Seedling throwing operation method and device, unmanned aerial vehicle, seedling throwing operation system and storage medium

Abstract

The embodiment of the invention provides a seedling throwing operation method and device, an unmanned aerial vehicle, a seedling throwing operation system and a storage medium, and relates to the technical field of seedling throwing. The method controls the unmanned aerial vehicle to fly according to a pre-planned flight route. The flight route comprises a plurality of parallel operation routes; in the process that the unmanned aerial vehicle flies along each operation route, the seedling taking module is controlled to move in a reciprocating mode in the direction perpendicular to the advancing direction of the unmanned aerial vehicle, so that moving tracks, projected to the operation area, of the seedling taking module are parallel to one another; whenever the unmanned aerial vehicle flies on the operation route to preset the seedling planting distance, the seedling taking module is controlled to separate seedlings and throw the seedlings out. When the unmanned aerial vehicle flies on each operation route, the moving tracks projected to the operation area by the seedling taking module are parallel to each other, so that the seedlings can be thrown to most positions of the operation area, the thrown seedlings are uniformly arranged in the operation area, automatic seedling throwing operation is realized, the operation efficiency is improved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of seedling throwing, and in particular to a seedling throwing operation method, a device, an unmanned aerial vehicle, a seedling throwing operation system and a storage medium. Background Art

[0002] The traditional rice planting method is mostly done by manual transplanting or throwing, but manual transplanting is inefficient and labor-intensive. In order to solve this problem, mechanized rice planting came into being. For mechanized rice planting, there are actually only two solutions on the market: transplanter and thrower, both of which rely on agricultural machinery traveling on the ground. For the thrower, it is necessary to use a seedling tray with independent holes for raising seedlings. The seedling tray has independent holes to achieve the separation of multiple seedlings (which can be understood as pot seedlings). The thrower throws the seedlings of each relatively independent seedling in the tray. The seedling tray required for this method is relatively expensive and not widely used. On the contrary, the mainstream rice planting agricultural machinery that has been popularized is the transplanter, and the farmer's seedling raising method is mainly blanket seedlings. The characteristic of blanket seedlings is that the roots of the seedlings are adhered to each other. Therefore, more seedlings can be cut out of the same size of area, while the number of pot seedlings is relatively small overall. For blanket seedlings, it is currently only suitable for planting by transplanting.

[0003] With the advancement of agricultural modernization, plant protection drones play an important role in the agricultural field, such as using plant protection drones for sowing and spraying operations. In the existing technology, although some plant protection drones can be used for seedling throwing operations, they mainly rely on manual flight control and have low operating efficiency. Summary of the invention

[0004] In view of this, the object of the present invention is to provide a seedling throwing operation method, device, drone, seedling throwing operation system and storage medium to realize automated seedling throwing operation, improve operation efficiency and reduce labor intensity of workers.

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

[0006] In a first aspect, the present invention provides a seedling throwing operation method, which is applied to a drone, wherein the drone is equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling sending module and a seedling taking module, wherein the seedling sending module is used to transport a blanket of seedlings, and the seedling taking module is used to separate the seedlings from the blanket of seedlings and throw them out, and the seedling taking module can move relative to the seedling sending module; the method comprises:

[0007] Controlling the flight of the UAV according to a pre-planned flight route; the flight route includes a plurality of mutually parallel operating routes;

[0008] During the flight of the UAV along each of the operating routes, the seedling picking module is controlled to reciprocate in a direction perpendicular to the forward direction of the UAV, so that the moving tracks of the seedling picking module projected to the operating area are parallel to each other;

[0009] Whenever the unmanned aerial vehicle flies on the operation route at the preset seedling spacing, the seedling picking module is controlled to separate the seedlings and throw them out.

[0010] In an optional embodiment, whenever the drone flies on the operation route at a preset seedling spacing, the seedling picking module is controlled to separate the seedlings and throw them out, including:

[0011] When the drone reaches the starting point of each of the operation routes, the seedling removal module is controlled to separate the seedlings from the initial position and throw them out;

[0012] Starting from the starting point of each of the operating routes, whenever the drone flies on the operating route at a preset seedling spacing, the seedling picking module is controlled to separate the seedlings from the current moving position and throw them out.

[0013] In an optional embodiment, when the drone reaches the starting point of each of the operation routes, the seedling removal module is controlled to separate the seedlings from the initial position and throw them out, comprising:

[0014] When the UAV reaches the starting point of the initial operation route, the seedling picking module is controlled to separate the seedlings from the preset initial position and throw them out;

[0015] When the UAV reaches the starting point of other operating routes parallel to the starting operating route, the seedling taking module is controlled to separate the seedlings from the target initial position and throw them out; the target initial position is determined according to the final moving position of the seedling taking module when the UAV reaches the end point of the adjacent previous operating route.

[0016] In an optional embodiment, during the flight of the drone along each of the operating routes, controlling the seedling picking module to move back and forth in a direction perpendicular to the forward direction of the drone includes:

[0017] Starting from the time when the drone reaches the starting point of the initial operation route, the seedling removal module is controlled to move back and forth in a direction perpendicular to the forward direction of the drone according to the preset initial position and the preset initial moving direction until the drone reaches the end point of the initial operation route;

[0018] Starting from the time when the drone reaches the starting point of other operating routes parallel to the initial operating route, the seedling picking module is controlled to move back and forth in a direction perpendicular to the forward direction of the drone according to the target initial position and the target initial moving direction until the drone reaches the end point of the other operating routes;

[0019] The initial moving direction of the target is determined according to the moving direction of the seedling picking module during the process of the UAV flying from a first position point on an adjacent previous operating route to a second position point; the second position point is the end point of the adjacent previous operating route, and the first position point and the second position point are separated by the preset seedling spacing.

