Rice unmanned aerial vehicle ordered precision strip live device and strip live method thereof
By designing an orderly precision strip direct seeding device for rice using unmanned aerial vehicles (UAVs), the problems of low efficiency in complex terrain operations and disordered rice seed growth of traditional machinery have been solved. This device enables orderly sowing and lodging resistance of rice seeds, adapting to the operational needs of hilly areas and water-rich lake regions in southern China.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHEJIANG SCI-TECH UNIV
- Filing Date
- 2024-12-21
- Publication Date
- 2026-07-31
AI Technical Summary
Traditional large-scale ground agricultural machinery has low operating efficiency in hilly areas and water-rich lake areas in the south. Traditional drone seeding results in disordered growth of rice seedlings and the seeds tend to float on the soil surface, leading to poor lodging resistance. At present, there is little research on drone-based strip seeding.
Design a rice drone orderly precision strip direct seeding device, including a drone load-bearing device, a seed-collecting device, a seed-laying device, an air supply mechanism, and an air acceleration device. The device flies in the field through a buoyancy mechanism, and uses a seed-collecting wheel, an air supply fan, and a centrifugal fan to achieve orderly precision seeding and acceleration of rice seeds, ensuring that the rice seeds are evenly distributed in the soil.
It enables orderly growth of rice seeds, improves ventilation and light penetration of rice plants and lodging resistance, adapts to complex terrain operations, and improves sowing efficiency and equipment endurance.
Smart Images
Figure CN119949111B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of rice drone direct seeding technology, specifically relating to an orderly and precise strip direct seeding device for rice drones and its strip direct seeding method. Background Technology
[0002] Rice is my country's most important food crop, and the hilly areas and water-rich, lake-filled regions of southern my country are major rice production bases. Traditional large-scale ground agricultural machinery and drone-based seeding methods present several problems. The complex terrain of the southern hilly areas, with its fragmented fields, numerous slopes and ridges, and deep mud in the water-rich, lake-filled regions, makes traditional large-scale ground agricultural machinery inconvenient and inefficient. Traditional drone-based seeding results in disordered seedling growth, poor ventilation and light penetration within the rice plant population, hindering field management tasks such as weeding and cultivation. Furthermore, the simultaneous operation of multiple seed boxes in traditional drone seeding methods leads to a heavy and inconvenient machine. Additionally, current research on drone-based strip seeding in China is limited, resulting in rice seeds that tend to float on the soil surface after direct seeding, leading to poor lodging resistance. Summary of the Invention
[0003] The purpose of this invention is to overcome the shortcomings of the prior art and to propose an orderly precision strip direct seeding device for rice by unmanned aerial vehicle and its strip direct seeding method.
[0004] To achieve the above objectives, the present invention adopts the following technical solution:
[0005] The present invention provides a rice unmanned aerial vehicle (UAV) orderly precision strip direct seeding device, comprising a UAV load-bearing device, a seed picking device, a seed laying device, an air delivery mechanism, and an air acceleration device.
[0006] The unmanned aerial vehicle (UAV) load-bearing device includes a buoyancy mechanism, a load-bearing frame, and support brackets; the buoyancy mechanism drives the load-bearing frame to fly, and two support brackets are fixed at both ends of the lower surface of the load-bearing frame and are arranged symmetrically and at relatively inclination. The seed-collecting device includes a seed-dispensing box, a seed-collecting box, and a seed-collecting wheel. The seed-dispensing box is fixed on a load-bearing frame, and its lower end is conical with a rectangular opening. The upper and lower ends of the seed-collecting box have rectangular openings two and three, respectively, and rectangular opening two is fixed to and connected to rectangular opening one. The diameter of the seed-collecting wheel is equal to the inner diameter of the seed-collecting box, and the length of the seed-collecting wheel is equal to the length of rectangular opening two. The seed-collecting wheel is horizontally positioned inside the seed-collecting box, coaxially arranged with the seed-collecting box, aligned with rectangular opening two, and forms a rotating pair with the seed-collecting box. It is driven to rotate by a drive motor. A brush is fixed on one side of rectangular opening two parallel to the central axis of the seed-collecting box, and the brush contacts the cylindrical surface of the seed-collecting wheel. The seed-collecting wheel has n annular seed-collecting channels evenly distributed along the axial direction, where n≥4. Each annular seed-collecting channel has multiple seed-collecting grooves evenly distributed along the circumference.
