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

Abstract

The application provides a 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 performs flight seedling throwing operation and a driving source in the seedling throwing mechanism drives all cutting heads to rotate at a fixed period, the application controls the driving source to drive any cutting head to rotate at a first rotating speed to a preset seedling taking position, so that the cutting head separates seedlings from blanket seedlings conveyed by a seedling feeding module in the seedling throwing mechanism, to avoid damage to the roots of the taken seedlings, and controls the driving source to drive the cutting head to carry the separated seedlings to rotate at a second rotating speed greater than the first rotating speed to a preset seedling throwing position, so that the seedlings are thrown under the action of a centrifugal force corresponding to the second rotating speed, to ensure that the thrown seedlings have a large initial speed to resist the interference of the propeller airflow, so as to realize the stable frequency seedling throwing effect of the orderly landing of the seedlings through the mode of the fixed rotation period of the cutting head and the mode of giving the seedlings a large initial throwing speed.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and more specifically, to a drone rice seedling throwing control method and device, a rice 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] Currently, the landing location of seedlings in drone-transported seedlings is often affected by multiple factors, including propeller airflow, initial velocity, and direction of transport. This can easily lead to irregular distribution of seedlings, severely impacting land utilization and ultimately yields. Therefore, achieving an orderly landing of seedlings is a key technical challenge that needs to be addressed in current drone-transported seedling technology. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a drone seedling throwing control method and device, a seedling throwing system and a readable storage medium, which can drive the cutter heads to use a lower speed to pick up the seedlings when the drone is in flight and all the cutter heads of the seedling throwing mechanism rotate according to a fixed period, so as to avoid damage to the roots of the seedlings being picked, and drive the cutter heads to use a higher speed to throw the seedlings, so that the thrown seedlings have a sufficiently large initial velocity to resist the interference of the propeller airflow, so as to achieve a stable frequency seedling throwing effect with the seedlings falling to the ground in an orderly manner.

[0005] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

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

[0007] When the drone performs a 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 one of the cutter heads to carry the separated seedlings and rotate to a preset seedling throwing position at a second speed, 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.

[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. In this case, 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 rotational speed applied by the driving source to the cutter head is lowered so that the actual rotational speed of the cutter head when the driving source rotates to the position of the seedling taking motor is consistent with the first rotational 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 speed includes:

[0012] During the process of the driving source rotating from the position of the rice seedling picking motor to the position of the rice seedling throwing motor, the actual rotational speed applied by the driving source to the cutter head is increased so that the actual rotational speed of the cutter head when the driving source rotates to the position of the rice seedling throwing motor is consistent with the second rotational 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 the 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] During 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 cutting heads at the same time is lowered so that the actual rotational speed of all the cutting 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 speed includes:

[0016] During the process of the driving source rotating from any seedling-picking motor position to the seedling-throwing motor position adjacent to the seedling-picking 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 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 remain consistent.

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

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

[0020] According to the positive correlation between the seedling throwing speed and the seedling burial 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 burial 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, wherein the seedling retrieval module includes a drive source and at least one cutter head, wherein the drive source is used to drive the at least one cutter head to rotate according to a fixed cycle to separate the seedlings from the seedling blanket transported by the seedling delivery module and then throw them out; the device includes:

[0022] a seedling picking control module, configured to control 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 seedling blanket 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 cutter heads 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 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 rotational 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 based on 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, comprising 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 a blanket of seedlings, and the seedling retrieval module comprises a drive source and at least one cutter head, wherein the drive 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 delivered by the seedling delivery module and then throw the seedlings;

[0028] The drone includes a drone rotor and a rotor drive motor, wherein each rotor drive motor is correspondingly connected to a 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 together 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, which, when executed by a rice seedling throwing system built based on a drone, implements the drone rice seedling throwing control method described in any one of the aforementioned embodiments;

[0031] Among them, the seedling throwing system includes a seedling throwing mechanism installed on the drone, and the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, wherein the seedling delivery module is used to transport the seedlings, 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 seedlings transported by the seedling delivery 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 that drives all the cutting heads to rotate according to a fixed cycle. 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, 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. The present application 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. Therefore, on the basis of ensuring the stability of the seedling throwing frequency by solidifying the rotation cycle of the cutting head, the actual landing positions of the thrown seedlings are ensured to be orderly distributed by giving the seedlings a sufficiently large initial velocity, 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 given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. 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 relevant drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A schematic structural diagram 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 from a first perspective;