[0020] In an optional embodiment, the distance range of the reciprocating movement of the seedling taking module is set according to a preset seedling row spacing.

[0021] In an optional embodiment, the flight route is pre-planned based on the preset seedling row spacing, the number of seedling retrieval modules on the seedling throwing mechanism, the location information of the working area, the flight starting point of the UAV corresponding to the working area, and the initial forward direction; the distance between any two adjacent working routes is the product of the number of seedling retrieval modules and the preset seedling row spacing.

[0022] In a second aspect, the present invention provides a seedling throwing device, which is applied to a drone. The drone is equipped with a seedling throwing mechanism, which includes a seedling sending module and a seedling taking module. The seedling sending module is used to transport the seedling blanket, and the seedling taking module is used to separate the seedlings from the seedling blanket and throw them out. The seedling taking module can move relative to the seedling sending module. The device includes:

[0023] A flight control module, used to control the flight of the UAV according to a pre-planned flight route; the flight route includes a plurality of mutually parallel operating routes;

[0024] A mobile control module, used for controlling the seedling picking module to move back and forth in a direction perpendicular to the forward direction of the drone during the flight of the drone along each of the operating routes, so that the moving tracks of the seedling picking modules projected to the operating area are parallel to each other;

[0025] The seedling throwing control module is used to control the seedling taking module to separate the seedlings and throw them out whenever the drone flies on the operation route at a preset seedling spacing.

[0026] In a third aspect, the present invention provides a drone, comprising a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and when the computer program is executed by the processor, the method described in any one of the aforementioned embodiments is implemented.

[0027] In a fourth aspect, the present invention provides a seedling throwing system, comprising a seedling throwing mechanism and the drone described in the aforementioned embodiment, wherein the seedling throwing mechanism is mounted on the drone.

[0028] In a fifth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a method as described in any one of the aforementioned embodiments.

[0029] The embodiments of the present invention provide a seedling throwing operation method, device, drone, seedling throwing operation system and storage medium. The method controls the flight of the drone according to a pre-planned flight route; the flight route includes a plurality of mutually parallel operation routes; in the process of the drone flying along each operation route, the seedling picking module is controlled to move back and forth in a direction perpendicular to the forward direction of the drone, so that the movement tracks of the seedling picking module projected to the operation area are mutually parallel; whenever the drone flies on the operation route with a preset seedling spacing, the seedling picking module is controlled to separate the seedlings and throw them out. Since the movement tracks of the seedling picking module projected to the operation area are mutually parallel when the drone flies on each operation route, the seedlings can be thrown to most positions in the operation area, and the thrown seedlings are arranged evenly in the operation area, thereby realizing automated seedling throwing operation, improving operation efficiency, and reducing the labor intensity of workers.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention 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

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of a seedling throwing operation system provided by an embodiment of the present invention is shown;

[0033] Figure 2 A schematic diagram of a seedling throwing mechanism in a seedling throwing operation system provided in an embodiment of the present invention is shown;

[0034] Figure 3 A schematic diagram of a process of a rice seedling throwing operation method provided by an embodiment of the present invention is shown;

[0035] Figure 4 Another schematic flow chart of the seedling throwing operation method provided by an embodiment of the present invention is shown;

[0036] Figure 5 A schematic diagram showing a drone performing a seedling throwing operation when there is only one seedling picking module is shown;

[0037] Figure 6 A schematic diagram showing a drone performing a seedling throwing operation when there are three seedling picking modules is shown;

[0038] Figure 7 A functional module diagram of a rice seedling throwing operation device provided in an embodiment of the present invention is shown;

[0039] Figure 8 A structural block diagram of a drone provided by an embodiment of the present invention is shown.

[0040] Icons: 1000-seedling throwing mechanism; 100-load module; 200-seedling delivery module; 210-seedling delivery tray; 211-installation port; 220-conveying device; 221-transmission member; 300-seedling removal module; 310-cutter head motor; 320-transmission box; 330-cutter head; 400-seedling throwing device; 410-flight control module; 420-mobility control module; 430-seedling throwing control module; 500-lateral drive member; 600-seedling delivery tray bracket; 700-lateral bracket; 2000-UAV; 3000-blanket seedling; 3100-seedling; 110-memory; 120-processor; 130-communication module. DETAILED DESCRIPTION

[0041] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0043] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0044] Plant protection drones are generally used for sowing and spraying operations on farmland. At present, although some plant protection drones can be used for seedling transplanting operations, they mainly rely on manual flight control and have low operating efficiency.

[0045] Based on this, the embodiment of the present invention proposes a seedling throwing operation method, device, drone, seedling throwing operation system and storage medium. Based on the characteristic that the seedling picking module in the seedling throwing mechanism carried by the drone can move relative to the seedling delivery module, the drone is controlled to fly according to a pre-planned flight route; the flight route includes a plurality of mutually parallel operation routes; in the process of the drone flying along each operation route, the seedling picking module is controlled to move back and forth in a direction perpendicular to the forward direction of the drone, so that the movement tracks of the seedling picking module projected to the operation area are mutually parallel; whenever the drone flies on the operation route with a preset seedling spacing, the seedling picking module is controlled to separate the seedlings and throw them out. Since the movement tracks of the seedling picking module projected to the operation area are mutually parallel when the drone flies on each operation route, the seedlings can be thrown to most positions in the operation area, and the thrown seedlings are arranged evenly in the operation area, thereby realizing automated seedling throwing operation, improving operation efficiency, and reducing the labor intensity of workers.

