter head 33 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force. Of course, the driving source 31 can also be other than a motor, for example, a pneumatic motor, a gasoline engine, etc.

[0070] In order to facilitate the throwing out of the rice seedling 310, in the embodiment of the present application, the cutter head 33 includes a mounting portion 331 and a cutter body 332 disposed on the mounting portion 331, the mounting portion 331 is connected to the driving source 31, and a notch 333 is formed on the cutter body 332, the notch 333 is used to clamp the rice seedling 310 after the cutter body 332 separates the lower rice seedling 310, so that the rice seedling 310 follows the rotation and is thrown out under the action of centrifugal force and / or ejection force. It can be understood that in the specific operation process, the notch 333 on the cutter body 332 will clamp the soil part at the root of the rice seedling 310, and then drive it to rotate during the rotation process, so as to throw it out. Of course, the specific structure of the cutter head 33 can also be selected as a seedling needle.

[0071] Combination Figure 2 and Figure 3 In this embodiment, the seedling removal module 30 may further include a transmission box 32, the driving source 31 is connected to the transmission box 32, and is used to drive the transmission box 32 to rotate, and at least one cutter head 33 is arranged on each transmission box 32. The transmission box 32 can give the cutter head 33 a specific motion trajectory. Generally, a plurality of mutually meshing gears can be arranged inside the transmission box 32, the driving source 31 meshes with a gear in the transmission box 32, and the cutter head 33 meshes with another gear. The transmission box 32 can make the motion trajectory of the cutter head 33 and the posture of the cutter head 33 during the motion process meet the requirements.

[0072] In order to improve the efficiency of removing seedlings, the rotation speed of the cutter head 33 is usually increased. Of course, too fast a speed may cause other problems such as heat dissipation and unstable separation. In order to solve this problem, in this embodiment, at least two cutter heads 33 are arranged on each transmission box 32, thereby expanding the number of cutter heads 33 at the same separation and throwing position.

[0073] In this embodiment, two cutter heads 33 are distributed on one transmission box 32. Of course, in other embodiments, only one cutter head 33 may be distributed, or three, four or more cutter heads 33 may be distributed. When two cutter heads 33 are distributed on one transmission box 32, the angle between the two cutter heads 33 and the center of the transmission box 32 may be 180 degrees, three cutter heads 33 may be spaced 120 degrees apart, and four cutter heads 33 may be spaced 90 degrees apart. In other words, the cutter heads 33 may be arranged in a uniform distribution. Of course, it is not excluded that the cutter heads 33 may be arranged in an uneven distribution in a certain scenario.

[0074] By designing a larger number of cutter heads 33 on the transmission box 32, the efficiency of removing seedlings can be improved at the same rotation speed. In addition, in terms of installation, the transmission box 32 can be directly installed on the output shaft of the driving source 31, or the transmission box 32 can be rotatably installed on the load module 10, the driving source 31 is installed on the load module 10, and is connected to the transmission box 32 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force.

[0075] On the other hand, the efficiency of the seedling throwing operation can also be improved by increasing the number of seedling delivery modules 20. Figure 3 In this embodiment, there are multiple seedling delivery modules 20 , and there are multiple seedling taking modules 30 , which correspond one to one with the multiple seedling delivery modules 20 .

[0076] Specifically, Figure 3 The number of the seedling delivery modules 20 is three, and correspondingly, the number of the seedling taking modules 30 is also three. Of course, when the number of the seedling delivery modules 20 is greater than three, the number of the seedling taking modules 30 can also be increased accordingly. Generally, the seedlings 310 transported by the multiple seedling delivery modules 20 are the same kind of seedlings 310, and the seedling throwing operation is carried out in the same farmland. Therefore, the multiple seedling taking modules 30 can be controlled to work synchronously by a control device arranged on the load module 10, or can be controlled by the flight control of the drone 200. Of course, it is not ruled out that the multiple seedling delivery modules 20 work independently, for example, the seedling taking efficiencies of the multiple seedling taking modules 30 are controlled to be unequal, or some of the seedling taking modules 30 are controlled to work while the other seedling taking modules 30 do not work.

[0077] In order to achieve the separation and throwing of the blanket seedlings 300 row by row and bunch by bunch, in the present embodiment, the seedling delivery module 20 may include a seedling supporting plate 21 and a seedling delivery tray 22, the seedling supporting plate 21 is arranged on the load module 10, the seedling supporting plate 21 is provided with an opening 211, the seedling delivery tray 22 is used to transport the blanket seedlings 300, the lower part of the seedling delivery tray 22 is located in the seedling supporting plate 21, and the seedling delivery tray 22 can move laterally relative to the seedling supporting plate 21; wherein, the seedling taking module 30 is used to separate the blanket seedlings 300 through the opening 211, and throw out the separated seedlings 310.

[0078] In other words, the positions of the seedling taking module 30, the opening 211 of the seedling supporting plate 21, etc. remain unchanged relative to the load module 10, and the seedling delivery tray 22 can reciprocate in the left and right directions. In this way, the seedling taking module 30 only separates the blanket seedlings 300 exposed in the opening 211, so that the blanket seedlings 300 can be separated and thrown row by row and bunch by bunch. Of course, in other embodiments, the position of the seedling delivery tray 22 relative to the load module 10 can also remain unchanged, while the seedling supporting plate 21 and the seedling taking module 30 can move horizontally in the left and right directions.

[0079] In this embodiment, the seedling support plate 21 can be understood as an open plate in a long strip shape. The seedling support plate 21 is relatively fixed to the load module 10 and does not move with the left and right reciprocating motion of the seedling delivery tray 22. The seedling support plate 21 has a certain supporting effect on the seedling delivery tray 22. Figure 3 In this embodiment, the number of the seedling taking modules 30 is three and they are distributed at intervals. Therefore, the number of the openings 211 is also three and they are distributed at corresponding intervals, so that each seedling taking module 30 can separate and throw the blanket seedlings 300 in the corresponding opening 211.

[0080] In order to facilitate the lateral movement of the seedling delivery tray 22 , in this embodiment, the seedling delivery module 20 further includes a driving device 23 , which is disposed on the load module 10 and is used to drive the seedling delivery tray 22 to move laterally relative to the seedling supporting plate 21 .

[0081] Generally, the driving device 23 can use a motor with a gear rack mechanism to achieve the left and right reciprocating movement of the seedling tray 22, or a motor with a screw mechanism or a synchronous belt. Of course, it is not excluded to use the rotor power of the drone 200 to drive the seedling tray 22 to move left and right.