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

[0039] Figure 4 A schematic structural diagram of a seedling throwing system provided in another embodiment of the present application from a first perspective;

[0040] Figure 5 A schematic structural diagram of a seedling throwing system provided in another embodiment of the present application from a second perspective;

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

[0042] Figure 7 A flowchart of a method for controlling rice seedlings transplanting using a drone according to an embodiment of the present application is provided;

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

[0044] Figure 9 for Figure 8 The schematic diagram of the change of the blade speed of the seedling removal module is shown;

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

[0046] Figure 11 for Figure 10 The schematic diagram of the change of the blade speed of the seedling removal module is shown;

[0047] Figure 12 A flowchart of a method for controlling rice seedlings transplanting using a drone according to another embodiment of the present application is provided;

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

[0049] Figure 14 A schematic diagram of the composition of a drone rice seedling throwing 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] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[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 protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application 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, it does not need to be further defined or explained in subsequent drawings.

[0054] In the description of this application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the application is usually placed when in use, or are the orientation or position relationship commonly understood by those skilled in the art. They are only for the convenience of describing this 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 cannot be understood as a limitation on this application.

[0055] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

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

[0057] During the research and development process, the applicant discovered that the existing drone flying seedling throwing operation requires the drone to 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 below the cutter head to achieve the flying seedling throwing effect.

[0058] However, it is worth noting that this drone seedling throwing solution is likely to cause the seedlings to have a low initial velocity when the blade rotates slowly, causing the seedlings to be disturbed by the propeller wind field, resulting in the seedlings being unable to land in an orderly manner. At the same time, this drone seedling throwing solution is likely to cause the seedling roots to be damaged by the blade separation action when the blade rotates quickly, resulting in inconsistent growth cycles of the seedlings in the land, making unified management difficult 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 blade rotation cycle during the flight of the drone, and adopt a lower rotation speed to pick the seedlings during the rotation of the blade 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 blade, 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 position of the seedlings being thrown 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.

[0060] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may 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. The seedling throwing mechanisms 100 are mounted on the drone 200 to separate the blanket seedlings 300 and to eject the separated seedlings 310 through centrifugal force and / or ejection force to achieve seedling throwing operation. At the same time, the flying seedling throwing operation is achieved in conjunction with the flight of the drone 200.

[0062] Among them, the seedling throwing mechanism 100 can throw the rice seedlings 310 in a variety of ways. In one embodiment, after the rice seedling throwing mechanism 100 separates the rice seedlings 310 from the seedling blanket 300, the rice seedlings 310 can be thrown out by centrifugal force. In one embodiment, after the rice seedling throwing mechanism 100 separates the rice seedlings 310 from the seedling blanket 300, the separated rice seedlings 310 can be ejected and thrown out by an ejection force (the rice seedling throwing mechanism 100 can be provided with an ejection member, and the ejection member can provide the ejection force). In one embodiment, the rice seedling throwing mechanism 100 can utilize the combined action of centrifugal force and ejection force to throw out the separated rice 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 set on the fuselage frame of the drone 200. The seedling delivery module 20 is set on the load module 10, and the seedling delivery module 20 is used to transport the seedling blanket 300. The seedling retrieval module 30 is set on the load module 10, and the seedling retrieval module 30 is used to separate the seedlings 310 from the seedling blanket 300 on the seedling delivery module 20 and throw them out by centrifugal force and / or catapult 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 retrieval module 30 separates the seedling blanket 300 and throws the seedlings 310, thereby realizing 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 methods are 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 hexacopter drone, an octo-rotor drone, etc. The drone 200 can operate automatically according to a preset path, flight speed, attitude, etc., or it can be manually controlled by an operator. For ease of description, the drawings show directions such as front, back, left, right, up, and down. These directions are all relative positional relationships when the drone 200 is normally placed or in flight, which are clearly understood by those skilled in the art.