[0046] Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0047] Please refer to Figure 1 and Figure 2 The rice seedling throwing system provided by the embodiment of the present invention includes a drone 2000 and a rice seedling throwing mechanism 1000, and the rice seedling throwing mechanism 1000 is mounted on the drone 2000. The rice seedling throwing mechanism 1000 can separate the rice seedlings 3100 from the blanket seedlings 3000 and throw them out. With the flight of the drone 2000, the rice seedlings 3100 can be thrown to most positions in the working area, and the thrown rice seedlings 3100 can be evenly arranged in the working area, thereby realizing the automated rice seedling throwing operation.

[0048] The seedling throwing mechanism 1000 can throw the seedlings 3100 in a variety of ways. For example, the seedling throwing mechanism 1000 can throw the seedlings vertically downward, can throw the seedlings 3100 by centrifugal force, can eject the separated seedlings 3100 by ejection force (an ejection member can be provided in the seedling throwing mechanism 1000, and the ejection member can provide ejection force), and can also eject the separated seedlings 3100 by the combined action of centrifugal force and ejection force.

[0049] The seedling throwing mechanism 1000 includes a load module 100, a seedling delivery module 200 and a seedling retrieval module 300. The load module 100 is used to be set on the drone 2000, the seedling delivery module 200 is set on the load module 100, the seedling delivery module 200 is used to transport the blanket seedlings 3000, the seedling retrieval module 300 is movably set on the load module 100, the seedling retrieval module 300 is used to separate the seedlings 3100 from the blanket seedlings 3000 on the seedling delivery module 200 and throw them out, and the seedling retrieval module 300 can move relative to the seedling delivery module 200, that is, it can move back and forth laterally in the left and right directions.

[0050] There are many ways to separate the rice seedlings 3100, such as cutting, grabbing, pushing out, pressing down, etc. The specific separation and rice seedling removal methods are not limited.

[0051] In this embodiment, the drone 2000 is a rotor drone, specifically a quad-rotor drone, and of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone 2000 can automatically run according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator.

[0052] For ease of description, the accompanying drawings show directions such as front, back, left, right, up, and down. These directions are relative position relationships that can be clearly known to technicians in this field when the drone 2000 is placed normally or flying.

[0053] Figure 1 What is shown in the figure is a split-type seedling throwing operation system. Specifically, the load module 100 of the seedling throwing mechanism 1000 can be detachably mounted on the lower part of the drone 2000, that is, the drone 2000 and the seedling throwing mechanism 1000 adopt an upper and lower split design. The drone 2000 serves as a mobile platform and is a split design with the seedling throwing mechanism 1000. In other words, this type of seedling throwing mechanism 1000 is an independent structure that does not rely on the fuselage frame of the drone 2000. Based on this type, the corresponding device can be replaced according to actual operation requirements in a specific operation scene. For example, after the seedling throwing mechanism 1000 is disassembled, a sowing device can be installed to achieve the sowing of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 1000 can be disassembled and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0054] Next, each module of the seedling throwing mechanism 1000 is described in detail.

[0055] In this embodiment, the seedling delivery module 200 includes a seedling delivery tray 210 and a conveying device 220. The seedling delivery tray 210 is arranged on the load module 100, and is used to transport the blanket seedlings 3000. The conveying device 220 is arranged on the seedling delivery tray 210, and is used to drive the blanket seedlings 3000 to move toward the seedling taking module 300.

[0056] Among them, the seedling delivery tray 210 is set at an angle, and is supported by a seedling delivery tray bracket 600 installed on the load module 100 to maintain its inclined state, so as to reduce the horizontal space occupied by the seedling delivery tray 210. At the same time, it is also convenient for the blanket seedlings 3000 to slide down by gravity, thereby reducing the power consumption of the conveying device 220.

[0057] The conveying device 220 includes a conveying motor and a conveying member 221. The conveying motor is connected to the conveying member 221 to drive the conveying member 221 to move. The seedling delivery tray 210 is provided with an installation port 211. The conveying member 221 is located in the installation port 211 and drives the blanket seedlings 3000 to move toward the seedling removal module 300 through the installation port 211.

[0058] The conveying member 221 may be a conveyor belt or a conveyor roller, wherein the conveyor belt is provided with anti-skid protrusions (not shown), which are used to insert the blanket seedlings 3000, or the conveyor roller is also provided with anti-skid protrusions to prevent the blanket seedlings 3000 from sliding freely.

[0059] Of course, there can be multiple conveying members 221 and multiple mounting openings 211 . The multiple mounting openings 211 can be distributed at different positions of the seedling delivery tray 210 , for example, at different heights.

[0060] In addition, it should be noted that baffles are provided on both sides of the left and right sides of the seedling delivery tray 210, but no baffles are provided on the upper and lower sides, so that the blanket seedlings 3000 can be placed from the upper side, while the seedlings can be taken from the lower side and the seedlings 3100 can be thrown out during the reciprocating lateral movement of the seedling taking module 300.

[0061] In order to facilitate the reciprocating lateral movement of the seedling taking module 300, the seedling throwing mechanism 1000 also includes a lateral driving component 500. The lateral driving component 500 can be set in the load module 100 or in the drone 2000. The lateral driving component 500 is connected to the seedling taking module 300. The lateral driving component 500 is used to drive the seedling taking module 300 to move laterally relative to the seedling delivering module 200, that is, the lateral driving component 500 can drive the seedling taking module 300 to move reciprocatingly lateraly.

[0062] In this embodiment, the seedling taking module 300 includes a cutter head motor 310, a transmission box 320 and a cutter head 330. The cutter head motor 310 is connected to the transmission box 320, and the transmission box 320 is connected to the cutter head 330. The cutter head motor 310 is used to drive the transmission box 320 to drive the cutter head 330 to separate the blanket seedlings 3000 on the seedling delivery module 200 and throw out the separated seedlings 3100.