[0082] Please refer to Figure 2 Generally, the seedling delivery tray 22 is set to be placed in an inclined state. This design allows the seedling blanket 300 to move downward under the action of gravity after the seedling delivery tray 22 moves left and right once, so that the seedling removal module 30 can carry out the next round of seedling removal. Of course, a power source can also be set to drive it, for example, referring to Figure 2 In this embodiment, the seedling delivery module 20 further includes a conveying device 24 , which is disposed on the seedling delivery tray 22 , and is used to drive the seedling blanket 300 to move toward the seedling supporting plate 21 .

[0083] The conveying device 24 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel). In addition, the conveying device 24 can be set at different positions in the height direction of the seedling delivery tray 22. It should be noted that the inclined setting of the seedling delivery tray 22 can also achieve effective utilization of the longitudinal space to reduce the space occupied by the seedling delivery tray 22 in the horizontal width. At the same time, due to the inclined setting, the blanket seedlings 300 can use their gravity to slide down, and the power consumption of the conveying device 24 can also be reduced.

[0084] In addition, considering the possible separation of the blanket seedling 300 after being placed on the seedling delivery tray 22, combined with Figure 2 and Figure 3In this embodiment, the seedling delivery module 20 further includes a seedling pressing device 25, which is disposed on the seedling delivery tray 22, and is used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or a rod, etc. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and a plurality of pressure strips 252, the rotating shaft 251 is rotatably disposed horizontally on the seedling delivery tray 22, and the plurality of pressure strips 252 are vertically and spaced apart from the rotating shaft 251, and the plurality of pressure strips 252 are used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22.

[0085] In this embodiment, in a specific scenario, the rotating shaft 251 can rotate relative to the seedling delivery tray 22 with a certain damping, so the force of the pressure bar 252 on the blanket seedling 300 can be adjusted, and the pressure state can be maintained. Of course, a torsion spring can also be installed on the rotating shaft 251 to provide pressure to rotate in the direction of the blanket seedling 300.

[0086] Please refer to Figure 3 In this embodiment, the seedling delivery tray 22 is a rectangular frame structure, specifically, it includes a load-bearing plate and two baffles arranged on the left and right edges of the load-bearing plate, and no baffles are arranged above or below, so that an upper opening is formed at the top to facilitate placing the seedlings, and a lower opening is formed at the bottom to facilitate taking the seedlings. The width of the seedling delivery tray 22 can match the width of a tray of seedling blankets 300. In addition, the height of the seedling delivery tray 22 is not limited to the height of a tray of seedling blankets 300. During installation, the two ends of the rotating shaft 251 can be rotatably arranged on the two baffles of the seedling delivery tray 22, respectively. Figure 3 Four pressure strips 252 are correspondingly configured on a rotating shaft 251 in the seedling delivery tray 22. In other words, four pressure strips 252 are distributed on a seedling delivery tray 22 to limit the blanket seedlings 300 in the seedling delivery tray 22, so that the blanket seedlings 300 can be pressed on the seedling delivery tray 22 by the pressure strips 252, which greatly ensures that the blanket seedlings 300 will not be blown away during the flight of the drone 200. Of course, the number of pressure strips 252 corresponding to a seedling delivery tray 22 may not be limited to four, for example, it may also be three, five or more. In addition, since in the present embodiment, the number of seedling delivery modules 20 is multiple, the number of seedling pressing devices 25 may also be multiple, and each seedling delivery tray 22 is correspondingly provided with a seedling pressing device 25. In a certain scenario, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 may share a rotating shaft 251.

[0087] In addition, please follow Figure 2 In this embodiment, the seedling delivery tray 22 is supported at multiple positions in the height direction by the load module 10. For example, in this embodiment, the seedling throwing mechanism 100 may further include a support module 40, for example, the support module 40 includes a first bracket 43, one end of the first bracket 43 is connected to the load module 10, and the other end of the first bracket 43 supports the upper part of the seedling delivery tray 22. Figure 2 and Figure 3 Since the seedling delivery tray 22 needs to move horizontally, in order to facilitate support, the support position of the first bracket 43 and the seedling delivery tray 22 can be supported horizontally by the cooperation of a slide rail and a pulley. For example, a pulley is provided at the end of the first bracket 43, and a slide rail is provided on the seedling delivery tray 22, and the two are rollingly matched. Alternatively, a slide rail is provided at the end of the first bracket 43, and a pulley is provided on the seedling delivery tray 22. In addition, in some scenarios, the height of the first bracket 43 is adjustable, and the inclination angle of the seedling delivery tray 22 can also be adjusted.

[0088] At the same time, the lower part of the seedling delivery tray 22 is supported by the seedling support plate 21 to improve the overall compactness of the structure. Of course, the middle part of the seedling delivery tray 22 can also be supported by the load module 10. It should be noted here that the upper part is only to indicate that the position of the support is higher than the middle and lower parts in the height direction.

[0089] Of course, the support module 40 may also include a second bracket 46 and a third bracket 47. One end of the second bracket 46 is connected to the load module 10, and the other end of the second bracket 46 is installed with the above-mentioned seedling support plate 21. One end of the third bracket 47 is connected to the load module 10, and the other end of the third bracket 47 is installed with the above-mentioned seedling removal module 30 (specifically, the driving source 31). Of course, the second bracket 46 and the third bracket 47 may also be a bracket structure, that is, the seedling support plate 21 and the seedling removal module 30 are installed on the load module 10 through the same bracket.

[0090] Figure 1-Figure 3 The illustrated embodiment demonstrates the main structure of the seedling throwing mechanism 100 provided in the present application. In addition, the multiple modules mentioned in the present application (load module 10, seedling delivery module 20, seedling retrieval module 30, etc.) can be manufactured and sold separately in the early stage, and then assembled to form an integral structure in the later stage.

[0091] Figure 4 and Figure 5 Another embodiment of the seedling throwing system 1000 provided by the present application is shown, wherein the description of the same modules, mechanisms or components can refer to the above text. In this embodiment, the seedling throwing system 1000 is a double system, that is, it has two sets of seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 share a load module 10. The two sets of seedling throwing mechanisms 100 are arranged back to back. Of course, in other embodiments, the two sets of seedling throwing mechanisms 100 can also adopt other arrangements (for example, arranged in the same direction), or three, four or more sets of seedling throwing mechanisms 100 can be arranged. Among them, when the seedling throwing system 1000 is provided with two sets of seedling throwing mechanisms 100, the actual lateral movement directions of the respective seedling feeding trays 22 of the two sets of seedling throwing mechanisms 100 are controlled to maintain opposite states at the same time, so as to achieve the offset of the lateral movement impact force and improve the flight stability of the drone 200.