[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 scenario, the corresponding device can be replaced according to actual operation requirements. For example, after the seedling throwing mechanism 100 is disassembled, a spreading device can be installed to achieve the spreading of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled and then 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 seedlings 300 on the seedling delivery module 20 and eject the separated seedlings 310 by centrifugal force and / or ejection force. Generally, the driving source 31 is a motor, which drives the cutter head 33 along the Figure 2 The blade head 33 rotates in the direction indicated by the arrow A, thereby separating the seedlings 300 while contacting them. The separated seedlings 310 rotate along the direction of the arrow A with the blade head 33. When the blade head 33 rotates to a specific position, the seedlings 310 are ejected under the action of centrifugal force and / or ejection force. The blade head 33 may be provided with an ejection member that can store and release energy via a cam member during the blade head rotation. When the ejection member releases energy, the seedlings 310 are ejected under the ejection force provided by the ejection member.

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

[0070] To facilitate the ejection of the rice seedlings 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 drive source 31. The cutter body 332 is formed with a notch 333. The notch 333 is used to hold the rice seedlings 310 after the cutter body 332 separates the rice seedlings 310, causing the rice seedlings 310 to rotate and be ejected under the action of centrifugal force and / or ejection force. It is understandable that during the specific operation, the notch 333 on the cutter body 332 will hold the soil at the root of the rice seedlings 310, and then drive it to rotate during the rotation process, thereby ejecting it. Of course, the specific structure of the cutter head 33 can also be selected as a rice seedling needle.

[0071] Combine Figure 2 and Figure 3 In this embodiment, the seedling removal module 30 may further include a transmission box 32. A drive source 31 is connected to the transmission box 32 and is used to drive the transmission box 32 to rotate. Each transmission box 32 is provided with at least one cutter head 33. The transmission box 32 can impart a specific motion trajectory to the cutter head 33. Generally, the transmission box 32 may be provided with a plurality of intermeshing gears. The drive source 31 meshes with a gear in the transmission box 32, and the cutter head 33 meshes with another gear. The transmission box 32 can ensure that the motion trajectory of the cutter head 33 and the posture of the cutter head 33 during motion meet the requirements.

[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 bring 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 cutting heads 33 are distributed on a transmission box 32. Of course, in other embodiments, only one cutting head 33, or three, four, or more cutting heads 33 may be distributed. When two cutting heads 33 are distributed on a transmission box 32, the two cutting heads 33 can be arranged at an angle of 180 degrees to the center of the transmission box 32. Three cutting heads 33 can be spaced 120 degrees apart, and four cutting heads 33 can be spaced 90 degrees apart. In other words, the cutting heads 33 can be arranged in a uniform distribution. Of course, it is not ruled out that the cutting heads 33 can be arranged in an uneven distribution in certain scenarios.

[0074] By designing a larger number of blades 33 on the transmission box 32, the efficiency of removing seedlings can be improved at the same rotational speed. In addition, the transmission box 32 can be directly mounted on the output shaft of the drive source 31, or the transmission box 32 can be rotatably mounted on the load module 10, with the drive source 31 mounted on the load module 10 and connected to the transmission box 32 through a transmission mechanism (such as a 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 be improved by increasing the number of the seedling sending modules 20. Figure 3 In this embodiment, there are multiple seedling delivery modules 20 , and there are multiple seedling removal modules 30 , which correspond one to one with the multiple seedling delivery modules 20 .

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

[0077] In order to achieve the separation and throwing of the blanket seedlings 300 row by row and bunch by bunch, in this embodiment, the seedling delivery module 20 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, and 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 removal module 30, the opening 211 of the seedling support plate 21, etc. relative to the load module 10 remain unchanged, and the seedling delivery tray 22 can reciprocate in the left and right directions. In this way, the seedling removal module 30 only separates the blanket of seedlings 300 exposed in the opening 211, thereby achieving row-by-row and bunch-by-batch separation and throwing of the blanket of seedlings 300. 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 support plate 21 and the seedling removal module 30 can move laterally in the left and right directions.

