Unmanned aerial vehicle rice transplanting system

Abstract

The invention discloses an unmanned aerial vehicle transplanting system which comprises a body and transplanting equipment, the transplanting equipment is located on the ground, the body flies in front of the transplanting equipment at a low altitude, and the transplanting equipment is connected with the body through a connecting rod mechanism. The machine body provides walking power for the rice transplanting equipment but does not lift the rice transplanting equipment away from the ground. The unmanned aerial vehicle provides advancing power for the rice transplanting equipment, the unmanned aerial vehicle does not make contact with the field, the weight of the unmanned aerial vehicle does not fall on the rice transplanting equipment to be transmitted to the field, and therefore the situation that rice seedlings are difficult to sow when the field is compacted can be reduced, and the unmanned aerial vehicle flies in the air and does not occupy the field area; therefore, the rice transplanting equipment can advance to the outermost edge of a field in the rice transplanting process, the length occupied by a power system is reduced, the turning radius is reduced, and soil can be fully utilized.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and in particular to an unmanned aerial vehicle transplanting system. Background Art

[0002] With the continuous development of the agricultural industry and the increasing attention paid by the country to agriculture, agricultural mechanization has gradually become popular in some parts of my country. Traditional mechanized farming requires a large amount of manpower costs, and as labor costs continue to increase, autonomous driving technology has also been applied in the field of agricultural machinery.

[0003] Existing automatic driving equipment for transplanting rice seedlings usually has a driving device and the transplanting equipment installed on the same frame, or the driving device is an independent driving vehicle that pulls the transplanting equipment to move for transplanting rice seedlings. When the transplanting equipment and the driving device are installed on the same frame, the weight of the driving device is relatively large, which will affect the loading capacity of the transplanting equipment for rice seedlings. At the same time, the increase in the total amount will cause greater damage to the field, making it difficult to sow the seedlings after the field is compacted; when the driving device is an independent driving vehicle that pulls the transplanting equipment to move for transplanting rice seedlings, due to the increase in the overall length, the turning radius increases when turning, and the soil near the edge of the field is difficult to fully utilize, resulting in unsatisfactory sowing effect, and manual seedling replenishment is required, which increases the workload. Summary of the invention

[0004] The purpose of the embodiment of the present invention is to provide a drone transplanting system, which uses a drone to provide power for the transplanting equipment, can reduce the turning radius of the equipment under the same transplanting equipment volume, increase the seedling carrying capacity of the transplanting equipment, improve field utilization, and reduce the workload generated by manual seedling replacement.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] Provided is an unmanned aerial vehicle transplanting system, comprising a fuselage and a transplanting device, wherein the transplanting device is located on the ground, the fuselage flies at a low altitude in front of the transplanting device, the transplanting device is connected to the fuselage through a connecting rod mechanism, and the fuselage provides walking power for the transplanting device but does not lift the transplanting device off the ground.

[0007] As a preferred technical solution of the drone transplanting system, the transplanting equipment has a steering wheel, and the connecting rod mechanism is connected to the steering wheel so that the steering of the drone can drive the transplanting equipment to achieve steering.

[0008] As a preferred technical solution of the UAV rice transplanting system, both ends of the connecting rod mechanism are respectively hinged to the fuselage and the rice transplanting equipment.

[0009] As a preferred technical solution of the drone transplanting system, the connecting rod mechanism is configured to be able to swing back and forth along the travel direction relative to the fuselage and the transplanting equipment.

[0010] As a preferred technical solution of the drone transplanting system, the connecting rod mechanism includes a first connecting end and a second connecting end, a first articulated seat is provided on the fuselage, and a second articulated seat is provided on the transplanting equipment, the first connecting end is articulated with the first articulated seat, and the second connecting end is articulated with the second articulated seat.

[0011] As a preferred technical solution of the drone transplanting system, a spring assembly is provided between the second connecting end and the first articulated seat, and / or a spring assembly is provided between the second connecting end and the second articulated seat.