[0092] Among them, for the above-mentioned seedling throwing system 1000 provided in the embodiment of the present application, the working principle of the seedling throwing system 1000 is:

[0093] When the drone 200 is flying, the driving source 31 drives the transmission box 32 to rotate, and the transmission box 32 drives the cutter head 33 to rotate at high speed. When the cutter head 33 rotates to the opening 211, it separates and removes the rice seedlings 310, drives the rice seedlings 310 to rotate, and when the rice seedlings 310 rotate to a certain angle, the rice seedlings 310 are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thereby realizing the flying and throwing of the blanket seedlings 300. At the same time, the rice seedling delivery tray 22 moves horizontally, driving the blanket seedlings 300 to move left and right, so that the blanket seedlings 300 are separated and thrown row by row. After a row of rice seedlings 310 in the left and right directions of the blanket seedlings 300 is separated, the entire blanket seedlings 300 moves downward under the action of gravity and the driving force of the conveying device 24, so that in the process of the rice seedling delivery tray 22 moving horizontally again, it is separated and thrown row by ...

[0094] Please refer to Figure 1 and Figure 6 In an embodiment of the present application, the above-mentioned seedling throwing system 1000 may also include a main control unit 50, which can be communicated with the seedling throwing mechanism 100 and the drone 200 to control the seedling throwing mechanism 100 and the drone 200 to work together to achieve the drone seedling throwing effect.

[0095] Among them, the above-mentioned drone 200 may include a drone rotor and a rotor drive motor 201, and the drone rotor and the rotor drive motor 201 are both installed on the fuselage frame, wherein each rotor drive motor 201 is correspondingly connected to a drone rotor, and is used to drive the corresponding connected drone rotor to rotate, and provide lift for the drone 200 by adjusting the rotation state of the connected drone rotor; the number of rotor drive motors of the above-mentioned drone 200 is consistent with the number of drone rotors.

[0096] In an embodiment of the present application, the main control unit 50 may include at least one software function module that can be stored in the form of software or firmware, and may run the software program logic corresponding to the drone seedling throwing control device 400 by executing the computer program corresponding to the aforementioned software function module, so as to achieve a stable frequency seedling throwing effect in which the seedlings fall to the ground in an orderly manner during the flight of the drone, and simultaneously avoid damage to the roots and stems of the seedlings being thrown, thereby effectively improving the land utilization rate and final yield of land planting operations.

[0097] It can be understood that the main control unit 50 can be a control electronic device independent of the seedling throwing mechanism 100 and the drone 200, and can adjust the operating status of the seedling throwing mechanism 100 and the drone 200; the main control unit 50 can also be a control electronic device provided by the drone 200 itself, and the control electronic device directly takes into account the operation control function of the seedling throwing mechanism 100; the main control unit 50 can also be a control electronic device provided by the seedling throwing mechanism 100 itself, and the control electronic device directly takes into account the operation control function of the drone 200; the main control unit 50 can also be regarded as a device combination of the control electronic device provided by the drone 200 itself and the control electronic device provided by the seedling throwing mechanism 100 itself, and the two control electronic devices realize the specific control function of the main control unit 50 through network communication. The specific setting method of the main control unit can be configured according to different needs.

[0098] In the present application, in order to ensure that the drone 200 in the above-mentioned seedling throwing system 1000 can carry the seedling throwing mechanism 100 to fly stably and achieve a stable frequency seedling throwing effect in which the seedlings fall to the ground in an orderly manner, and simultaneously avoid damage to the roots and stems of the thrown seedlings, the embodiment of the present application provides a drone seedling throwing control method applied to the above-mentioned seedling throwing system 1000 to achieve the above-mentioned purpose. The drone seedling throwing control method provided by the present application is described in detail below.

[0099] Please refer to Figure 7 , in one embodiment of the present application, Figure 7 The drone rice seedling transplanting control method shown may include steps S510 to S520.

[0100] Step S510, when the UAV performs the flying seedling throwing operation, the driving source is controlled to drive any one of the cutter heads to rotate at a first speed to a preset seedling picking position, so that any one of the cutter heads separates the seedlings from the blanket of seedlings transported by the seedling delivery module.

[0101] In this embodiment, the main control unit 50 can obtain a seedling throwing instruction for implementing the seedling throwing operation during the flight of the drone 200, and control the driving device 23 included in the seedling throwing mechanism 100 according to the seedling throwing instruction, so that the driving device 23 controls the seedling delivery tray 22 to carry the blanket seedling 300 to move back and forth, and at the same time controls the driving source 31 in the seedling picking module 30 included in the seedling throwing mechanism 100 according to the seedling throwing instruction to drive all the knife heads 33 connected to the driving source 31 to rotate according to a fixed rotation cycle, so as to ensure that when the seedling delivery tray 22 moves the blanket seedling 300 to the position of the opening 211, any knife head 33 connected to the driving source 31 is rotated to a preset seedling picking position (such as Figure 1 The position shown by the “dashed triangle” in the figure) can be reached, and the seedlings 310 can be separated from the seedling blanket 300 through the opening 211.

[0102] During this process, the preset seedling picking position is a pre-set blade rotation position that can separate the seedlings 310 through the opening 211; all blade heads 33 connected to the driving source 31 rotate synchronously under the driving action of the driving source 31, and the blade rotation cycles of all the aforementioned blade heads 33 remain consistent to ensure that the seedling throwing mechanism 100 can achieve a stable seedling throwing frequency through the seedling picking module 30 during the drone flight seedling throwing operation, to ensure that the plant spacing between the actual landing positions of the seedlings that are finally thrown can be initially and orderly distributed.

[0103] At the same time, the main control unit 50 will control the driving source 31 to adjust the rotation speed of the cutting head 33 closest to the preset seedling picking position when the driving source 31 drives any cutting head 33 to rotate toward the preset seedling picking position, so that the cutting head 33 can reach the preset seedling picking position at a first rotation speed with a smaller value, and directly use the first rotation speed to separate the seedlings 310 from the blanket seedlings 300, so as to ensure that the seedlings to be thrown can be separated at a smaller cutting head rotation speed, thereby avoiding damage to the roots and stems of the seedlings due to excessive cutting head rotation speed.

[0104] Step S520, controlling the driving source to drive any one of the blade heads to carry the separated seedlings to rotate at a second speed to a preset seedling throwing position, so that the seedlings are thrown out under the centrifugal force corresponding to the second speed, wherein the second speed is greater than the first speed.

[0105] In this embodiment, when the main control unit 50 controls the driving source 31 to drive any one of the cutter heads 33 to separate the seedlings 310 at the preset seedling picking position at the first rotation speed according to the seedling throwing instruction, the main control unit 50 controls the driving source 31 to drive the aforementioned cutter head 33 to continue rotating with the separated seedlings 310 according to the seedling throwing instruction, so as to rotate the aforementioned cutter head 33 to the preset seedling throwing position (such as Figure 1 When the drone 200 is at the position shown by the “black filled triangle” in the figure), the seedlings 310 carried by the aforementioned cutter head 33 can be thrown out under the action of centrifugal force, thereby achieving the seedling throwing effect during the flight of the drone 200.