[0007] The seeding device includes a seed-introducing box, a flexible hose, connecting plates, a segmented seed-introducing tube, and a rotating box. The seed-introducing box is fixed at three positions of a rectangular opening, and has n vertical holes aligned with each annular seed-taking channel. The upper end of each vertical hole is connected to the corresponding annular seed-taking channel, and the lower end is fixed and connected to the inlet of a flexible hose. An air inlet channel is provided in the middle. Vertically arranged connecting plates are fixed at both ends of the seed-introducing box. The two ends of the rotating box and the two connecting plates form a rotating pair, and are synchronously driven to rotate by two symmetrically arranged lifting mechanisms. The rotating housing has n straight holes aligned with each hose, and the inlet of each straight hole is fixed and connected to the outlet of the corresponding hose. The segmented seeding tube consists of straight tubes and bent tubes, and has n tubes arranged along the axial direction of the seed-collecting wheel. The straight tube of each segmented seeding tube is aligned with each straight hole, and the inlet of each straight tube is fixed and connected to the outlet of the corresponding straight hole. The bent tubes of each segmented seeding tube are arranged in a fan-shaped interval, and the outlets of each bent tube are equidistant. The central axis of the outlet of each bent tube is parallel to the central axis of the straight tube.
[0008] The air supply mechanism includes an air supply fan, an air duct, and branch air supply pipes. The air supply fan is fixed to the seed collection box. The air outlet of the air supply fan is fixed and connected to the air inlet of the air duct. The air outlet of the air duct is fixed and connected to the air inlet of the branch air supply pipes. The air outlet of the branch air supply pipes has n integrally formed branch pipes arranged in a fan shape. The end of each branch pipe away from the air duct is fixed to each air inlet channel and connected to each vertical hole through each air inlet channel. The cross-sectional area of the air duct inlet is larger than the cross-sectional area of the air duct outlet.
[0009] The air acceleration device includes an acceleration tee and a centrifugal fan. The centrifugal fan is fixed to the rotating housing, and its outlet is fixed and connected to the inlet of the acceleration tee via a centrifugal fan duct. The inlet and outlet of the acceleration tee are coaxially arranged. The acceleration tee contains an integrally formed inner tube 1 and an inner tube 2 extending inward at the inlet and outlet, respectively. The end of inner tube 1 furthest from the inlet is embedded in the end of inner tube 2 furthest from the outlet, and there is a gap between the outer wall of inner tube 1 and the inner wall of inner tube 2. The cross-sectional area of the air inlet of the acceleration tee is larger than the cross-sectional area of the gap. The air acceleration device comprises n units equidistantly arranged along the axial direction of the seed-harvesting wheel. In each air acceleration device, the inlet and outlet of the acceleration tee are fixed and connected to the outlet of the straight tube and the inlet of the bent tube in a segmented seed-harvesting tube, respectively.
[0010] Preferably, the load-bearing frame includes a load-bearing beam, a connecting frame one, and a connecting frame two. The connecting frame one and the connecting frame two are arranged horizontally and parallel to each other and are fixed by the two load-bearing beams. Two support brackets are fixed to the lower surfaces of the two load-bearing beams, and the seed box is fixed on the two load-bearing beams.
[0011] More preferably, the lower surface of the load-bearing beam is provided with slots at both ends, the support bracket is W-shaped, and the two ends of the support bracket are fixed to the two slots on the corresponding load-bearing beam.
[0012] More preferably, a detection radar is fixed on the connecting frame.
[0013] More preferably, the buoyancy mechanism consists of two symmetrically arranged propellers (first) and two symmetrically arranged propellers (second); propellers (first) include a propeller support, a rotor support, and a rotor. The rotor support and one end of the propeller support form a rotating pair and are driven to rotate by a servo motor. Two rotors are fixed on the rotor support at a distance. The ends of the propeller supports of the two propellers (first) away from the rotor support are fixed to the two ends of the connecting frame (second), and the included angle between the propeller supports of the two propellers (first) is 120°. The structure of propellers (second) is the same as that of propellers (first), and the ends of the propeller supports of the two propellers (second) away from the rotor support are fixed to the two ends of the connecting frame (first), and the included angle between the propeller supports of the two propellers (second) is 120°.