[0012] As a preferred technical solution of the drone transplanting system, the transplanting equipment is provided with a steering wheel, which is transmission-connected to the steering wheel, and the rotation of the steering wheel can drive the steering wheel to rotate.

[0013] As a preferred technical solution of the drone transplanting system, the connecting rod mechanism is connected to the steering wheel, and the steering wheel can be rotatably arranged relative to the transplanting equipment.

[0014] As a preferred technical solution of the drone transplanting system, it also includes a steering rod, which is transmission-connected between the steering disc and the steering wheel.

[0015] As a preferred technical solution of the drone transplanting system, it also includes an equipment support device for supporting the transplanting equipment on the ground, and the bottom of the equipment support device and the bottom of the steering wheel are located in the same plane.

[0016] As a preferred technical solution of the drone transplanting system, the equipment support device is a support plate or a support wheel.

[0017] As a preferred technical solution of the drone transplanting system, the transplanting equipment includes an equipment frame and a transplanting assembly arranged inside the equipment frame. The transplanting assembly has multiple groups, and the multiple groups of transplanting assemblies are symmetrically arranged inside the equipment frame, or the multiple groups of transplanting assemblies are arranged side by side in the equipment frame.

[0018] As a preferred technical solution of the drone transplanting system, the transplanting assembly includes a seedling delivery tray and a cutter head assembly. The seedling delivery tray is provided with seedlings. The cutter head assembly is used to grab the seedlings on the seedling delivery tray and transplant them in the field.

[0019] The beneficial effects of the present application are as follows: in the present application, a drone is used to provide traveling power for the rice transplanting equipment, the drone itself does not contact the field, and the weight of the drone does not fall on the rice transplanting equipment and is not transferred to the field, thereby reducing the situation where the field is compacted and difficult to sow seedlings. Since the drone flies in the air, it does not occupy the field area, so during the rice transplanting process the rice transplanting equipment can travel to the very edge of the field, reducing the length occupied by the power system and the turning radius, so that the soil can be fully utilized. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present application is further described in detail below based on the drawings and embodiments.

[0021] Figure 1 This is a schematic diagram of the overall structure of the UAV rice transplanting system described in the embodiment of the present application;

[0022] Figure 2 This is a schematic diagram of the connection structure between the connecting rod mechanism, the fuselage and the rice transplanting equipment according to an embodiment of the present application;

[0023] Figure 3 This is a schematic diagram of the connection structure of the connecting rod mechanism, the fuselage and the rice transplanting equipment according to another embodiment of the present application;

[0024] Figure 4 This is a schematic diagram of the connection structure of the connecting rod mechanism, the fuselage and the rice transplanting equipment according to another embodiment of the present application;

[0025] Figure 5 This is a schematic diagram of the connection structure of the connecting rod mechanism, the fuselage and the rice transplanting equipment according to another embodiment of the present application;

[0026] Figure 6 This is a schematic diagram of the overall structure of the UAV rice transplanting system according to an embodiment of the present application from another perspective;

[0027] Figure 7 This is a schematic diagram of the overall structure of a drone rice transplanting system according to another embodiment of the present application.

[0028] icon:

[0029] 100, body; 110, first articulated seat; 200, connecting rod mechanism; 210, first connecting end; 220, second connecting end; 230, spring assembly; 300, rice transplanting equipment; 310, steering wheel; 320, steering wheel; 330, steering rod; 340, equipment support device; 350, equipment frame; 360, rice transplanting assembly; 3601, rice seedling delivery tray; 3602, cutter head assembly; 370, second articulated seat. DETAILED DESCRIPTION

[0030] In order to make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0031] In the description of this application, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0033] Existing UAV transplanting equipment usually uses UAV as an image and signal acquisition device to provide a basis for the running trajectory, running speed and other parameters of the transplanting equipment with a separate power source, so as to realize unmanned and intelligent transplanting. However, it still has the following problems:

[0034] The driving device and the transplanting equipment are installed on the same frame, or the driving device is an independent driving vehicle that pulls the transplanting equipment to move for transplanting. When the transplanting equipment and the driving device are installed on the same frame, the weight of the driving device is relatively large, which will affect the loading capacity of the transplanting equipment. At the same time, the increase in the total amount will cause greater damage to the field, making it difficult to sow the seedlings after the field is compacted; when the driving device is an independent driving vehicle that pulls the transplanting equipment to move for transplanting, due to the increase in the overall length, the turning radius increases when turning, and the soil near the edge of the field is difficult to fully utilize, resulting in unsatisfactory sowing effect, and manual seedling supplementation is required, which increases the workload.