[0106] During this process, the preset seedling throwing position is a preset rotation position of the cutter head for throwing the seedlings 310; the main control unit 50 will control the driving source 31 to adjust the rotation speed of the cutter head 33 when the driving source 31 drives the cutter head 33 carrying the seedlings 310 to rotate from the preset seedling picking position to the preset seedling throwing position, so that the cutter head 33 can reach the preset seedling throwing position according to a second rotation speed with a larger value, and directly use the second rotation speed to throw the carried seedlings 310, so as to ensure that the thrown seedlings can have a sufficiently large initial velocity under the action of the larger cutter head rotation speed to resist the propeller airflow interference generated by the UAV flight operation, thereby ensuring that the actual landing position of the thrown seedlings can achieve an orderly distribution effect under the synergistic effect of a stable seedling throwing frequency and a larger initial velocity for seedling throwing, so as to achieve a stable frequency seedling throwing effect with orderly landing of the seedlings during the flight of the UAV.

[0107] It is understandable that the above-mentioned seedling throwing instruction can be a control instruction automatically generated by the main control unit 50 at a specific time point according to a preset seedling throwing operation strategy, or it can be a control instruction directly sent to the main control unit 50 by an operator through a remote control terminal.

[0108] Therefore, the present application can ensure the stability of the seedling throwing frequency by solidifying the blade rotation cycle during the flight of the UAV by executing the above-mentioned steps S510 to S520, and use a lower rotation speed to pick up the seedlings during the rotation of the blade to avoid damage to the roots and stems of the seedlings being picked up. At the same time, a higher rotation speed is used to throw the seedlings during the rotation of the blade, so that the thrown seedlings have a sufficiently large initial velocity to resist the interference of the propeller airflow, ensuring that the actual landing position of the thrown seedlings is orderly distributed under the synergistic effect of the stable seedling throwing frequency and the higher initial seedling throwing velocity, thereby achieving a stable frequency seedling throwing effect with orderly landing of the seedlings.

[0109] Optionally, in one embodiment of the present application, please refer to Figure 8 The driving source 31 included in the above-mentioned seedling taking module 30 can be realized by a servo motor. The number of the cutter head included in the above-mentioned seedling taking module 30 is only one. Then the driving source 31 can drive the cutter head 33 to achieve a follow-up rotation effect through the motor rotation operation. At this time, the motor rotation cycle of the driving source 31 is the cutter head rotation cycle of the cutter head 33. The driving source 31 rotates one circle, which means that the cutter head 33 rotates one circle. The driving source 31 can directly achieve the seedling separation effect and the seedling throwing effect through the rotation operation of the cutter head 33. The above-mentioned preset seedling taking position (such as Figure 8 The rotation position of the cutter head corresponding to the "dashed triangle" in the figure) will correspond to a position of the motor for taking the rice seedlings (such as Figure 8 The motor rotation position p1 represented by the "dashed rectangle" shown in FIG. 1 ) and the above-mentioned preset seedling throwing position (such as Figure 8The blade rotation position corresponding to the "black filled triangle" in the figure) will correspond to a rice seedling throwing motor position (such as Figure 8 The motor rotation position p2) is represented by the "black filled rectangle" shown in the figure, wherein the seedling taking motor position is the motor rotation position when the driving source 31 drives the aforementioned cutter head 33 to rotate to the preset seedling taking position, and the seedling throwing motor position is the motor rotation position when the driving source 31 drives the aforementioned cutter head 33 to rotate to the preset seedling throwing position.

[0110] When the driving source 31 drives the cutter head 33 to rotate, the driving source 31 can rotate along Figure 8 The direction indicated by the arrow A in the figure is rotated from the aforementioned retrieval motor position p1 to the aforementioned retrieval motor position p2, and then from the aforementioned retrieval motor position p2 to the aforementioned retrieval motor position p1, so as to drive the aforementioned cutter head 33 to rotate a complete circle. It can be understood that the driving source 31 can place the cutter head 33 between the preset retrieval position and the preset retrieval position at the initial startup, and then drive the motor speed of the driving source 31 to accelerate from 0 to a state that ensures that the cutter head 33 achieves the first speed, so that the driving source 31 drives the cutter head 33 to perform the UAV retrieval operation.

[0111] at this time, Figure 7 The UAV rice seedling throwing control method shown in the figure acts on Figure 8 The following constraints on the movement of the cutter head exist on the illustrated seedling removal module 30:

[0112]

[0113] Wherein, q(t1) is used to indicate the actual position to which the cutter head 33 rotates at the time point t1, and P1 is used to indicate the preset seedling taking position corresponding to the seedling taking motor position p1. It is used to indicate the actual rotation speed of the cutter head 33 at the time point t1, V1 is used to indicate the first rotation speed, q(t2) is used to indicate the actual position reached by the cutter head 33 at the time point t2, and P2 is used to indicate the preset seedling picking position corresponding to the position p2 of the seedling throwing motor. V2 is used to represent the actual rotation speed of the cutter head 33 at time point t2, and V2 is used to represent the second rotation speed, wherein t1 <t2。

[0114] In this case, the step of "controlling the driving source 31 to drive any cutter head to rotate at a first speed to a preset seedling picking position" in the above step S510 may include:

[0115] When the driving source 31 rotates from the seedling throwing motor position to the seedling taking motor position, the actual rotation speed applied by the driving source 31 to the cutter head 33 is lowered so that the actual rotation speed of the cutter head 33 when the driving source 31 rotates to the seedling taking motor position is consistent with the first rotation speed.

[0116] The speed reduction strategy adopted by the main control unit 50 when reducing the actual speed applied by the driving source 31 to the cutter head 33 may be, but is not limited to: a uniform deceleration strategy, a smooth deceleration strategy, a step deceleration strategy, and the like.

[0117] Meanwhile, the step of "controlling the driving source 31 to drive any one of the blade heads 33 to carry the separated seedlings 310 to rotate at the second speed to the preset seedling throwing position" in the above step S520 may include:

[0118] When the driving source 31 rotates from the retrieval motor position to the seedling throwing motor position, the actual rotation speed applied by the driving source 31 to the cutter head 33 is increased so that the actual rotation speed of the cutter head 33 when the driving source 31 rotates to the seedling throwing motor position is consistent with the second rotation speed.

[0119] The speed increasing strategy adopted by the main control unit 50 when increasing the actual speed applied by the driving source 31 to the cutter head 33 may be, but is not limited to: uniform acceleration strategy, smooth acceleration strategy, step acceleration strategy and other strategies.

[0120] Therefore, the present application can achieve a stable frequency seedling throwing effect in which the seedlings fall to the ground in an orderly manner by executing the respective step processes of the above-mentioned steps S510 and S520, and in the process in which the driving source 31 drives the single cutter head 33 to rotate according to a fixed period, ensure that the cutter head 33 directly outputs a suitable rotation speed at the preset seedling picking position and the preset seedling throwing position.