[0014] Preferably, the seed-collecting wheel is fixed on a horizontally arranged connecting shaft, the connecting shaft and the seed-collecting box form a rotating pair, and is driven by a drive motor.
[0015] Preferably, the bent pipe is composed of a straight pipe section 1, an arc section 1, a straight pipe section 2, an arc section 3 and a straight pipe section 3 arranged in sequence, and the straight pipe section 1 and the straight pipe section 3 are parallel to the straight pipe; the inlet of the straight pipe section 1 of each segmented seeding pipe is fixed and connected to the outlet of the corresponding acceleration tee pipe, the straight pipe sections 2 of each segmented seeding pipe are arranged in a fan-shaped interval, and the straight pipe sections 3 of each segmented seeding pipe are arranged at equal intervals.
[0016] Preferably, the centrifugal fan is fixed inside the fan cover, and the fan cover is fixed to the rotating box.
[0017] Preferably, the lifting mechanism includes a servo motor and a cam. The housing of the servo motor is fixed to a corresponding connecting plate. The output shaft of the servo motor and the corresponding connecting plate form a rotating pair and are fixed to the cam. The cam is fixed to the rotating housing.
[0018] The present invention discloses a method for direct seeding of rice using an ordered precision strip direct seeding device by an unmanned aerial vehicle (UAV), the specific details of which are as follows:
[0019] Rice seeds are placed in the seed box and fall into the seed collection slots located inside the seed box. Initially, each support bracket is supported on the ground, each segmented seed tube is horizontal, and each hose is in a bent and deformed state.
[0020] The lifting mechanism drives the load-bearing frame to lift the seed-collecting device, seed-laying device, air-supplying mechanism, various air-accelerating devices, and various support brackets to a preset height, at which point the support brackets are no longer in contact with the ground. Simultaneously, each lifting mechanism drives the rotating housing to rotate each segmented seed-laying tube and each air-accelerating device 90° clockwise, causing the straight sections of each segmented seed-laying tube to turn downwards to a vertical position, and the flexible hoses to return to their straight positions.
[0021] The buoyancy mechanism drives the load-bearing frame to fly in a straight line in the field. Simultaneously, the controller controls the drive motor to rotate the seed-collecting wheel and activates the air blower and centrifugal fans. As the seed-collecting wheel rotates, the empty seed-collecting slots on each annular seed-collecting path sequentially move from the seed-collecting box to the seed-dispensing box to collect rice seeds. Each seed-collecting slot on each annular seed-collecting path passes through a brush before entering the seed-collecting box. The brush pushes excess rice seeds from each slot to the rear, ensuring that each slot contains only one seed. The rice seeds delivered to the seed-collecting box are positioned within the space formed by the corresponding seed-collecting slot and the inner wall of the seed-collecting box. When each seed-collecting slot carrying rice seeds on each annular seed-collecting path is sequentially connected to a rectangular opening, the seeds on each annular seed-collecting path... Rice seeds in the seed trough fall sequentially into corresponding vertical holes, passing through corresponding flexible tubes, straight holes, straight pipes, accelerating tee pipes, and bend pipes. They then exit sequentially from the outlets of the corresponding bend pipes. Simultaneously, air blowers deliver air to each vertical hole through air ducts and branch air supply pipes, accelerating each rice seed falling sequentially in each vertical hole for the first time. Centrifugal blowers deliver air to each accelerating tee pipe through their respective centrifugal blower pipes, accelerating each rice seed falling sequentially in each accelerating tee pipe for the second time. This causes each rice seed falling sequentially in each bend pipe to be ejected sequentially from the outlet of that bend pipe and implanted into the soil. Furthermore, as the buoyancy mechanism flies in a straight line, the rice seeds ejected sequentially from the outlet of each bend pipe are sown at intervals along a straight line. In this process, because the cross-sectional area of the air inlet of the air duct is larger than that of the air outlet, the fluid velocity at the air outlet is greater than that at the air blower outlet, thus increasing the speed of the rice seeds after the first acceleration. At the same time, because the cross-sectional area of the gap between the outer wall of the inner tube one (farth of the inlet) and the inner wall of the inner tube two (farth of the outlet) is smaller than that of the air inlet of the acceleration tee, the fluid velocity at the gap is greater than that at the air inlet of the acceleration tee, and the fluid pressure at the gap is lower than that at the air inlet of the acceleration tee. The fluid entering the inner tube two from the gap flows along the inner wall of the inner tube two, forming a negative pressure space on the inner wall of the inner tube two. Under the action of negative pressure, the speed of the rice seeds after the second acceleration is increased, thus further increasing the speed at which the rice seeds are ejected from the corresponding bend in the tube outlet.