[0063] In this embodiment, the cutter head 330 can be a seedling needle, or other structures can be used. The number of cutter heads provided in each seedling removal module 300 can be 1, 2, 3 or more. By providing a larger number of cutter heads 330, the efficiency of seedling removal can be improved.

[0064] The transverse driving member 500 is connected to the cutter head motor 310 via the transverse moving bracket 700. The transverse driving member 500 can drive the transverse moving bracket 700 to move back and forth laterally, thereby enabling the cutter head 330 of the seedling removing module 300 to move back and forth laterally.

[0065] In this embodiment, the transverse driving member 500 can be a push rod motor. Of course, in other embodiments, the transverse driving member 500 can also be a cylinder, or a mechanism in which a motor and a ball screw cooperate, or a mechanism in which a rack, a gear and a motor cooperate, etc., which can convert the rotation of the motor into a linear transverse motion.

[0066] Below, based on Figure 1 and Figure 2 The structure of the seedling throwing operation system and the seedling throwing mechanism 1000 shown in the figure is used to explain in detail the seedling throwing operation method provided in the embodiment of the present invention.

[0067] Please refer to Figure 3 , is a schematic diagram of a process flow of the seedling throwing operation method provided by the present invention. It should be noted that the seedling throwing operation method of the present invention is not based on Figure 3 It should be understood that in other embodiments, the order of some steps in the seedling throwing operation method of the present invention can be interchanged according to actual needs, or some steps can be omitted or deleted. The seedling throwing operation method can be applied to the above-mentioned drone 2000. Figure 3 The specific process shown is described in detail.

[0068] Step S301, controlling the flight of the UAV according to a pre-planned flight route; the flight route includes a plurality of mutually parallel operating routes.

[0069] In this embodiment, for an operation area, before controlling the drone 2000 to perform the seedling throwing operation, it is necessary to plan the flight route of the drone 2000. For example, the user can input the parameters required for planning the flight route of the drone 2000 on a user terminal such as a mobile phone or a tablet, and the user terminal or a server connected to the user terminal in communication automatically plans the flight route according to the parameters input by the user. After planning the flight route corresponding to the operation area, the seedling throwing operation of the operation area can be achieved by controlling the drone 2000 to fly according to the flight route.

[0070] The flight route includes a plurality of mutually parallel operating routes and a U-turn route for connecting two adjacent operating routes end to end, and the advancing directions of the UAV 2000 on the two adjacent operating routes are opposite. The U-turn route can be a straight line segment or an arc segment, and through the U-turn route, the UAV 2000 can turn around from the end point of one operating route to the starting point of the next adjacent operating route.

[0071] That is to say, when the UAV 2000 flies according to the flight route, it first flies from the starting point of the initial operating route to the end point, then turns around to the starting point of the second operating route through the U-turn route between the initial operating route and the second operating route, and then flies from the starting point of the second operating route to the end point, until it flies to the end point of the last operating route.

[0072] Step S302, when the UAV flies along each operating route, the seedling picking module is controlled to move back and forth in a direction perpendicular to the forward direction of the UAV, so that the moving trajectories of the seedling picking module projected to the operating area are parallel to each other.

[0073] In this embodiment, the drone 2000 needs to perform the seedling throwing operation when flying on the operation route, and does not perform the seedling throwing operation when flying on the U-turn route. During the flight of the drone 2000 along each operation route, the lateral driving member 500 can drive the seedling picking module 300 to move back and forth relative to the seedling delivery module 200, and the movement direction of the seedling picking module 300 is perpendicular to the forward direction of the drone 2000. In this way, the movement trajectories of the seedling picking module 300 projected to the operation area are parallel to each other and arranged in an S shape.

[0074] Step S303, whenever the UAV flies on the operation route at the preset seedling spacing, the seedling picking module is controlled to separate the seedlings and throw them out.

[0075] In this embodiment, the preset seedling spacing can be understood as the distance between two adjacent seedling target positions in the direction parallel to the operation route (vertical direction) in the operation area. Every time the drone 2000 flies the preset seedling spacing on the operation route, it will control the seedling picking module 300 to perform a seedling throwing operation. At this time, the seedling picking module 300 also moves a certain distance to the left or right (such as the preset seedling row spacing). In this way, when the drone 2000 flies to the end of the last operation route and completes the seedling throwing, most of the positions in the operation area have seedlings and are evenly arranged.

[0076] It can be seen that the seedling throwing operation method provided by the embodiment of the present invention controls the flight of the drone according to the pre-planned flight route; the flight route includes a plurality of mutually parallel operation routes; in the process of the drone flying along each operation route, the seedling picking module is controlled to move back and forth in a direction perpendicular to the forward direction of the drone, so that the movement tracks of the seedling picking module projected to the operation area are mutually parallel; whenever the drone flies on the operation route with a preset seedling spacing, the seedling picking module is controlled to separate the seedlings and throw them out. Since the movement tracks of the seedling picking module projected to the operation area are mutually parallel when the drone flies on each operation route, the seedlings can be thrown to most positions in the operation area, and the thrown seedlings are arranged evenly in the operation area, thereby realizing the automated seedling throwing operation, improving the operation efficiency, and reducing the labor intensity of the workers.

[0077] In one embodiment, the above-mentioned flight route can be pre-planned based on the preset seedling row spacing, the number of seedling retrieval modules on the seedling throwing mechanism, the location information of the working area, the corresponding flight starting point of the UAV in the working area, and the initial forward direction; the distance between any two adjacent working routes is the product of the number of seedling retrieval modules and the preset seedling row spacing.

[0078] Among them, the preset seedling row spacing can be understood as the distance between two adjacent seedling target positions in the direction perpendicular to the operating route (horizontally) in the operating area. In this embodiment, the location information of the operating area can be obtained through GPS positioning, and the flight starting point and initial forward direction of the drone 2000 corresponding to the operating area can be preset by the user. It can be understood that after planning the flight route, the starting point of the initial operating route is the flight starting point of the drone 2000 in the operating area, and the forward direction of the drone 2000 on the initial operating route is the initial forward direction.