[0035] Based on the above problems existing in the prior art, Figure 1-7As shown, an embodiment of the present application provides a drone transplanting system, including a fuselage 100 and a transplanting device 300, wherein the transplanting device 300 is located on the ground, and the fuselage 100 flies at a low altitude in front of the transplanting device 300, and the transplanting device 300 is connected to the fuselage 100 via a connecting rod mechanism 200, and the fuselage 100 provides walking power for the transplanting device 300 but does not lift the transplanting device 300 off the ground.

[0036] In the present application, a drone is used to provide driving power for the rice transplanting equipment 300. The drone itself does not come into contact with the field, and the weight of the drone does not fall on the rice transplanting equipment 300 and is not transferred to the field. This can reduce the situation where the field is compacted and difficult to plant seedlings. Since the drone flies in the air, it does not occupy the field area. Therefore, during the rice transplanting process, the rice transplanting equipment 300 can travel to the very edge of the field, reducing the length occupied by the power system and the turning radius, so that the soil can be fully utilized.

[0037] In order to enable the rice transplanting device 300 to operate better in the field and ensure its turning performance, the steering wheel 310 is used in the embodiment of the present application to guide its turning. Figure 1 , 6 As shown in 7, the UAV transplanting system described in the embodiment of the present application, its transplanting equipment 300 has a steering wheel 310, and the connecting rod mechanism 200 is connected to the steering wheel 310 so that the steering of the UAV can drive the transplanting equipment 300 to achieve steering.

[0038] It can be understood that the steering wheel 310 in this embodiment is the front wheel. When the rice transplanting equipment 300 needs to turn, the steering wheel 310 is first deflected, thereby changing the direction of travel of the rice transplanting equipment 300, thereby performing a turning action as a whole. The main reason for using the actively controlled steering wheel 310 in this embodiment instead of a universal wheel that can be flexibly rotated relative to the rice transplanting equipment 300 is that the rotation of the universal wheel is greatly affected by the flatness of the ground. In an environment with very low flatness such as a farmland, the universal wheel is easily affected by the unevenness of the ground, resulting in unnecessary deflection when no steering is required, and in the case of multiple universal wheels, different universal wheels may have different deflection directions, which may cause the rice transplanting equipment 300 to be unable to move normally; at the same time, the universal wheel first needs to slide with the ground during the turning process, and this process is also difficult to perform in a farmland. When the drone has turned and the universal wheel is stuck in the mud and cannot be deflected, the rice transplanting equipment 300 may be deflected by force to the deflection direction of the drone or even overturn.

[0039] In the embodiment of the present application, the connecting rod mechanism 200 is used to connect the fuselage 100 and the rice transplanting equipment 300. When the drone drives the rice transplanting equipment 300, the horizontal flight height of the drone can remain unchanged, while the horizontal height of the rice transplanting equipment 300 may fluctuate due to the flatness of the field, thus causing the distance between the fuselage 100 and the rice transplanting equipment 300 in the height direction to change frequently. Therefore, the two ends of the connecting rod mechanism 200 are respectively hinged to the fuselage 100 and the rice transplanting equipment 300, and the connecting rod mechanism 200 is configured to swing forward and backward relative to the fuselage 100 and the rice transplanting equipment 300 along the travel direction. This ensures that the rice transplanting equipment 300 does not affect the flight height of the drone during the up and down fluctuations.