[0022] After the direct seeding of rice seeds is completed, the controller stops the drive motor, air blower and centrifugal fans. The lifting mechanism drives the rotating box to rotate the segmented seeding tubes and air acceleration devices 90° in reverse, so that the straight tubes of the segmented seeding tubes turn upward to a horizontal state. Then the floating mechanism drives the load-bearing frame to fly back to its original position.
[0023] The present invention has the following beneficial effects:
[0024] This invention enables direct seeding of rice in rows, resulting in orderly seedling growth, good ventilation and light penetration within the rice plant population, and improved lodging resistance. Specifically, the invention utilizes a drone-borne load-bearing device to propel a seed-collecting device, a seed-laying device, an air delivery mechanism, and various air acceleration devices in a straight line across the field. Simultaneously, a drive motor in the seed-collecting device rotates a seed-collecting wheel, causing each seed-collecting slot on the seed-collecting wheel to sequentially collect seeds from the seed-laying box. The seeds are then sequentially transported through brushes to corresponding vertical holes in the seed-introducing box of the seed-laying device. The brushes also push excess seeds from each seed-collecting slot to the rear, ensuring that only one seed remains in each slot, preventing seed accumulation and achieving orderly and precise seed collection with "one seed per slot." The seeds sequentially transported from each vertical hole fall through corresponding flexible hoses, straight holes, straight pipes, and accelerating tee pipes into corresponding bent pipes, and finally fall into the soil from the outlet of the bent pipe. Simultaneously, air blowers deliver air into each vertical hole, accelerating the rice seeds falling sequentially into each hole for the first time. Centrifugal fans deliver air into each acceleration tee pipe, accelerating the rice seeds falling sequentially into each acceleration tee pipe for the second time. This ensures that the rice seeds falling sequentially into each bend pipe are shot into the soil in a sequential manner. As the drone's load-bearing device flies in a straight line, the rice seeds shot out from each bend pipe outlet are sown at intervals along a straight line, thus achieving direct seeding of rice. This results in orderly seedling growth, good ventilation and light penetration for the rice plant population, and the rice seeds' resistance to lodging is improved after being accelerated twice into the soil. Furthermore, this invention adopts a single seed box with multi-channel sowing, reducing the weight of the device and improving its endurance. Combined with drone technology, it can adapt to complex terrain environments, solving the problem of difficult operation in hilly areas and areas with interwoven water networks and lakes in southern China.
[0025] 2. In this invention, the air supply fan delivers air to each vertical hole through the air duct and branch air supply pipes. The cross-sectional area of the air duct inlet is larger than that of the air duct outlet, resulting in a higher fluid velocity at the air duct outlet than at the air supply fan outlet. This provides a first airflow acceleration for the rice seeds. Furthermore, the special structural design of the acceleration tee pipe ensures that the fluid velocity at the acceleration tee pipe outlet is greater than that at the acceleration tee pipe inlet, providing a second airflow acceleration for the rice seeds and creating a negative pressure effect. This negative pressure acceleration effect is stronger than the first positive pressure acceleration effect, thereby ensuring that the speed at which the rice seeds are ejected from the corresponding bend pipe outlet is further increased. This further improves the lodging resistance of the rice seeds, increases the efficiency of direct seeding, ensures the straightness of each row of rice seeds, and guarantees the direct seeding effect. Attached Figure Description
[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;
[0027] Figure 2 for Figure 1 Side view;
[0028] Figure 3 This is a schematic diagram of the structure of the unmanned aerial vehicle (UAV) load-bearing device in this invention;
[0029] Figure 4 This is a schematic diagram of the structure of the seed-retrieving device and the seed-laying device after removing the rotating box and each segmented seed-laying tube in this invention;
[0030] Figure 5 This is a schematic diagram of the structure of the seed-retrieving device, air supply mechanism, and seed-laying device after removing the seed box, rotating box, and each segmented seed-laying tube in the present invention.