[0079] In one embodiment, the distance range of the reciprocating movement of the seedling taking module is set according to a preset seedling row spacing.

[0080] Among them, the distance range of the reciprocating movement of the seedling taking module 300 can be understood as the farthest position that the seedling taking module 300 can reach by moving left and right when the seedling throwing operation is performed in the current operation area.

[0081] For example, the distance range of the reciprocating movement of the seedling taking module 300 can be set to a preset seedling row spacing, 2 times the preset seedling row spacing, etc. Taking the reciprocating distance range of the seedling taking module 300 as the preset seedling row spacing as an example, if the seedling taking module 300 is currently on the leftmost side, the seedling taking module 300 can no longer move to the left, but can only move to the right, and the maximum distance to move to the right is the preset seedling row spacing, and it reaches the rightmost side after moving to the right by the preset seedling row spacing; the seedling taking module 300 then moves from the rightmost side to the left by the preset seedling row spacing to reach the leftmost side. In this way, the seedling taking module 300 is realized to reciprocate horizontally in a direction perpendicular to the forward direction of the drone within a certain distance range, and whenever the drone 2000 flies on the operation route at the preset seedling spacing, the seedling taking module 300 moves to the left or right by the preset seedling row spacing, so that the seedlings in the operation area are evenly arranged in the horizontal and vertical directions, that is, the adjacent seedlings in the horizontal direction are spaced by the preset seedling row spacing, and the adjacent seedlings in the vertical direction are spaced by the preset seedling spacing.

[0082] It should be noted that, in the present embodiment, the preset rice seedling spacing and the preset rice seedling row spacing may be the same or different, and are set according to actual operation requirements. When the preset rice seedling spacing and the preset rice seedling row spacing are different, in order to ensure that the unmanned aerial vehicle 2000 flies the preset rice seedling spacing each time, the rice seedling taking module 300 also moves the preset rice seedling row spacing accordingly, the moving speed of the rice seedling taking module 300 can be set according to the flight speed of the unmanned aerial vehicle 2000, so that the time when the unmanned aerial vehicle 2000 flies the preset rice seedling spacing is consistent with the time when the rice seedling taking module 300 moves the preset rice seedling row spacing. When the preset rice seedling spacing and the preset rice seedling row spacing are the same, the moving speed of the rice seedling taking module 300 can be directly set to be the same as the flight speed of the unmanned aerial vehicle 2000, then the distance that the unmanned aerial vehicle 2000 flies forward and the distance that the rice seedling taking module 300 moves to the left or right in the same time are the same.

[0083] In actual application, when the drone 2000 performs the seedling throwing operation while flying along each of the operating routes, it can start from the starting point on the operating route or from any point on the operating route. Taking the starting point of each operating route as an example, when the drone reaches the starting point of each operating route, it will control the seedling picking module 300 to perform a seedling throwing operation; and starting from the starting point of each operating route, every time the drone 2000 flies on the operating route with a preset seedling spacing, it will also control the seedling picking module to separate the seedlings and throw them out.

[0084] In this embodiment, when the drone reaches the starting point of each operation route and flies along the operation route from the starting point, it is necessary to control the seedling picking module 300 to reach the corresponding position to perform the seedling throwing operation, so as to achieve throwing the seedlings to most positions in the operation area and make the thrown seedlings evenly arranged in the operation area. Figure 4 , the above step S303 may include the following sub-steps:

[0085] Sub-step S3031, when the UAV reaches the starting point of each operation route, the seedling picking module is controlled to separate the seedlings from the initial position and throw them out.

[0086] In this embodiment, the drone 2000 can control the seedling picking module 300 to move to the initial position before or when it reaches the starting point of each operating route, so as to complete a seedling throwing operation at the starting point of the operating route.

[0087] The initial position may be a pre-set position, or may be set according to the corresponding movement of the seedling taking module 300 on the adjacent previous operation route.

[0088] Sub-step S3032, starting from the starting point of each operation route, every time the UAV flies on the operation route at the preset seedling spacing, the seedling picking module is controlled to separate the seedlings from the current moving position and throw them out.

[0089] In this embodiment, the drone 2000 starts from the starting point of each operation route and controls the seedling picking module 300 to move back and forth in a direction perpendicular to the forward direction of the drone 2000. Whenever the drone 2000 flies the preset seedling spacing on the operation route, the seedling picking module 300 also moves left or right by the preset seedling row spacing and performs a seedling throwing operation at the moved position (current moving position). In this way, the seedlings can be thrown to most positions in the operation area, and the thrown seedlings are evenly arranged in the horizontal and vertical directions in the operation area.

[0090] In this embodiment, since the flight starting point of the drone 2000 in the operation area can be preset by the user, a suitable initial position can be set for the seedling picking module 300 for different flight starting points to reduce the positions in the operation area where the seedlings need to be replenished. For the starting points on other operation routes, the initial position can be set according to the corresponding movement of the seedling picking module 300 on the adjacent previous operation route.

[0091] Based on this, the above-mentioned sub-step S3031 may include: when the UAV reaches the starting point of the initial operating route, controlling the seedling picking module to separate the seedlings from the preset initial position and throw them out; when the UAV reaches the starting point of other operating routes parallel to the starting operating route, controlling the seedling picking module to separate the seedlings from the target initial position and throw them out; the target initial position is determined according to the final moving position of the seedling picking module when the UAV reaches the end point of the adjacent previous operating route.