[0079] In this embodiment, the seedling supporting plate 21 can be understood as an open plate in a long strip shape. The seedling supporting plate 21 is relatively fixed to the load module 10 and does not move with the left and right reciprocating motion of the seedling feeding tray 22. The seedling supporting plate 21 has a certain supporting effect on the seedling feeding 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 . The driving device 23 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 be a motor with a gear rack mechanism to achieve the left and right reciprocating movement of the seedling feeding tray 22, or a motor with a screw mechanism or a synchronous belt. Of course, it is not ruled out that the rotor power of the drone 200 is used to drive the seedling feeding tray 22 to move left and right.

[0082] Please refer to Figure 2 Generally, the seedling feeding tray 22 is set to an inclined position. This design allows the seedling blanket 300 to move downward under the action of gravity after the seedling feeding tray 22 moves left and right once, making it easier for the seedling removal module 30 to remove the next round of seedlings. Of course, a power source can also be set to drive it, for example, refer 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 . The conveying device 24 is used to drive the seedling blanket 300 to move toward the seedling supporting plate 21 .

[0083] The conveyor device 24 can be a conveyor belt or a conveyor roller (e.g., a wolf tooth wheel). Furthermore, the conveyor device 24 can be positioned at various height locations of the seedling delivery tray 22. It should be noted that the tilted arrangement of the seedling delivery tray 22 also effectively utilizes the longitudinal space, thereby reducing the horizontal width occupied by the seedling delivery tray 22. Furthermore, the tilted arrangement allows the blanket seedlings 300 to slide downward due to gravity, thereby reducing the overall power consumption of the conveyor device 24.

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

[0085] In this embodiment, in certain specific scenarios, the rotating shaft 251 can have a certain degree of damping when rotating relative to the seedling feeding tray 22, thereby adjusting the force of the pressing strips 252 on the seedling blanket 300 and maintaining the pressing state. Of course, a torsion spring can also be installed on the rotating shaft 251 to provide a rotational pressure in the direction of the seedling blanket 300.

[0086] Please refer to Figure 3 In this embodiment, the seedling delivery tray 22 is a rectangular frame structure. Specifically, it includes a supporting plate and two baffles arranged on the left and right edges of the supporting plate. There are no baffles on the top and bottom, so that an upper end opening is formed at the top to facilitate placing the seedlings, and a lower end 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 seedlings 300. In addition, the height of the seedling delivery tray 22 is not limited to the height of a tray of seedlings 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. 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 this 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 can 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 tray 22 needs to move horizontally, to facilitate support, the first bracket 43 and the seedling tray 22 can be supported by a combination of slide rails and pulleys. For example, pulleys can be provided at the ends of the first bracket 43, and the seedling tray 22 can be provided with slide rails, with the two rolling together. Alternatively, slide rails can be provided at the ends of the first bracket 43, and pulleys can be provided at the ends of the seedling tray 22. In addition, in some scenarios, the height of the first bracket 43 can be adjusted, which can also achieve an adjustable inclination angle of the seedling tray 22.

[0088] At the same time, the lower portion of the seedling tray 22 is supported by the seedling support plate 21, which improves the overall structural compactness. Of course, the middle portion of the seedling tray 22 can also be supported by the load module 10. It should be noted that the upper portion is only used to indicate that the support position is higher in height relative to the middle and lower portions.

[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 mounted with the aforementioned 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 mounted with the aforementioned seedling removal module 30 (specifically, the drive source 31). Of course, the second bracket 46 and the third bracket 47 may also be a single bracket structure, that is, the seedling support plate 21 and the seedling removal module 30 are mounted to the load module 10 via the same bracket.

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

[0091] Figure 4 and Figure 5 Another embodiment of the seedling throwing system 1000 provided in the present application is shown, wherein the description of the same modules, mechanisms or components can refer to the above. 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 discs 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 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 in flight, the drive source 31 drives the transmission box 32 to rotate, which drives the cutter head 33 to achieve high-speed rotation. When the cutter head 33 rotates to the opening 211, it separates and removes the rice seedlings 310, driving the rice seedlings 310 to rotate. 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 achieving the flying and throwing of the rice seedling blanket 300. At the same time, the rice seedling feeding tray 22 moves horizontally, driving the rice seedling blanket 300 to move left and right, so that the rice seedling blanket 300 is separated and thrown row by row and bunch by bunch. After a row of rice seedlings 310 in the left and right directions of the rice seedling blanket 300 is separated, the entire rice seedling blanket 300 moves downward under the action of gravity and the driving force of the conveying device 24. In this way, when the rice seedling feeding tray 22 moves horizontally again, it is separated and thrown row by row and bunch by bunch by the rice seedling taking module 30. And so on, a reciprocating cycle is carried out until all the rice seedling blankets 300 are separated and thrown.