[0031] Figure 6 This is a schematic diagram of the seed-collecting wheel, connecting shaft, and drive motor in this invention;
[0032] Figure 7 This is a schematic diagram of the structure of each segmented seed tube in this invention;
[0033] Figure 8 This is a schematic diagram of the air acceleration device, straight pipe, and part of the rotating box in this invention;
[0034] Figure 9 This is a schematic diagram of the accelerating three-way tube in this invention;
[0035] Figure 10 This is a cross-sectional view of the accelerating tee pipe in this invention;
[0036] Figure 11 This is a schematic diagram of the seeding device after removing each bent tube in this invention;
[0037] Figure 12This is a schematic diagram of the lifting mechanism in this invention. Detailed Implementation
[0038] The present invention will now be further described with reference to the accompanying drawings.
[0039] like Figure 1 and Figure 2 As shown, the present invention provides an orderly precision strip direct seeding device for rice using a drone, comprising a drone load-bearing device 1, a seed-collecting device 2, a seed-laying device 3, an air supply mechanism 4, a lifting mechanism 5, and an air acceleration device 6.
[0040] like Figure 1 , Figure 2 and Figure 3 As shown, the UAV load-bearing device 1 includes a buoyancy mechanism 7, a load-bearing frame, and support brackets 10. The load-bearing frame includes a load-bearing beam 9, a first connecting frame, and a second connecting frame 11. The first and second connecting frames 11 are arranged horizontally and parallel to each other. There are two parallel load-bearing beams 9, and the same end of the first and second connecting frames 11 is fixed to both ends of one load-bearing beam 9. A detection radar 8 is fixed on the first connecting frame, which is used to detect its spatial position and nearby obstacles. Two relatively inclined and symmetrically arranged support brackets 10 are fixed to the lower surfaces of the two load-bearing beams 9 to support the load-bearing frame. The buoyancy mechanism 7 consists of two symmetrically arranged propellers 13 and two symmetrically arranged propellers 14. Propeller 13 includes a propeller support, a rotor support, and a rotor. The rotor support and one end of the propeller support form a rotating pair and are driven to rotate by a servo motor. Two rotors are fixed on the rotor support at a distance. The ends of the propeller supports of the two propellers 13 away from the rotor support are fixed to both ends of the connecting frame 11, and the included angle between the propeller supports of the two propellers 13 is 120°. The structure of propellers 14 is the same as that of propellers 13. The ends of the propeller supports of the two propellers 14 away from the rotor support are fixed to both ends of the connecting frame 11, and the included angle between the propeller supports of the two propellers 14 is 120°.
[0041] like Figure 4 , Figure 5 and Figure 6As shown, the seed-collecting device 2 includes a seed-dispensing box 12, a seed-collecting box 15, a seed-collecting wheel 17, and a connecting shaft 21. The seed-dispensing box 12 is fixed to two load-bearing beams 9, and its lower end is tapered with a rectangular opening 1. The seed-collecting box 15 has a rectangular opening 2 at its upper end and a rectangular opening 3 at its lower end, and the rectangular opening 2 is fixed to and connected to the rectangular opening 1. The diameter of the seed-collecting wheel 17 is equal to the inner diameter of the seed-collecting box 15, and the length of the seed-collecting wheel 17 is equal to the length of the rectangular opening 2. The seed-collecting wheel 17 is horizontally positioned inside the seed-collecting box 15 and is arranged coaxially with the seed-collecting box 15. The seed-taking wheel 17 is arranged aligned with the second rectangular opening and fixed on the horizontally set connecting shaft 21. The connecting shaft 21 and the seed-taking box 15 form a rotating pair and are driven by the drive motor 18. A brush 16 is fixed on one side of the second rectangular opening parallel to the central axis of the seed-taking box 15, and the brush 16 contacts the cylindrical surface of the seed-taking wheel 17. The seed-taking wheel 17 has four annular seed-taking channels evenly distributed along the axial direction, and each annular seed-taking channel has multiple seed-taking grooves evenly distributed along the circumference.