[0121] In one implementation of this embodiment, the main control unit 50 uses a uniform acceleration strategy to increase the actual rotation speed of the cutter head 33, and uses a uniform deceleration strategy to decrease the actual rotation speed of the cutter head 33.

[0122] by Figure 8 and Fig. 9 For example, assuming that the motor rotation period of the driving source 31 is T0, the driving source 31 initially rotates to Figure 8 The time point when the rice seedling taking motor is at position p1 is Fig. 9 The actual rotation speed of the cutter head 33 at the first t(p1) is the first rotation speed V1, and the driving source 31 rotates to the first rotation speed V1 during the motor rotation cycle. Figure 8 The time point when the rice seedling throwing motor is at position p2 is Fig. 9 At t(p2) in the figure, the actual rotation speed of the cutter head 33 at t(p2) is the second rotation speed V2, and the driving source 31 finally rotates to Figure 8 The time point when the rice seedling taking motor is at position p1 is Fig. 9In the second t(p1) of the embodiment, the actual speed of the cutter head 33 at the second t(p1) is the first speed V1. The speed of the cutter head 33 in the time period T12 from the first t(p1) to t(p2) will be uniformly accelerated from the first speed V1 to the second speed V2. The speed of the cutter head 33 in the time period T21 from t(p2) to the second t(p1) will be uniformly decelerated from the second speed V2 to the first speed V1. At this time, if the average speed of the cutter head 33 in one motor rotation cycle of the driving source 31 is V aver , it is necessary to ensure that the cutter head 33 satisfies the kinematic constraint condition "2*T0*V aver =T12*(V2+V1)+T21*(V2+V1), where T0=T12+T21”, to ensure that the above-mentioned seedling taking module 30 can achieve a stable seedling throwing frequency “f=1 / T0” based on a single cutter head 33.

[0123] Optionally, in another embodiment of the present application, please refer to Fig.10 The driving source 31 included in the above-mentioned seedling removal module 30 can be realized by a servo motor, and the number of the blades included in the above-mentioned seedling removal module 30 is multiple (for example, Fig.10 The seedling removal module 30 shown in the figure has two cutter heads 33, namely, cutter head ① and cutter head ②), and the driving source 31 can drive multiple cutter heads 33 to achieve the follow-up rotation effect at the same time through the motor rotation operation. At this time, the motor rotation cycle of the driving source 31 is the cutter head rotation cycle of each cutter head 33. The driving source 31 rotates one circle, which means that each cutter head 33 rotates one circle. The driving source 31 can make each cutter head 33 alternately achieve the seedling separation effect and the seedling throwing effect through the cutter head rotation action. The above-mentioned preset seedling removal position (such as Fig.10 The rotation position of the cutter head corresponding to the "dashed triangle" in the figure) will correspond to multiple positions of the motor for removing the seedlings during the rotation of the motor of the driving source 31 (for example, Fig.10 The two “dashed rectangles” shown in FIG. 1 represent the motor rotation positions p1 and p1′, respectively. The above-mentioned preset seedling throwing position (such as Fig.10 The blade rotation position corresponding to the "black filled triangle" in the figure) will correspond to multiple positions of the rice seedling throwing motor during the rotation of the motor of the driving source 31 (for example, Fig.10 The motor rotation positions p2 and p2′ represented by the “black filled rectangle” shown in the figure, wherein the seedling taking motor position is the motor rotation position when the driving source 31 drives any one of the cutter heads 33 to rotate to the preset seedling taking position, and the seedling throwing motor position is the motor rotation position when the driving source 31 drives any one of the cutter heads 33 to rotate to the preset seedling throwing position. There is a seedling throwing motor position between two adjacent seedling taking motor positions, and the total number of seedling taking motor positions is consistent with the number of cutter heads (for example, Fig.10There are two cutter heads 33, and the total number of corresponding positions of the rice seedling taking motor is also two).

[0124] When the driving source 31 drives the plurality of cutter heads 33 to rotate, the driving source 31 can rotate along Fig.10 The direction indicated by the arrow A in the figure is rotated from the retrieval motor position p1 to the seedling throwing motor position p2, and then from the aforementioned seedling throwing motor position p2 to the retrieval motor position p1′, then from the aforementioned retrieval motor position p1′ to the seedling throwing motor position p2′, and finally from the aforementioned seedling throwing motor position p2′ to the aforementioned retrieval motor position p1, so as to drive all the cutter heads 33 to rotate synchronously for a complete circle, so that all the cutter heads 33 perform the drone seedling throwing operation alternately. It can be understood that the drive source 31 can place any cutter head 33 between the preset retrieval position and the preset seedling throwing position at the initial startup, and then drive the motor speed of the drive source 31 to accelerate from 0 to a state that ensures that the cutter head 33 achieves the first speed, so that the drive source 31 drives each cutter head 33 to perform the drone seedling throwing operation.

[0125] at this time, Figure 7 The UAV rice seedling throwing control method shown in the figure acts on Fig.10 The following constraints on the movement of the cutter head exist on the illustrated seedling removal module 30:

[0126]

[0127] Among them, q1(t3) is used to represent the actual position of the blade head No. ① at the time point t3, and P1 is used to represent the preset seedling removal position corresponding to the position p1 of the seedling removal motor. It is used to indicate the actual rotation speed of the blade No. ① at time point t3, V1 is used to indicate the first rotation speed, q1(t4) is used to indicate the actual position reached by the blade No. ① at time point t4, and P2 is used to indicate the preset seedling picking position corresponding to the position p2 of the seedling throwing motor. It is used to indicate the actual rotation speed of the blade No. ① at time point t4, V2 is used to indicate the second rotation speed, q2(t5) is used to indicate the actual position reached by the blade No. ② at time point t5, and P1′ is used to indicate the preset seedling removal position corresponding to the position of the seedling removal motor p1′. It is used to indicate the actual rotation speed of the blade ② at time point t5, q2(t6) is used to indicate the actual position reached by the blade ② at time point t6, and P2′ is used to indicate the preset seedling picking position corresponding to the position p2′ of the seedling throwing motor. It is used to indicate the actual speed of the cutter head ② at time t6, where t3 <t4<t5<t6。

[0128] In this case, the step of "controlling the driving source 31 to drive any cutter head to rotate at a first speed to a preset seedling picking position" in the above step S510 may include:

[0129] In the process of the driving source 31 rotating from any seedling throwing motor position to the seedling retrieval motor position adjacent to the seedling throwing motor position, the actual rotational speed of the driving source 31 applied to all the cutter heads 33 at the same time is lowered so that the actual rotational speed of all the cutter heads 33 when the driving source 31 rotates to the seedling retrieval motor position is consistent with the first rotational speed.