[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 can include a drone rotor and a rotor drive motor 201, and the drone rotor and 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 above-mentioned main control unit 50 may include at least one software function module that can be stored in the form of software or firmware, and can 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 thrown seedlings, thereby effectively improving the land utilization rate and final yield of land planting operations.

[0097] It is understandable 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 regulate the operating status of each 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 specific control functions of the main control unit 50 are realized by these two control electronic devices through network communication. The specific setting method of the main control unit can be configured according to different needs.

[0098] In the present application, to ensure that the drone 200 in the aforementioned seedling throwing system 1000 can carry the seedling throwing mechanism 100 in stable flight and achieve a stable frequency seedling throwing effect with orderly landing of the seedlings, while simultaneously avoiding 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 aforementioned seedling throwing system 1000 to achieve the aforementioned objectives. The drone seedling throwing control method provided in 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 throwing 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 cutter head to rotate at a first speed to a preset seedling picking position, so that any cutter head separates the seedlings from the seedling blanket transported by the seedling delivery module.

[0101] In this embodiment, the main control unit 50 can obtain the seedling throwing instruction for realizing the seedling throwing operation during the flight of the UAV 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 horizontally, 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 cutter 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 horizontally to the position of the opening 211, any one of the cutter heads 33 connected to the driving source 31 is rotated to the preset seedling picking position (such as Figure 1 ), and the rice 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 cutter head rotation position that can separate the seedlings 310 through the opening 211; all cutter heads 33 connected to the driving source 31 rotate synchronously under the driving action of the driving source 31, and the cutter head rotation cycles of all the aforementioned cutter heads 33 are 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 finally thrown seedlings can be preliminarily distributed in an orderly manner.

[0103] At the same time, the main control unit 50 will control the driving source 31 to adjust the rotational speed of the cutting head 33 closest to the preset seedling picking position when the driving source 31 drives any one of the cutting heads 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 rotational speed with a smaller value, and directly use the first rotational 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 rotational speed, thereby avoiding damage to the roots and stems of the seedlings due to the excessively fast cutting head rotational speed.

[0104] Step S520, controlling the driving source to drive any one of the cutter 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 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 according to 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 that when the aforementioned cutter head 33 rotates 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 pre-set 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 aforementioned cutter head 33 during the process of the driving source 31 driving 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 the second rotation speed with a larger value, and directly use the second rotation speed to throw the carried seedlings 310 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 drone flight operation, thereby ensuring that the actual landing position of the thrown seedlings can achieve an orderly distribution effect under the synergistic effect of the stable seedling throwing frequency and the larger initial seedling throwing velocity, so as to achieve a stable frequency seedling throwing effect with orderly landing of the seedlings during the drone flight.

[0107] It is understandable that the above-mentioned seedling throwing instructions can be control instructions automatically generated by the main control unit 50 at a specific time point according to a preset seedling throwing operation strategy, or can be control instructions directly sent to the main control unit 50 by the operator through the 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 adopt 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 adopted for seedling throwing during the rotation of the blade, 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 position of the seedlings being thrown 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. 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 removing the rice seedlings (such as Figure 8 The motor rotation position p1 represented by the "dashed rectangle" shown in FIG), 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 position of the rice seedling throwing motor during the rotation of the motor of the driving source 31 (such as Figure 8 The motor rotation position p2) is represented by the "black filled rectangle" shown in the figure, wherein the rice seedling picking motor position is the motor rotation position when the driving source 31 drives the aforementioned cutter head 33 to rotate to the preset rice seedling picking position, and the rice 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 rice 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 FIG. 1 is from the aforementioned retrieval motor position p1 to the aforementioned seedling throwing motor position p2, and then from the aforementioned seedling throwing motor position p2 to the aforementioned retrieval motor position p1, thereby driving the aforementioned cutter head 33 to rotate a full circle. It is understood that the drive source 31 can, at the initial startup, place the cutter head 33 between the preset retrieval position and the preset seedling throwing position, 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 the cutter head 33 to perform the drone seedling throwing 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 when the seedling removal module 30 is shown:

[0112]

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

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

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

[0116] The speed reduction strategy adopted by the main control unit 50 when reducing the actual speed of the driving source 31 applied 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 cutter heads 33 to carry the separated rice seedlings 310 and rotate to the preset rice seedling throwing position at the second speed" in the above step S520 may include:

[0118] During the process of the driving source 31 rotating from the rice seedling picking motor position to the rice seedling throwing motor position, the actual speed of the driving source 31 applied to the cutter head 33 is increased so that the actual speed of the cutter head 33 when the driving source 31 rotates to the rice seedling throwing motor position is consistent with the second speed.

[0119] The speed increasing strategy adopted by the main control unit 50 when increasing the actual speed of the driving source 31 applied 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 step S510 and step 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 adopts a uniform acceleration strategy to increase the actual rotation speed of the cutter head 33 , and adopts a uniform deceleration strategy to decrease the actual rotation speed of the cutter head 33 .

[0122] by Figure 8 and Figure 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 removal motor is at position p1 is Figure 9 The actual speed of the cutter head 33 at the first t(p1) is the first speed V1, and the driving source 31 rotates to Figure 8 The time point when the rice seedling throwing motor is at position p2 is Figure 9 At t(p2), the actual speed of the cutter head 33 at t(p2) is the second speed V2, and the driving source 31 finally rotates to Figure 8 The time point when the rice seedling removal motor is at position p1 is Figure 9In the second t(p1), 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 "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] Alternatively, in another embodiment of the present application, please refer to Figure 10 The driving source 31 of the above-mentioned seedling removal module 30 can be realized by a servo motor, and the number of the cutting heads included in the above-mentioned seedling removal module 30 is multiple (for example, Figure 10 The seedling taking 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 taking position (such as Figure 10 The “dotted triangle” in the figure corresponds to the rotation position of the cutter head) and there are multiple corresponding positions of the motor for removing the rice seedlings during the rotation of the motor of the driving source 31 (for example, Figure 10 The two “dashed rectangles” shown in FIG. 1 represent the motor rotation positions p1 and p1′, respectively. The above-mentioned preset seedling throwing positions (such as Figure 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, Figure 10 The motor rotation positions p2 and p2′ represented by the “black filled rectangles” 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, Figure 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 cutting heads 33 to rotate, the driving source 31 can rotate along Figure 10 The direction indicated by the arrow A in the figure rotates from the seedling picking motor position p1 to the seedling throwing motor position p2, and then from the aforementioned seedling throwing motor position p2 to the seedling picking motor position p1′, then from the aforementioned seedling picking motor position p1′ to the seedling throwing motor position p2′, and finally from the aforementioned seedling throwing motor position p2′ to the aforementioned seedling picking motor position p1, so as to drive all the cutter heads 33 to rotate synchronously for a full 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 seedling picking 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 Figure 10 The following constraints on the movement of the cutter head exist when the seedling removal module 30 is shown:

[0126]

[0127] Among them, q1(t3) is used to represent the actual position of the cutter 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 No. 1 cutter head at time t3, V1 is used to indicate the first rotation speed, q1(t4) is used to indicate the actual position reached by the No. 1 cutter head at time 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 represent the actual speed of the No. 1 cutter head at time point t4, V2 is used to represent the second speed, q2(t5) is used to represent the actual position reached by the No. 2 cutter head at time point t5, 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 represent the actual rotation speed of the blade No. ② at time point t5, q2(t6) is used to represent the actual position reached by the blade No. ② at time point t6, and P2′ is used to represent 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 the first speed to the preset seedling removing position" in the above step S510 may include:

[0129] During 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 cutting 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] During this process, it can be understood that the motor rotation time required for the drive 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 drive 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 spacing angle between two adjacent cutter heads 33 in the aforementioned multiple cutter heads 33 remains consistent. At this time, the position spacing angle between the two adjacent cutter heads 33, the position spacing angle between two adjacent seedling taking motor positions, and the position spacing angle between two adjacent seedling throwing motor positions are also consistent. The motor rotation time required for the drive source 31 to rotate from different seedling throwing motor positions to adjacent seedling taking motor positions will also remain consistent.