[0092] Taking the example of setting the reciprocating distance range of the seedling taking module 300 to 2 times the preset seedling row spacing, the preset initial position of the seedling taking module 300 can be set as the middle position of the distance range. When the UAV 2000 reaches the starting point of the initial operating route, the seedling taking module 300 is controlled to separate the seedlings from the middle position and throw them out; assuming that when the UAV 2000 reaches the end point of the initial operating route, the final moving position of the seedling taking module 300 is on the far left, then when the UAV 2000 turns around to the starting point of the second operating route, the seedling taking module 300 needs to be moved to the far right (target initial position), and then when the UAV 2000 flies along the second operating route, the seedling taking module 300 is controlled to move back and forth from the far right along a direction perpendicular to the forward direction of the UAV 2000.

[0093] Similarly, if the final moving position of the seedling taking module 300 is on the far right, then when the UAV 2000 turns around to the starting point of the next adjacent operating route, it is necessary to move the seedling taking module 300 to the far left (target initial position), and control the seedling taking module 300 to move back and forth from the far left; if the final moving position of the seedling taking module 300 is in the middle, then when the UAV 2000 turns around to the starting point of the next adjacent operating route, it is not necessary to move the seedling taking module 300, and it is still in the middle position (target initial position), and the seedling taking module 300 is controlled to move back and forth from the middle position.

[0094] In practical applications, in order to make the moving trajectories of the seedling picking module 300 projected to the working area parallel to each other, when controlling the reciprocating movement of the seedling picking module 300, in addition to considering the initial position of the seedling picking module 300, the initial moving direction of the seedling picking module 300 also needs to be considered. Based on this, the above step S302 includes: starting from the start of the drone arriving at the starting operation route, according to the preset initial position and the preset initial moving direction, the seedling picking module is controlled to move back and forth in a direction perpendicular to the forward direction of the drone until the drone reaches the end of the starting operation route; starting from the start of the drone arriving at other operation routes parallel to the starting operation route, according to the target initial position and the target initial moving direction, the seedling picking module is controlled to move back and forth in a direction perpendicular to the forward direction of the drone until the drone reaches the end of the other operation routes; the target initial moving direction is determined according to the moving direction of the seedling picking module during the drone flying from the first position point on the adjacent previous operation route to the second position point; the second position point is the end point of the adjacent previous operation route, and the first position point and the second position point are separated by a preset seedling spacing.

[0095] That is to say, for the initial operation route, the initial movement direction and initial position of the seedling picking module 300 when it moves back and forth can be preset by the user; for other operation routes parallel to the initial operation route, the initial position and initial movement direction need to be set according to the corresponding movement of the seedling picking module 300 on the adjacent previous operation route. Among them, on other operation routes parallel to the initial operation route, the target initial movement direction corresponding to the seedling picking module 300 is consistent with the movement direction of the seedling picking module 300 during the process of the drone 2000 flying from the first position point to the second position point on the adjacent previous operation route.

[0096] For example, when the drone 2000 reaches the end point (second position point) of the initial operation route, the final moving position of the seedling picking module 300 is at the far left, and in the process of the drone 2000 flying from the first position point at a preset seedling spacing from the end point to the end point, the moving direction of the seedling picking module 300 is to the left, then it can be set on the next adjacent operation route (the second operation route), and the corresponding target initial position and target initial moving direction of the seedling picking module 300 are the far right and move to the left respectively; when the drone 2000 turns from the end point of the initial operation route to the starting point of the second operation route, it is necessary to move the seedling picking module 300 to the far right, and control the seedling picking module 300 to move to the left from the far right, and then move to the right after moving to the far left, so as to achieve left-right reciprocating movement. The principle of reciprocating movement control of the seedling picking module 300 on other operation routes is similar and will not be repeated here.

[0097] Below, two examples are used to explain in detail the process of drone rice seedling transplanting operation.

[0098] Please refer to Figure 5 , the circle in the figure is the target position of the seedlings. Assuming that the preset seedling spacing and the preset seedling row spacing are equal, the row spacing and the seedling spacing of the target position of the seedlings are equal, that is, the distance between a single seedling and the seedlings in the front and rear directions and the distance between the seedlings in the left and right directions are equal. The drone 2000 starts the operation from the first operating route S1, flying forward in the figure. At the beginning, the position of the seedling picking module 300 is in the middle and moves to the right. The movement trajectory of the seedling picking module 300 projected to the operating area is shown in the first broken line. The forward flying speed of the drone 2000 is equal to the speed of the left and right lateral movement of the seedling picking module 300, so the inclination angle of the first broken line is 45°. In this embodiment, the number of the seedling picking module 300 is one, and the seedling picking module 300 throws the seedlings vertically downward.

[0099] When the drone 2000 is at the starting point of the first operation route S1, the seedling picking module 300 throws the seedlings from the middle position, and the seedlings fall to the target position of the seedlings corresponding to the starting point; starting from the starting point, every time the drone 2000 flies the preset seedling spacing, the seedling picking module 300 will also move the preset seedling row spacing to the left or right and throw the seedlings downward. When the drone 2000 flies to the end of the first operation route S1, the transverse driving member 500 moves the seedling picking module 300 to the rightmost side of the movable range and throws the seedlings downward; then the drone 2000 starts to turn around and move horizontally to the starting point of the second operation route S2, the transverse driving member 500 moves the seedling picking module 300 to the leftmost side (that is, the right side in the figure) and throws the seedlings downward, then the drone 2000 starts to move to the rear of the figure, the seedling picking module 300 moves to the right side, and starts to throw the seedlings. In this process, the moving trajectory of the seedling picking module 300 projected to the operation area is the second broken line in the figure.