[0040] The specific structure of the connecting rod mechanism 200 is introduced below in conjunction with the accompanying drawings. The connecting rod mechanism 200 in the present application includes a first connecting end 210 and a second connecting end 220. A first articulated seat 110 is provided on the fuselage 100, and a second articulated seat 370 is provided on the rice transplanting equipment 300. The first connecting end 210 is hinged to the first articulated seat 110, and the second connecting end 220 is hinged to the second articulated seat 370.

[0041] Reference Figure 2 As shown, in an optional embodiment of the present application, the second connecting end 220 is a fork-shaped connecting end, the first connecting seat is a single connecting seat that cooperates with the fork-shaped head of the second connecting end 220, the first connecting seat is inserted into the second connecting end 220, and the two are hinged by a hinge shaft; the second connecting head is a connecting column provided with a hinge hole, the second connecting seat is two connecting seats arranged at intervals, the second connecting head is inserted between the two connecting seats, and the second connecting head and the second connecting seat are hinged by a hinge shaft.

[0042] Reference Figure 4 As shown, in another optional embodiment of the present application, the second connection end 220 has the same structure as the second connection head, both of which are connection columns provided with hinge holes, and the first connection seat and the second connection seat also have the same structure, both of which are two connection seats arranged at intervals, and the second connection end 220 and the second connection head are inserted between the corresponding two connection seats, and are hinged to the corresponding first connection seat or the second connection seat through the hinge shaft.

[0043] Reference Figure 5As shown, in another optional embodiment of the present application, the second connecting end 220 has the same structure as the second connecting head, both are fork-shaped connecting heads, the first connecting seat and the second connecting seat are single connecting seats that cooperate with the fork-shaped head of the corresponding connecting head, the first connecting seat is inserted into the second connecting end 220 to achieve the articulation of the two through the articulation axis, and the second connecting seat is inserted into the second connecting head to achieve the articulation of the two.

[0044] Optional, see Figure 2-5 As shown, the articulated shaft described in the embodiment of the present application is a threaded shaft with a threaded structure at the end, and the articulated shaft is locked to the outside of the corresponding connecting seat or connecting head by a nut. In order to prevent the nut from loosening, an anti-rotation pin is also provided on the outside of the nut in the embodiment of the present application.

[0045] Reference Figure 3 As shown, in an optional embodiment of the present application, a spring assembly 230 is arranged between the second connecting end 220 and the first hinge seat 110, and / or a spring assembly 230 is arranged between the second connecting head and the second hinge seat 370.

[0046] The structure of the connecting rod mechanism 200 connected to the fuselage 100 and the rice transplanting equipment 300 needs to have a certain degree of freedom of movement in the axial direction of the hinge axis while ensuring that it can swing relative to the hinge axis, so as to avoid the phenomenon of inflexible steering caused by the inability to change the force direction during steering. Therefore, the two connecting heads of the connecting rod mechanism 200 and the corresponding two connecting seats are clearance-matched, and unnecessary relative displacement is prone to occur in the case of clearance-matched, especially after turning, the fuselage 100 and the rice transplanting equipment 300 do not return to the relative centerline position, resulting in the interaction force between the fuselage 100 and the rice transplanting equipment 300 being tilted, resulting in unstable operation. In the present application, the spring assembly 230 is arranged so that it is located between the first connecting head and the first hinge seat 110 and between the second connecting head and the second hinge seat 370. The spring assembly 230 can always push the connecting rod mechanism 200 to the straight line position where the centerline of the fuselage 100 and the rice transplanting equipment 300 is located, so as to avoid the tilt caused by the force not being on the centerline.

[0047] In order to transmit the torsional force generated by the link mechanism 200 to the steering wheel 310, refer to Figure 6 As shown, in the embodiment of the present application, a steering wheel 320 is provided on the rice transplanting equipment 300, and the steering wheel 320 is transmission-connected to the steering wheel 310, and the rotation of the steering wheel 320 can drive the steering wheel 310 to rotate, and the connecting rod mechanism 200 is connected to the steering wheel 320, and the steering wheel 320 can be rotatably arranged relative to the rice transplanting equipment 300.