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

[0133] During the process of the driving source 31 rotating from any seedling picking motor position to the seedling throwing motor position adjacent to the seedling picking 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 of the driving source 31 applied 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] During this process, it can be understood that the motor rotation time required for the drive 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 drive source 31 in a uniform circular distribution, and at the same time, 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 remains consistent. At this time, the position interval angle between the two adjacent cutter heads 33, the position interval angle between two adjacent seedling picking motor positions, and the position interval angle between two adjacent seedling throwing motor positions are also consistent. The motor rotation time required for the drive 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 of the driving source 31 driving 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 with the seedlings falling to the ground in an orderly manner.

[0137] In one embodiment of the present invention, the plurality of blades 33 included in the seedling removal module 30 are connected to the driving source 31 in a uniform circumferential distribution, and the position interval angle between two adjacent blades 33 (for example, Figure 10 The position interval angle between the cutter heads No. ① and No. ② is 180°), the position interval angle between the two adjacent seedling taking motor positions and the position interval angle between the 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 speed of all the cutter heads 33 at the same time, and adopts a uniform deceleration strategy at different seedling throwing motor positions to lower the actual speed of all the cutter heads 33 at the same time.

[0138] by Figure 10 and Figure 11 For example, assuming that the motor rotation period of the driving source 31 is T0, the driving source 31 initially rotates to Figure 10 The time point when the rice seedling removal motor is at position p1 is Figure 11 In the first t(p1), the actual rotation speeds of the cutter heads ① and ② at the first t(p1) are both the first rotation speed V1, and the cutter head ① takes the seedlings at the preset seedling taking position; the driving source 31 rotates to Figure 10 The time point when the rice seedling throwing motor is at position p2 is Figure 11 At t(p2), the actual rotation speeds of the cutter heads ① and ② at t(p2) are both the second rotation speed V2, and the cutter head ① is used to throw the seedlings at the preset throwing position; the driving source 31 rotates to Figure 10 The time point when the rice seedling removal motor is at position p1′ is Figure 11 At t(p1′), the actual rotation speeds of the cutter heads ① and ② at t(p2) are both the first rotation speed V1, and the cutter head ② takes the seedlings at the preset seedling taking position; the driving source 31 rotates to Figure 10 The time point when the rice seedling throwing motor is at position p2′ is Figure 11 At t(p2′), the actual rotation speeds of the cutter heads ① and ② at t(p2) are both the second rotation speed V2, and the cutter head ② is used to throw the seedlings at the preset throwing position; the driving source 31 finally rotates to Figure 10 The time point when the rice seedling removal motor is at position p1 is Figure 11 At the second t(p1), the actual rotation speeds of the cutter heads ① and ② 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 meet 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] Alternatively, see Figure 12 In another embodiment of the present application, Figure 7Compared with the UAV rice seedling throwing control method shown in the figure, Figure 12 The drone seedling throwing control method shown can 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 depth of soil 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] The positive correlation between the aforementioned seedling throwing speed and the seedling burial depth is used to characterize that the greater the seedling throwing speed of the seedling throwing system 1000 at a specific drone flight altitude, the deeper the seedling burial depth corresponds to. Therefore, the second rotational speed used by the seedling retrieval module 30 can be configured to meet the desired burial depth according to the requirements of the drone seedling throwing operation, so that the seedling retrieval module 30 can use the successfully configured second rotational speed to ensure that the seedlings reach the desired burial depth after being thrown and landing at the preset seedling throwing position, and use the second rotational speed to minimize the interference effect of the propeller airflow on the thrown seedlings, so as to improve the stable frequency seedling throwing effect in which the seedlings fall to the ground in an orderly manner.

[0145] Therefore, the present application can configure the blade speed applicable to 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, 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 depth of soil after being thrown and landing, and reduce the interference effect of the propeller airflow on the thrown seedlings as much as possible.