[0130] The speed reduction strategy adopted by the main control unit 50 when reducing the actual speed of the driving source 31 applied to all the cutter heads 33 at the same time may be, but is not limited to: uniform deceleration strategy, smooth deceleration strategy, step deceleration strategy and other strategies.

[0131] In this process, it can be understood that the motor rotation time required for the driving source 31 to rotate from different seedling throwing motor positions (for example, p2 or p2′) to adjacent seedling taking motor positions (for example, p1′ adjacent to p2, or p1 adjacent to p2′) can be the same or different. The specific duration of the aforementioned motor rotation time is related to the deployment position distribution of the aforementioned multiple cutter heads 33, and is also related to the deceleration acceleration corresponding to the speed reduction strategy adopted. For example, the aforementioned multiple cutter heads 33 are connected to the driving source 31 in a uniform circular distribution, and the speed reduction strategy adopted at different seedling throwing motor positions maintains the same deceleration acceleration, then the position interval angle between two adjacent cutter heads 33 in the aforementioned multiple cutter heads 33 is consistent, at this time, the position interval angle between two adjacent cutter heads 33, the position interval angle between two adjacent seedling taking motor positions, and the position interval angle between two adjacent seedling throwing motor positions are also consistent, and the motor rotation time required for the driving source 31 to rotate from different seedling throwing motor positions to adjacent seedling taking motor positions will also be consistent.

[0132] Meanwhile, the step of "controlling the driving source 31 to drive any one of the blade heads 33 to carry the separated seedlings 310 to rotate at the second speed to the preset seedling throwing position" in the above step S520 may include:

[0133] In the process of the driving source 31 rotating from any seedling taking motor position to the seedling throwing motor position adjacent to the seedling taking motor position, the actual rotation speed of the driving source 31 applied to all the cutter heads 33 at the same time is increased so that the actual rotation speed of the cutter head 33 when the driving source 31 rotates to the seedling throwing motor position is consistent with the second rotation speed.

[0134] The speed increasing strategy adopted by the main control unit 50 when increasing the actual speed applied by the driving source 31 to the cutter head 33 may be, but is not limited to: uniform acceleration strategy, smooth acceleration strategy, step acceleration strategy and other strategies.

[0135] In this process, it can be understood that the motor rotation time required for the driving source 31 to rotate from different seedling picking motor positions (for example, p1 or p1′) to adjacent seedling throwing motor positions (for example, p2 adjacent to p1, or p2′ adjacent to p1′) can be the same or different. The specific duration of the aforementioned motor rotation time is related to the deployment position distribution of the aforementioned multiple cutter heads 33, and is also related to the acceleration corresponding to the speed increase strategy adopted. For example, the aforementioned multiple cutter heads 33 are connected to the driving source 31 in a uniform circular distribution, and the speed reduction strategy adopted at different seedling throwing motor positions maintains the same acceleration. Then, the position interval angle between two adjacent cutter heads 33 in the aforementioned multiple cutter heads 33 is consistent. At this time, the position interval angle between the two adjacent cutter heads 33, the position interval angle between the two adjacent seedling picking motor positions, and the position interval angle between the two adjacent seedling throwing motor positions are also consistent, and the motor rotation time required for the driving source 31 to rotate from different seedling picking motor positions to adjacent seedling throwing motor positions will also remain consistent.

[0136] Therefore, the present application can execute the respective step processes of the above-mentioned steps S510 and S520, and in the process where the driving source 31 drives the multiple cutter heads 33 to rotate according to a fixed period, ensure that each cutter head 33 can alternately reach the preset seedling picking position and the preset seedling throwing position, and output a suitable rotation speed at the preset seedling picking position and the preset seedling throwing position, so as to achieve a stable frequency seedling throwing effect in which the seedlings fall to the ground in an orderly manner.

[0137] In one implementation of this embodiment, the plurality of blades 33 included in the seedling removal module 30 are connected to the driving source 31 in a uniformly circumferentially distributed manner, and the position interval angle between two adjacent blades 33 (for example, Fig.10 The position interval angle between cutter head No. ① and cutter head No. ② is 180°), the position interval angle between two adjacent seedling taking motor positions and the position interval angle between two adjacent seedling throwing motor positions are kept consistent, and at the same time, the main control unit 50 adopts a uniform acceleration strategy at different seedling taking motor positions to increase the actual rotational speed of all cutter heads 33 at the same time, and adopts a uniform deceleration strategy at different seedling throwing motor positions to reduce the actual rotational speed of all cutter heads 33 at the same time.

[0138] by Fig.10 and Fig.11 For example, assuming that the motor rotation period of the driving source 31 is T0, the driving source 31 initially rotates to Fig.10 The time point when the rice seedling taking motor is at position p1 is Fig.11 In the first t(p1), the actual rotation speeds of the blade heads ① and ② at the first t(p1) are both the first rotation speed V1, and the blade head ① takes the seedlings at the preset seedling taking position; the driving source 31 rotates to Fig.10 The time point when the rice seedling throwing motor is at position p2 is Fig.11 At t(p2) in the figure, the actual rotation speeds of the blade heads ① and ② at t(p2) are both the second rotation speed V2, and the blade head ① performs seedling throwing at the preset seedling throwing position; the driving source 31 rotates to Fig.10 The time point when the rice seedling taking motor is at position p1′ is Fig.11 At t(p1′) in the figure, the actual rotation speeds of the blade heads ① and ② at t(p2) are both the first rotation speed V1, and the blade head ② takes the seedlings at the preset seedling taking position; the driving source 31 rotates to Fig.10 The time point when the rice seedling throwing motor is at position p2′ is Fig.11 At t(p2′), the actual rotation speeds of the blade heads ① and ② at t(p2) are both the second rotation speed V2, and the blade head ② is used to cast the seedlings at the preset casting position; the driving source 31 finally rotates to Fig.10 The time point when the rice seedling taking motor is at position p1 is Fig.11 At the second t(p1), the actual rotation speeds of the cutter heads ① and ② at the second t(p1) are both the first rotation speed V1, and then the cutter head ① takes the seedlings at the preset seedling taking position.

[0139] Among them, the cutter head speed of the two cutter heads 33 in the time period T12 from the first t(p1) to t(p2) will be uniformly accelerated from the first speed V1 to the second speed V2, the cutter head speed of the two cutter heads 33 in the time period T21' from t(p2) to t(p1') will be uniformly decelerated from the second speed V2 to the first speed V1, the cutter head speed of the two cutter heads 33 in the time period T1'2' from t(p1') to t(p2') will be uniformly accelerated from the first speed V1 to the second speed V2, and the cutter head speed of the two cutter heads 33 in the time period T2'1 from t(p2') to the second t(p1) will be uniformly decelerated from the second speed V2 to the first speed V1. At this time, if the average speed of the two cutter heads 33 in one motor rotation cycle of the driving source 31 is V aver , it is necessary to ensure that the two tool heads 33 satisfy the kinematic constraint "2*T0*V aver =T12*(V2+V1)+T21'*(V2+V1)+T1'2'*(V2+V1)+T2'1*(V2+V1), where T0=T12+T21'+T1'2'+T2'1", to ensure that the above-mentioned seedling taking module 30 can achieve a stable seedling throwing frequency "f=n / T0, where n is the number of knife heads of the above-mentioned seedling taking module 30" based on multiple knife heads.