[0100] The first fold line has the same shape as the second fold line, but is shifted by one row spacing. When the drone 2000 flies along the planned operation route, there will be multiple movement trajectories of the same shape and shifted by one row spacing between adjacent ones, so that most of the target positions of the seedlings in the operation area are filled with seedlings, and the distance between a single seedling in the operation area and the seedlings in the front and rear directions and the distance between the seedlings in the left and right directions are equal, and they are evenly arranged. As for the remaining small number of seedling positions to be supplemented, they can be replanted by the sweeping operation of the drone 2000.

[0101] Please refer to Figure 6 , the number of seedling taking modules 300 is three, and in the process of the transverse driving member 500 driving the seedling taking modules 300 to move, the three seedling taking modules 300 move in the same direction, and the distance between two adjacent seedling taking modules 300 is the preset seedling row spacing. When the drone 2000 arrives at the starting point of the first operating route S3, the three seedling taking modules 300 are in the middle position of their respective distance ranges. After the drone 2000 starts flying from the starting point, the three seedling taking modules 300 move to the right (right in the figure), and then move to the left after reaching the rightmost side. Thus, the trajectories of the three seedling taking modules 300 form three third fold lines parallel to each other. After the drone 2000 turns around and performs the seedling throwing operation along the second operating route S4, the trajectories formed by the three seedling taking modules 300 are the three fourth fold lines in the figure. Similarly, for the remaining small number of seedling positions to be supplemented in the operating area, replanting can be completed by the sweeping operation of the drone 2000.

[0102] It should be noted that in the case where there are multiple seedling retrieval modules 300, when the UAV is flying on the last operating route, if multiple seedling retrieval modules 300 work at the same time, some seedlings will be thrown outside the operating area. In this case, some of the seedling retrieval modules 300 can be controlled not to perform the seedling throwing operation, which can effectively prevent the seedlings from falling outside the operating area.

[0103] It should also be noted that, in actual applications, considering that the seedling removal module 300 moves within a set distance range, and the seedling removal module 300 separates and throws out the seedlings at several fixed positions (such as the leftmost, middle position, and rightmost position) within the distance range, the placement method of the seedling blanket 3000 on the seedling delivery module 200 can be set so that all the seedling blankets 3000 on the seedling delivery module 200 can be taken out. For example, according to the position where each seedling removal module 300 will separate the seedlings (the leftmost, middle position, and rightmost position), the seedling blanket 3000 can be placed at the corresponding position on the seedling delivery module 200, so that all the seedling blankets 3000 placed on the seedling delivery module 200 can be taken out by the seedling removal module 300.

[0104] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing a seedling throwing operation device is provided below. Figure 7 , which is a functional module diagram of a seedling throwing operation device 400 provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the seedling throwing operation device 400 provided in this embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above-mentioned embodiments. The seedling throwing operation device 400 includes a flight control module 410, a movement control module 420 and a seedling throwing control module 430.

[0105] The flight control module 410 is used to control the flight of the UAV according to a pre-planned flight route; the flight route includes a plurality of mutually parallel operating routes.

[0106] It can be understood that the flight control module 410 can execute the above step S301.

[0107] The mobile control module 420 is used to control the seedling picking module to move back and forth in a direction perpendicular to the forward direction of the UAV during the flight of the UAV along each operating route, so that the moving trajectories of the seedling picking module projected to the operating area are parallel to each other.

[0108] It can be understood that the movement control module 420 can execute the above step S302.

[0109] The seedling throwing control module 430 is used to control the seedling picking module to separate the seedlings and throw them out whenever the UAV flies on the operation route and presets the seedling spacing.

[0110] It can be understood that the seedling planting control module 430 can execute the above step S303.

[0111] Optionally, the seedling throwing control module 430 can be used to control the seedling picking module to separate the seedlings from the initial position and throw them out when the drone reaches the starting point of each operating route; starting from the starting point of each operating route, every time the drone flies on the operating route with a preset seedling spacing, the seedling picking module is controlled to separate the seedlings from the current moving position and throw them out.

[0112] It can be understood that the seedling transplanting control module 430 can also execute the above sub-steps S3031 and S3032.

[0113] Optionally, the seedling throwing control module 430 is specifically used to control the seedling picking module to separate the seedlings from a preset initial position and throw them out when the UAV reaches the starting point of the initial operating route; when the UAV reaches the starting point of other operating routes parallel to the starting operating route, control the seedling picking module to separate the seedlings from the target initial position and throw them out; the target initial position is determined according to the final moving position of the seedling picking module when the UAV reaches the end point of the adjacent previous operating route.

[0114] Optionally, the mobile control module 420 can be used to control the seedling taking module to move back and forth in a direction perpendicular to the forward direction of the UAV according to a preset initial position and a preset initial moving direction starting from the starting point of the UAV arriving at the starting operating route, until the UAV reaches the end point of the starting operating route; starting from the starting point of other operating routes parallel to the starting operating route arrived by the UAV, control the seedling taking module to move back and forth in a direction perpendicular to the forward direction of the UAV according to the target initial position and the target initial moving direction until the UAV reaches the end point of other operating routes; the target initial moving direction is determined according to the moving direction of the seedling taking module during the process of the UAV flying from a first position point on an adjacent previous operating route to a second position point; the second position point is the end point of the adjacent previous operating route, and the first position point and the second position point are separated by a preset seedling spacing.

[0115] It can be seen that the seedling throwing operation device provided by the embodiment of the present invention includes a flight control module, a mobile control module and a seedling throwing control module. The flight control module is used to control the flight of the drone according to a pre-planned flight route; the flight route includes a plurality of mutually parallel operation routes; the mobile control module is used to control the seedling picking module to move back and forth in a direction perpendicular to the forward direction of the drone during the flight of the drone along each operation route, so that the movement tracks of the seedling picking module projected to the operation area are parallel to each other; the seedling throwing control module is used to control the seedling picking module to separate the seedlings and throw them out whenever the drone flies on the operation route with a preset seedling spacing. Since the movement tracks of the seedling picking module projected to the operation area are parallel to each other when the drone flies on each operation route, the seedlings can be thrown to most positions in the operation area, and the thrown seedlings are arranged evenly in the operation area, thereby realizing automated seedling throwing operation, improving operation efficiency, and reducing the labor intensity of workers.