[0042] like Figure 1 , Figure 4 , Figure 5 , Figure 7 , Figure 8 and Figure 11 As shown, the seeding device 3 includes a seed introduction box 24, a flexible hose 25, a connecting plate 26, a segmented seeding tube 30, and a rotating box 37. The seed introduction box 24 is fixed at the position of the rectangular opening 3, and has four vertical holes aligned with each annular seed collection channel. The upper end of each vertical hole is connected to the corresponding annular seed collection channel, and the lower end is fixed and connected to the inlet of a flexible hose 25. An air inlet channel is provided in the middle. Vertically arranged connecting plates 26 are fixed at both ends of the seed introduction box 24. The two ends of the rotating box 37 and the two connecting plates 26 form a rotating pair, and are synchronously driven to rotate by two symmetrically arranged lifting mechanisms 5. The segmented seeding tube 30 has four straight holes aligned with the four hoses respectively, and the inlet of each straight hole is fixed and connected to the outlet of the corresponding hose 25; the segmented seeding tube 30 includes a straight tube and a bent tube. The bent tube is composed of a straight tube segment 1, an arc segment 1, a straight tube segment 2, an arc segment 3 and a straight tube segment 3 arranged in sequence, and the straight tube segment 1 and the straight tube segment 3 are parallel to the straight tube; the segmented seeding tube 30 has four straight tubes arranged along the axial direction of the seed-collecting wheel, and each straight tube is aligned with each straight hole respectively. The inlet of each straight tube is fixed and connected to the outlet of the corresponding straight hole. Each straight tube segment 1 is aligned with each straight tube, each straight tube segment 2 is arranged in a fan shape, and each straight tube segment 3 is arranged at equal intervals.
[0043] like Figure 5As shown, the air supply mechanism 4 includes an air supply fan 27, an air duct 28, and branch air supply pipes 29. The air supply fan 27 is fixed to the seed collection box 15, and its outlet is fixed and connected to the air inlet of the air duct 28. The outlet of the air duct 28 is fixed and connected to the air inlet of the branch air supply pipe 29. The outlet of the branch air supply pipe 29 has four integrally formed branch pipes arranged in a fan shape. The end of each branch pipe away from the air duct is fixed to each air inlet channel and connected to each vertical hole through each air inlet channel. The cross-sectional area of the air inlet of the air duct 28 is larger than the cross-sectional area of the air outlet of the air duct 28.
[0044] like Figure 8 , Figure 9 and Figure 10 As shown, the air acceleration device 6 includes an acceleration tee pipe 31, a centrifugal fan duct 32, a centrifugal fan 33, and a fan cover 34. The fan cover 34 is fixed on the rotating box 37, and the centrifugal fan 33 is fixed inside the fan cover 34. The air outlet of the centrifugal fan 33 is fixed and connected to the air inlet of the centrifugal fan duct 32. The air outlet of the centrifugal fan duct 32 is fixed and connected to the air inlet of the acceleration tee pipe 31. The inlet and outlet of the acceleration tee pipe 31 are arranged coaxially. The acceleration tee pipe 31 has an integrally formed inner tube 1 and an inner tube 2 extending inward at the inlet and outlet, respectively. The end of the inner tube 1 away from the inlet is embedded in the end of the inner tube 2 away from the outlet. There is a gap between the outer wall of the inner tube 1 and the inner wall of the inner tube 2, and the cross-sectional area of the air inlet of the acceleration tee pipe 31 is larger than the cross-sectional area of the gap. The air acceleration device 6 has four units equidistantly arranged along the axial direction of the seed-taking wheel. The inlet and outlet of the acceleration tee in each air acceleration device are fixed and connected to the outlet of the straight pipe and the inlet of the first straight pipe section in a segmented seed-laying pipe 30, respectively.