[0140] Optionally, see Fig.12 In another embodiment of the present application, Figure 7Compared with the UAV rice seedling throwing control method shown in the figure, Fig.12 The drone seedling throwing control method shown may also include steps S530 to S540 to ensure that the seedling throwing system 1000 can separate the seedlings 310 without damage, while ensuring that the separated seedlings 310 reach the desired soil penetration depth after being thrown and landing, and minimize the interference of the propeller airflow on the thrown seedlings.

[0141] Step S530, configuring the first rotation speed of the seedling picking module at the preset seedling picking position according to the seedling separation standard.

[0142] Among them, the first rotation speed substantially meets the seedling separation standard after being successfully configured, so as to ensure that the seedling removal module 30 can achieve the effect of damage-free separation of seedlings at the preset seedling removal position by utilizing the successfully configured first rotation speed.

[0143] Step S540, according to the positive correlation between the seedling throwing speed and the seedling burying depth, the second rotation speed of the seedling taking module at the preset seedling throwing position is configured to be a desired rotation speed that meets the desired burying depth.

[0144] Among them, the positive correlation between the aforementioned seedling throwing speed and the seedling burying depth is used to characterize that the greater the seedling throwing speed of the above-mentioned seedling throwing system 1000 at a specific drone flight altitude, the deeper the seedling burying depth is. Therefore, the second rotation speed used by the seedling retrieval module 30 can be configured to meet the expected rotation speed for the expected burying depth according to the requirements of the drone seedling throwing operation, so that the seedling retrieval module 30 can use the successfully configured second rotation speed to ensure that the seedlings are thrown and reach the expected burying depth effect after landing at the preset seedling throwing position, and use the second rotation speed to reduce the interference effect of the propeller airflow on the thrown seedlings as much as possible, so as to improve the stable frequency seedling throwing effect of the orderly landing of the seedlings.

[0145] Therefore, the present application can configure the cutter head rotation speeds of the above-mentioned seedling throwing system 1000 at the preset seedling picking position and the preset seedling throwing position respectively by executing the above-mentioned steps S530 and S540, so as to ensure that the seedling throwing system 1000 can separate the seedlings 310 without damage, and at the same time ensure that the separated seedlings 310 reach the desired soil penetration depth after being thrown and falling to the ground, and minimize the interference of the propeller airflow on the thrown seedlings.

[0146] In the present application, in order to ensure that the main control unit 50 in the above-mentioned seedling throwing system 1000 can control the drone 200 and the seedling throwing mechanism 100 to cooperate in executing the above-mentioned drone seedling throwing control method, the present application implements the above-mentioned functions by dividing the drone seedling throwing control device 400 stored in the main control unit 50 into functional modules. The specific composition of the drone seedling throwing control device 400 provided by the present application is described below.

[0147] Please refer to Fig.13 In one embodiment of the present application, the above-mentioned drone seedling throwing control device 400 may include a seedling picking control module 410 and a seedling throwing control module 420.

[0148] The seedling picking control module 410 is used to control the driving source to drive any cutter head to rotate at a first speed to a preset seedling picking position when the UAV performs a flying seedling throwing operation, so that any cutter head separates the seedlings from the seedling blanket transported by the seedling delivery module.

[0149] The seedling throwing control module 420 is used to control the driving source to drive any cutter head carrying the separated seedlings to rotate at a second speed to a preset seedling throwing position, so that the seedlings are thrown out under the centrifugal force corresponding to the second speed, wherein the second speed is greater than the first speed.

[0150] Optionally, see Fig.14 In another embodiment of the present application, Fig.13 Compared with the drone rice seedling throwing control device 400 shown in FIG. Fig.14 The drone rice seedling transplanting control device 400 shown may further include an operation configuration module 430 .

[0151] The operation configuration module 430 is used to configure the first rotation speed of the seedling picking module at a preset seedling picking position according to the seedling separation standard.

[0152] The operation configuration module 430 is also used to configure the second rotation speed of the seedling picking module at the preset seedling throwing position to a desired rotation speed that meets the desired seedling embedment depth according to the positive correlation between the seedling throwing speed and the seedling embedment depth.

[0153] It should be noted that the basic principle and technical effect of the drone seedling throwing control device 400 provided in the embodiment of the present application are the same as those of the aforementioned drone seedling throwing control method. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the description of the drone seedling throwing control method mentioned above.

[0154] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and a module, a program segment or a part of a code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0155] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the various functions provided by the present application are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a readable storage medium, including several instructions to enable a rice seedling throwing system 1000 composed of a rice seedling throwing mechanism 100 and a drone 200 to perform all or part of the steps of the method recorded in each embodiment of the present application. The aforementioned readable storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or CD-ROM and other media that can store program codes.

[0156] In summary, in a method and device for controlling seedling throwing of a drone, a seedling throwing system and a readable storage medium provided in an embodiment of the present application, when the drone performs a flying seedling throwing operation and the driving source included in the seedling throwing mechanism drives all the cutter heads to rotate according to a fixed period, the driving source is controlled to drive any cutter head to rotate at a first speed to a preset seedling picking position, so that the cutter head separates the seedlings from the blanket seedlings transported by the seedling feeding module included in the seedling throwing mechanism to avoid damage to the roots and stems of the taken seedlings, and the driving source is controlled to drive the cutter head carrying the separated seedlings to rotate at a second speed greater than the first speed to a preset seedling throwing position, so that the seedlings are thrown out under the action of the centrifugal force corresponding to the second speed, so as to ensure that the thrown seedlings have a sufficiently large initial velocity to resist the interference of the propeller airflow, so as to ensure that the thrown seedlings have a sufficiently large initial velocity to resist the interference of the propeller airflow, thereby ensuring that the actual landing positions of the thrown seedlings are orderly distributed under the synergistic effect of the stable seedling throwing frequency and the higher seedling throwing initial velocity by giving the seedlings a sufficiently large initial velocity on the basis of ensuring the stability of the seedling throwing frequency by solidifying the rotation cycle of the cutter head, thereby achieving a stable frequency seedling throwing effect in which the seedlings fall to the ground in an orderly manner.

[0157] At the same time, the present application can ensure that the seedling throwing system can separate the seedlings without damage by configuring the blade speed applicable to the preset seedling picking position and the preset seedling throwing position respectively, while ensuring that the separated seedlings reach the desired soil penetration depth after being thrown and landing, and minimizing the interference of the propeller airflow on the thrown seedlings.