[0048] In the present application, the second articulated seat 370 is arranged at the axial position of the steering wheel 320. When steering is required, the fuselage 100 is deflected, thereby driving the connecting rod mechanism 200 to transmit the deflection torque to the second articulated seat 370. The second articulated seat 370 drives the steering wheel 320 to rotate, and the steering wheel 320 then transmits the rotation to the steering wheel 310 to drive the steering wheel 310 to deflect to achieve the steering of the transplanting equipment 300.

[0049] Reference Figure 6 As shown, in a further optional embodiment of the present application, a steering rod 330 is also included, and the steering rod 330 is connected to the steering wheel 320 and the steering wheel 310 by transmission.

[0050] It should be pointed out that the structure of driving the steering wheel 310 to rotate by the steering wheel 320 in the present application can adopt a structure with a steering control function such as a traditional bicycle or car, which belongs to the conventional technical means in this field and will not be described in detail in this application.

[0051] Reference Figure 1 , 6 As shown in , 7 , the UAV transplanting system described in the present application also includes an equipment support device 340 for supporting the transplanting equipment 300 on the ground, and the bottom of the equipment support device 340 is located in the same plane as the bottom of the steering wheel 310.

[0052] Reference Figure 1 , 6 As shown, in an optional embodiment of the present application, the equipment supporting device 340 is a support plate, and the support plate cooperates with the steering wheel 310 to support the rice transplanting equipment 300.

[0053] Reference Figure 7 As shown, in another optional embodiment of the present application, the supporting device is a supporting wheel, and the supporting wheel cooperates with the steering wheel 310 to support the rice transplanting equipment 300.

[0054] The following is an example of the combined transplanting of the present application with reference to the accompanying drawings. Figure 1 , 6 As shown in FIG. 7 , in one embodiment of the present application, the rice transplanting device 300 includes a device frame 350 and a rice transplanting assembly 360 arranged inside the device frame 350. The rice transplanting assembly 360 has multiple groups, and the multiple groups of the rice transplanting assemblies 360 are symmetrically arranged inside the device frame 350, or the multiple groups of the rice transplanting assemblies 360 are arranged side by side inside the device frame 350.

[0055] Specific reference Figure 1As shown, in this embodiment, two groups of transplanting assemblies 360 are used, and the two groups of transplanting assemblies 360 are symmetrically arranged along the center line of the transplanting equipment 300. Each group of transplanting assemblies 360 includes three seedling delivery trays 3601 and three cutter head assemblies 3602. The seedling delivery trays 3601 correspond to the cutter head assemblies 3602 one by one. The seedling delivery trays 3601 are provided with seedlings, and the cutter head assemblies 3602 are used to grab the seedlings on the seedling delivery trays 3601 and transplant them in the field.

[0056] Reference Figure 7 As shown, in another optional embodiment of the present application, the rice transplanting components 360 are divided into three groups, and the three groups of rice transplanting components 360 are arranged side by side in the same direction on the rice transplanting equipment 300. Each group of rice transplanting components 360 includes three rice sending trays 3601 and three cutter head assemblies 3602. The rice sending trays 3601 correspond to the cutter head assemblies 3602 one by one. The rice sending trays 3601 are provided with seedlings, and the cutter head assemblies 3602 are used to grab the seedlings on the rice sending trays 3601 and transplant them in the field.

[0057] It can be understood that the above-mentioned structure of using two groups of transplanting components and three groups of transplanting components and their symmetrical arrangement or side by side arrangement does not serve as a limitation to the present application. In other embodiments, a structure of one group of transplanting components or four or five groups of transplanting components can also be used, which can be reasonably selected according to the specific structure of the transplanting equipment 300.

[0058] It should be pointed out that the rice transplanting equipment described in this application has a driving device that provides power for the cutter head and the seedling delivery tray, which can be reasonably configured by technical personnel in this field according to needs and will not be described in detail in this application.

[0059] In the description of this article, it should be understood that the terms "upper", "lower", "left", "right", etc., and other directions or positional relationships are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of this application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0060] In the description of this specification, the description with reference to the terms "an embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0061] In addition, it should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0062] The technical principles of the present application are described above in conjunction with specific embodiments. These descriptions are only for explaining the principles of the present application and cannot be interpreted as limiting the scope of protection of the present application in any way. Based on the explanations herein, those skilled in the art can think of other specific implementation methods of the present application without creative work, and these methods will fall within the scope of protection of the present application.