[0045] In a preferred embodiment, slots are provided at both ends of the lower surface of the load-bearing beam 9, the support bracket 10 is W-shaped, and the two ends of the support bracket 10 are fixed to the two slots on the corresponding load-bearing beam 9.
[0046] In a preferred embodiment, the upper surfaces of the two load-bearing beams 9 are provided with integrally formed bosses, and the two ends of the seed box 12 are provided with grooves, with the two bosses embedded in the two grooves.
[0047] In a preferred embodiment, the connecting shaft 21 is supported on the seed collection box 15 by a bearing 23.
[0048] In a preferred embodiment, the housing of the drive motor 18 is fixed to the motor top frame 19, the motor top frame 19 is fixed to the motor mounting bracket 20, the motor mounting bracket 20 is fixed to the seed box 12, and the output shaft of the drive motor 18 is connected to the connecting shaft 21 through the coupling 22.
[0049] As a preferred embodiment, such as Figure 11 and Figure 12 As shown, the lifting mechanism 5 includes a servo motor 35 and a cam 36. The housing of the servo motor 35 is fixed on the corresponding connecting plate 26. The output shaft of the servo motor 35 and the corresponding connecting plate 26 form a rotating pair and are fixed to the cam 36. The cam 36 is fixed on the rotating housing 37.
[0050] More preferably, both ends of the rotating housing 37 are provided with cam slots, and the cams 36 of the two lifting mechanisms 5 are respectively embedded in the two cam slots.
[0051] Among them, the servo motor, drive motor 18, servo motor 35, air blower 27 and centrifugal fan 33 are all controlled by the controller, and the signal output terminal of the detection radar 8 is connected to the controller.
[0052] The present invention discloses a method for direct seeding of rice using an ordered precision strip direct seeding device by an unmanned aerial vehicle (UAV), the specific details of which are as follows:
[0053] Rice seeds are placed in the seed box 12 and fall into the seed collection slots located in the seed box 12. Initially, each support bracket 10 is supported on the ground, each segmented seed tube 30 is horizontal, and each hose 25 is in a bent and deformed state.
[0054] The lifting mechanism 7 drives the load-bearing frame to lift the seed-collecting device 2, the seed-laying device 3, the air supply mechanism 4, each air acceleration device 6, and each support bracket 10 to a preset height, at which point each support bracket 10 is no longer in contact with the ground. Then, each lifting mechanism 5 synchronously drives the rotating box 37 to rotate each segmented seed-laying tube 30 and each air acceleration device 6 90° clockwise, causing the straight pipes of each segmented seed-laying tube 30 to turn downwards to a vertical state, and each hose 25 to return to a straight pipe state. Then, the buoyancy mechanism 7 drives the load-bearing frame to fly in a straight line in the field. At the same time, the controller controls the drive motor 18 to drive the seed-collecting wheel 17 to rotate, and controls the air blower 27 and each centrifugal fan 33 to start working. As the seed-collecting wheel 17 rotates, the empty seed-collecting slots on each annular seed-collecting channel are sequentially moved from the seed-collecting box 15 to the seed-dispensing box 12 to collect rice seeds. Each seed-collecting slot on each annular seed-collecting channel passes through the brush 16 in sequence and is moved into the seed-collecting box 15. The brush 16 pushes the excess rice seeds in each seed-collecting slot to the back to prevent the rice seeds from piling up in the seed-collecting slots. This ensures that only one rice seed is left in each seed-collecting slot, thus realizing the orderly and precise seed collection work of "one seed per slot". The rice seeds delivered to the seed-collecting box 15 are located in the space formed by the corresponding seed-collecting slot and the inner wall of the seed-collecting box 15. When the seed-collecting slots carrying rice seeds on each annular seed-collecting channel sequentially meet the rectangular... When the three-way connection is open, the rice seeds in each seed-collecting slot on each annular seed-collecting channel fall sequentially into the corresponding vertical holes, and then sequentially pass through the corresponding flexible tube 25, straight hole, straight pipe, acceleration three-way pipe 31 and bend pipe, and exit sequentially from the outlet of the corresponding bend pipe. At the same time, the air supply fan 27 delivers air to each vertical hole through the air duct 28 and the branch air supply pipe 29 to accelerate each rice seed falling sequentially in each vertical hole for the first time. Each centrifugal fan 33 delivers air to each acceleration three-way pipe 31 through each centrifugal fan pipe 32 to accelerate each rice seed falling sequentially in each acceleration three-way pipe 31 for the second time. This causes each rice seed falling sequentially in each bend pipe to be ejected sequentially from the outlet of the bend pipe and injected into the soil sequentially. As the floating mechanism 7 flies in a straight line, the rice seeds ejected sequentially from the outlet of each bend pipe are sown at intervals in a straight line, thereby realizing the direct seeding of rice.