[0158] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling rice seedlings cast by an unmanned aerial vehicle, characterized in that: The drone is equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, the seedling retrieval module includes a driving source and at least one cutter head, the driving source is used to drive the at least one cutter head to rotate according to a fixed period to separate the seedlings from the blanket of seedlings transported by the seedling delivery module and then throw them out; the method includes: When the drone performs the flying seedling throwing operation, the driving source is controlled to drive any one of the cutter heads to rotate at a first speed to a preset seedling picking position, so that any one of the cutter heads separates the seedlings from the blanket of seedlings transported by the seedling delivery module; The driving source is controlled to drive any of the cutter heads to carry the separated seedlings and rotate to a preset seedling throwing position at a second rotation speed, so that the seedlings are thrown out under the action of the centrifugal force corresponding to the second rotation speed, wherein the second rotation speed is greater than the first rotation speed.

2. The method according to claim 1, characterized in that The driving source is a servo motor, and the seedling taking module includes one cutter head. The preset seedling taking position corresponds to a seedling taking motor position at the driving source, and the preset seedling throwing position corresponds to a seedling throwing motor position at the driving source. At this time, the step of controlling the driving source to drive any cutter head to rotate at a first speed to the preset seedling taking position includes: During the process of the driving source rotating from the position of the seedling throwing motor to the position of the seedling taking motor, the actual rotation speed applied by the driving source to the cutter head is lowered so that the actual rotation speed of the cutter head when the driving source rotates to the position of the seedling taking motor is consistent with the first rotation speed.

3. The method according to claim 2, characterized in that The step of controlling the driving source to drive any one of the cutter heads to carry the separated seedlings and rotate to a preset seedling throwing position at a second rotation speed includes: During the process of the driving source rotating from the position of the vine-picking motor to the position of the vine-throwing motor, the actual rotation speed applied by the driving source to the cutter head is increased so that the actual rotation speed of the cutter head when the driving source rotates to the position of the vine-throwing motor is consistent with the second rotation speed.

4. The method according to claim 1, characterized in that The driving source is a servo motor, and the seedling taking module includes a plurality of cutter heads. The preset seedling taking position corresponds to a plurality of seedling taking motor positions at the driving source, and the preset seedling throwing position corresponds to a plurality of seedling throwing motor positions at the driving source, wherein there is a seedling throwing motor position between two adjacent seedling taking motor positions, and the total number of the seedling taking motor positions is consistent with the number of cutter heads. At this time, the step of controlling the driving source to drive any cutter head to rotate at a first speed to the preset seedling taking position includes: In the process of the driving source rotating from any seedling throwing motor position to the seedling retrieval motor position adjacent to the seedling throwing motor position, the actual rotational speed of the driving source applied to all the cutter heads at the same time is lowered so that the actual rotational speed of all the cutter heads when the driving source rotates to the seedling retrieval motor position is consistent with the first rotational speed.

5. The method according to claim 4, characterized in that The step of controlling the driving source to drive any one of the cutter heads to carry the separated seedlings and rotate to a preset seedling throwing position at a second rotation speed includes: During the process of the driving source rotating from any seedling retrieval motor position to the seedling throwing motor position adjacent to the seedling retrieval motor position, the actual rotational speed of the driving source applied to all the cutting heads at the same time is increased so that the actual rotational speed of all the cutting heads when the driving source rotates to the seedling throwing motor position is consistent with the second rotational speed.

6. The method according to claim 4, characterized in that The multiple cutter heads included in the seedling taking module are connected to the driving source in a uniform circular distribution, and the position interval angle between two adjacent cutter heads, the position interval angle between two adjacent seedling taking motor positions and the position interval angle between two adjacent seedling throwing motor positions are consistent.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: configuring the first rotation speed of the seedling picking module at the preset seedling picking position according to the seedling separation standard; According to the positive correlation between the seedling throwing speed and the seedling burying depth, the second rotation speed of the seedling taking module at the preset seedling throwing position is configured to be a desired rotation speed that satisfies the desired burying depth.

8. A UAV rice seedling throwing control device, characterized in that: The drone is equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, and the seedling retrieval module includes a driving source and at least one cutter head, and the driving source is used to drive the at least one cutter head to rotate according to a fixed cycle to separate the seedlings from the blanket of seedlings transported by the seedling delivery module and then throw them out; The device comprises: a seedling picking control module, used for controlling the driving source to drive any one of the cutter heads to rotate at a first speed to a preset seedling picking position when the UAV performs a flying seedling throwing operation, so that any one of the cutter heads separates the seedlings from the blanket of seedlings transported by the seedling delivery module; The seedling throwing control module is used to control the driving source to drive any one of the cutting heads to carry the separated seedlings and rotate at a second speed to a preset seedling throwing position, so that the seedlings are thrown out under the action of the centrifugal force corresponding to the second speed, wherein the second speed is greater than the first speed.

9. The device according to claim 8, characterized in that The device also includes: An operation configuration module, configured to configure a first rotation speed of the seedling picking module at the preset seedling picking position according to a seedling separation standard; The operation configuration module is also used to configure the second rotation speed of the seedling retrieval module at the preset seedling throwing position to an expected rotation speed that meets the expected seedling embedment depth according to the positive correlation between the seedling throwing speed and the seedling embedment depth.

10. A seedling throwing system, characterized in that: The system comprises a main control unit, a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism is mounted on the drone, wherein the seedling throwing mechanism comprises a seedling delivery module and a seedling retrieval module, wherein the seedling delivery module is used to deliver blanket seedlings, and the seedling retrieval module comprises a driving source and at least one cutter head, wherein the driving source is used to drive the at least one cutter head to rotate according to a fixed period to separate the seedlings from the blanket seedlings delivered by the seedling delivery module and then throw them out; The drone includes a drone rotor and a rotor drive motor, wherein each rotor drive motor is connected to a corresponding drone rotor and is used to adjust the rotation state of the connected drone rotor; The main control unit stores a computer program and can execute the computer program to control the coordinated operation of the drone and the seedling throwing mechanism, and implement the drone seedling throwing control method described in any one of claims 1-7.

11. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a seedling throwing system built based on a drone, the drone seedling throwing control method described in any one of claims 1 to 7 is implemented; Among them, the seedling throwing system includes a seedling throwing mechanism installed on the drone, and the seedling throwing mechanism includes a seedling sending module and a seedling taking module, wherein the seedling sending module is used to transport the seedlings, and the seedling taking module includes a driving source and at least one cutter head, and the driving source is used to drive the at least one cutter head to rotate according to a fixed period to separate the seedlings from the seedlings transported by the seedling sending module and then throw them out.

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