[0146] In this application, to ensure that the main control unit 50 in the above-mentioned rice seedling throwing system 1000 can control the drone 200 and the rice seedling throwing mechanism 100 to coordinately execute the above-mentioned drone rice seedling throwing control method, this application implements the aforementioned functions by dividing the drone rice seedling throwing control device 400 stored in the main control unit 50 into functional modules. The specific components of the drone rice seedling throwing control device 400 provided in this application are described below.

[0147] Please refer to Figure 13 In one embodiment of the present application, the above-mentioned drone seedling throwing control device 400 may include a seedling taking 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 under the action of the centrifugal force corresponding to the second speed, wherein the second speed is greater than the first speed.

[0150] Alternatively, see Figure 14 In another embodiment of the present application, Figure 13 Compared with the drone rice seedling throwing control device 400 shown, Figure 14 The drone rice seedling planting 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 retrieval module at the preset seedling throwing position to an expected rotation speed that meets the expected seedling embedment depth based on the positive correlation between the seedling throwing speed and the seedling embedment depth.

[0153] It should be noted that the basic principles and technical effects of the drone rice seedling throwing control device 400 provided in the embodiment of the present application are the same as those of the aforementioned drone rice seedling throwing control method. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the description of the drone rice seedling throwing control method.

[0154] In the embodiments provided in this 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 architectures, 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 the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that 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 flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0155] In addition, the functional modules 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 this 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. The computer software product is stored in a readable storage medium, including several instructions for making a rice seedling throwing system 1000 composed of a rice seedling throwing mechanism 100 and a drone 200 execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned readable storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0156] In summary, in a drone seedling throwing control method and device, 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 present application controls the driving source 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 controls the driving source 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 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 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 cutter head rotation cycle, thereby achieving a stable frequency seedling throwing effect in which the seedlings land 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, and ensure that the separated seedlings reach the desired depth of soil after being thrown and landing, and minimize the interference of the propeller airflow on the thrown seedlings.

[0158] The above are merely various embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for controlling rice seedlings by using a drone, 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 cycle to separate the seedlings from the seedling blanket transported by the seedling delivery module and then throw them out; the method includes: When the drone performs a 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 one of the cutter heads to carry the separated seedlings and rotate to a preset seedling throwing position at a second speed, 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.

2. The method according to claim 1, characterized in that The driving source is a servo motor, and the seedling taking module includes one cutting 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 cutting 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 rotational speed applied by the driving source to the cutter head is lowered so that the actual rotational speed of the cutter head when the driving source rotates to the position of the seedling taking motor is consistent with the first rotational 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 speed includes: During the process of the driving source rotating from the position of the rice seedling picking motor to the position of the rice seedling throwing motor, the actual rotational speed applied by the driving source to the cutter head is increased so that the actual rotational speed of the cutter head when the driving source rotates to the position of the rice seedling throwing motor is consistent with the second rotational speed.

4. The method according to claim 1, wherein 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 the 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: During 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 cutting heads at the same time is lowered so that the actual rotational speed of all the cutting 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 speed includes: During the process of the driving source rotating from any seedling-picking motor position to the seedling-throwing motor position adjacent to the seedling-picking 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 a first rotation speed of the seedling picking module at the preset seedling picking position according to a seedling separation standard; According to the positive correlation between the seedling throwing speed and the seedling burial 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 burial 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, wherein 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 seedling blanket transported by the seedling delivery module and then throw them out; The device comprises: a seedling picking control module, configured to control 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 seedling blanket transported by the seedling delivery module; The seedling throwing control module is used to control the driving source to drive any one of the cutter heads 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 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 further comprises: an operation configuration module, configured to configure a first rotational 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 based on the positive correlation between the seedling throwing speed and the seedling embedment depth.

10. A seedling throwing system, characterized in that: The system includes a main control unit, a drone, and a seedling throwing mechanism, wherein the seedling throwing mechanism is installed on the drone, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, wherein the seedling delivery module is used to deliver a blanket of seedlings, 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 cycle to separate the seedlings from the blanket of 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 correspondingly connected to a 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 rice seedling throwing system built based on a drone, the drone rice seedling throwing control method according to 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 delivery module and a seedling retrieval module, wherein the seedling delivery module is used to transport the seedlings, 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 seedlings transported by the seedling delivery module and then throw them out.

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