[0116] Please refer to Figure 8 , a block diagram of a structure of a drone 2000 provided by an embodiment of the present invention. The drone 2000 may include a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses or signal lines.

[0117] The memory 110 is used to store programs or data, such as program instructions / modules corresponding to the rice seedling throwing operation method and device provided by the present invention. The memory 110 can be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc.

[0118] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions.

[0119] The communication module 130 is used to establish a communication connection between the drone 2000 and other devices (eg, user terminals) and to send and receive data.

[0120] It should be understood that Figure 8 The structure shown is for illustration only. The drone 2000 may also include Figure 8 More or fewer components as shown, or with Figure 8 Different configurations shown. Figure 8 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0121] The present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by the processor 120, the rice seedling throwing method disclosed in the present invention is implemented.

[0122] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0123] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0124] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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 storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned 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.

[0125] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A rice seedling throwing method, characterized in that: The method is applied to a drone, wherein the drone is equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism comprises a seedling sending module and a seedling taking module, wherein the seedling sending module is used to transport a seedling blanket, and the seedling taking module is used to separate the seedlings from the seedling blanket and throw them out, and the seedling taking module can move relative to the seedling sending module; the method comprises: Controlling the flight of the UAV according to a pre-planned flight route; the flight route includes a plurality of mutually parallel operating routes; During the flight of the UAV along each of the operating routes, the seedling picking module is controlled to reciprocate in a direction perpendicular to the forward direction of the UAV, so that the moving tracks of the seedling picking module projected to the operating area are parallel to each other; Whenever the unmanned aerial vehicle flies on the operation route at the preset seedling spacing, the seedling picking module is controlled to separate the seedlings and throw them out.

2. The method according to claim 1, characterized in that Whenever the drone flies on the operation route at the preset seedling spacing, the seedling picking module is controlled to separate the seedlings and throw them out, including: When the drone reaches the starting point of each of the operation routes, the seedling removal module is controlled to separate the seedlings from the initial position and throw them out; Starting from the starting point of each of the operating routes, whenever the drone flies on the operating route at a preset seedling spacing, the seedling picking module is controlled to separate the seedlings from the current moving position and throw them out.

3. The method according to claim 2, characterized in that When the drone reaches the starting point of each of the operation routes, the seedling removal module is controlled to separate the seedlings from the initial position and throw them out, comprising: When the UAV reaches the starting point of the initial operation route, the seedling picking module is controlled to separate the seedlings from the preset initial position and throw them out; When the UAV reaches the starting point of other operating routes parallel to the starting operating route, the seedling taking module is controlled to separate the seedlings from the target initial position and throw them out; the target initial position is determined according to the final moving position of the seedling taking module when the UAV reaches the end point of the adjacent previous operating route.

4. The method according to claim 3, characterized in that In the process of the UAV flying along each of the operation routes, the seedling picking module is controlled to move back and forth in a direction perpendicular to the forward direction of the UAV, including: Starting from the time when the drone reaches the starting point of the initial operation route, the seedling removal module is controlled to move back and forth in a direction perpendicular to the forward direction of the drone according to the preset initial position and the preset initial moving direction until the drone reaches the end point of the initial operation route; Starting from the time when the drone reaches the starting point of other operating routes parallel to the initial operating route, the seedling picking module is controlled to move back and forth in a direction perpendicular to the forward direction of the drone according to the target initial position and the target initial moving direction until the drone reaches the end point of the other operating routes; The initial moving direction of the target is determined according to the moving direction of the seedling picking module during the process of the UAV flying from a first position point on an adjacent previous operating route to a second position point; the second position point is the end point of the adjacent previous operating route, and the first position point and the second position point are separated by the preset seedling spacing.

5. The method according to claim 1, characterized in that The distance range of the reciprocating movement of the seedling taking module is set according to the preset seedling row spacing.

6. The method according to any one of claims 1 to 5, characterized in that: The flight route is pre-planned based on the preset seedling row spacing, the number of seedling retrieval modules on the seedling throwing mechanism, the location information of the working area, the flight starting point of the UAV corresponding to the working area, and the initial forward direction; the distance between any two adjacent working routes is the product of the number of seedling retrieval modules and the preset seedling row spacing.

7. A seedling throwing device, characterized in that: Applied to a drone, the drone is equipped with a seedling throwing mechanism, the seedling throwing mechanism includes a seedling sending module and a seedling taking module, the seedling sending module is used to transport the seedling blanket, the seedling taking module is used to separate the seedlings from the seedling blanket and throw them out, and the seedling taking module can move relative to the seedling sending module; the device includes: A flight control module, used to control the flight of the UAV according to a pre-planned flight route; the flight route includes a plurality of mutually parallel operating routes; A mobile control module, used for controlling the seedling picking module to move back and forth in a direction perpendicular to the forward direction of the drone during the flight of the drone along each of the operating routes, so that the moving tracks of the seedling picking modules projected to the operating area are parallel to each other; The seedling throwing control module is used to control the seedling picking module to separate the seedlings and throw them out whenever the drone flies on the operation route with a preset seedling spacing.

8. A drone, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program executable by the processor, and when the computer program is executed by the processor, the method according to any one of claims 1 to 6 is implemented.

9. A rice seedling throwing system, characterized in that: It comprises a seedling throwing mechanism and the drone according to claim 8, wherein the seedling throwing mechanism is mounted on the drone.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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