Claims

1. A UAV rice transplanting system, characterized in that: The invention comprises a fuselage (100) and a rice transplanting device (300), wherein the rice transplanting device (300) is located on the ground, the fuselage (100) flies at a low altitude in front of the rice transplanting device (300), the rice transplanting device (300) is connected to the fuselage (100) via a connecting rod mechanism (200), and the fuselage (100) provides walking power for the rice transplanting device (300) but does not lift the rice transplanting device off the ground.

2. The UAV rice transplanting system according to claim 1, characterized in that: The rice transplanting equipment (300) has a steering wheel (310), and the connecting rod mechanism (200) is connected to the steering wheel (310) so that the steering of the drone can drive the rice transplanting equipment (300) to achieve steering.

3. The UAV rice transplanting system according to claim 2, characterized in that: Both ends of the connecting rod mechanism (200) are respectively hinged to the body (100) and the rice transplanting equipment (300).

4. The unmanned aerial vehicle transplanting system according to claim 3, characterized in that: The link mechanism (200) is configured to be able to swing forward and backward along the travel direction relative to the body (100) and the rice transplanting device (300).

5. The unmanned aerial vehicle transplanting system according to claim 4, characterized in that: The connecting rod mechanism (200) comprises a first connecting end (210) and a second connecting end (220); a first articulated seat (110) is arranged on the body (100); a second articulated seat (370) is arranged on the rice transplanting equipment (300); the first connecting end (210) is articulated with the first articulated seat (110); and the second connecting end (220) is articulated with the second articulated seat (370).

6. The unmanned aerial vehicle transplanting system according to claim 5, characterized in that: A spring assembly (230) is provided between the second connection end (220) and the first hinge seat (110), and / or a spring assembly (230) is provided between the second connection end (220) and the second hinge seat (370).

7. The UAV rice transplanting system according to claim 2, characterized in that: The rice transplanting device (300) is provided with a steering wheel (320), the steering wheel (320) is transmission-connected to the steering wheel (310), and the rotation of the steering wheel (320) can drive the steering wheel (310) to rotate.

8. The unmanned aerial vehicle transplanting system according to claim 7, characterized in that: The connecting rod mechanism (200) is connected to the steering wheel (320), and the steering wheel (320) can be rotatably arranged relative to the rice transplanting equipment (300).

9. The unmanned aerial vehicle transplanting system according to claim 8, characterized in that: It also includes a steering rod (330), wherein the steering rod (330) is transmission-connected between the steering wheel (320) and the steering wheel (310).

10. The unmanned aerial vehicle transplanting system according to claim 2, characterized in that: It also includes an equipment support device (340) for supporting the rice transplanting equipment (300) on the ground, and the bottom of the equipment support device (340) and the bottom of the steering wheel (310) are located in the same plane.

11. The unmanned aerial vehicle transplanting system according to claim 10, characterized in that: The equipment supporting device (340) is a supporting plate or a supporting wheel.

12. The unmanned aerial vehicle transplanting system according to any one of claims 1 to 11, characterized in that: The rice transplanting device (300) comprises a device frame (350) and a rice transplanting assembly (360) arranged inside the device frame (350). The rice transplanting assembly (360) comprises multiple groups, and the multiple groups of the rice transplanting assemblies (360) are symmetrically arranged inside the device frame (350), or the multiple groups of the rice transplanting assemblies (360) are arranged side by side inside the device frame (350).

13. The unmanned aerial vehicle transplanting system according to claim 12, characterized in that: The rice transplanting assembly (360) comprises a rice seedling delivery tray (3601) and a cutter head assembly (3602), the rice seedlings being arranged on the rice seedling delivery tray (3601), and the cutter head assembly (3602) being used to grab the rice seedlings on the rice seedling delivery tray (3601) and transplant them into a field.

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