[0055] In this process, because the cross-sectional area of the air inlet of air duct 28 is larger than that of the air outlet of air duct 28, the fluid velocity at the air outlet of air duct 28 is greater than that at the air outlet of blower 27, thus increasing the speed of the rice seeds after the first acceleration. Simultaneously, because the cross-sectional area of the gap between the outer wall of the inner tube one (farthest from the inlet) and the inner wall of the inner tube two (farthest from the outlet) in the accelerating three-way pipe 31 is smaller than the cross-sectional area of the air inlet of the accelerating three-way pipe 31, according to the law of conservation of fluid mass, the mass of the fluid remains constant during fluid movement. Therefore, the mass of fluid passing through the air inlet of the accelerating three-way pipe 31 per unit time is equal to the mass of fluid passing through the gap. The fluid velocity at the gap is greater than that at the air inlet of the accelerating three-way pipe 31. Furthermore, according to Bernoulli's law... Based on the principle that the greater the flow velocity, the lower the pressure, the lower the fluid pressure at the gap is lower than the fluid pressure at the air inlet of the accelerating tee 31. According to the Coanda effect, when there is surface friction between the fluid and the surface of the object it flows over, as long as the curvature is not large, the fluid will flow along the surface of the object. Therefore, the low-pressure fluid entering the inner pipe 2 from the gap will flow along the inner wall of the inner pipe 2, forming a negative pressure space on the inner wall of the inner pipe 2. Under the action of negative pressure, the speed of the rice seeds after the second acceleration is increased, and the negative pressure acceleration effect can be stronger than the first positive pressure acceleration effect. This further increases the speed at which the rice seeds are ejected from the corresponding bend pipe outlet, improves the lodging resistance of the rice seeds, improves the efficiency of direct seeding, ensures the straightness of each row of rice seeds, and ensures the direct seeding effect.
[0056] After the direct seeding of rice seeds is completed, the controller stops the drive motor 18, the air blower 27 and each centrifugal fan 33. The lifting mechanism 5 synchronously drives the rotating box 37 to rotate each segmented seeding tube 30 and each air acceleration device 6 90° in reverse, so that the straight pipe of each segmented seeding tube 30 turns upward to a horizontal state. Then the floating mechanism 7 drives the load-bearing frame to fly back to its original position.
Claims
1. A precise, unmanned aerial vehicle (UAV) direct seeding device for rice, comprising a UAV load-bearing device, a seeding device, and an air delivery mechanism, characterized in that: It also includes a seed-collecting device and an air acceleration device; the UAV load-bearing device includes a buoyancy mechanism, a load-bearing frame, and support brackets; the buoyancy mechanism drives the load-bearing frame to fly, and two relatively inclined and symmetrically arranged support brackets are fixed at both ends of the lower surface of the load-bearing frame; the seed-collecting device includes a seed-dispensing box, a seed-collecting box, and seed-collecting wheels; the seed-dispensing box is fixed on the load-bearing frame, and the lower end of the seed-dispensing box is conical with a rectangular opening one; the upper and lower ends of the seed-collecting box are respectively provided with a rectangular opening two and a rectangular opening three, and the rectangular opening two is fixed and connected to the rectangular opening one. The diameter of the seed-collecting wheel is equal to the inner diameter of the seed-collecting box, and the length of the seed-collecting wheel is equal to the length of the second rectangular opening. The seed-collecting wheel is horizontally arranged inside the seed-collecting box, coaxial with the seed-collecting box, and aligned with the second rectangular opening. It forms a rotating pair with the seed-collecting box and is driven to rotate by a drive motor. A brush is fixed on one side of the second rectangular opening parallel to the central axis of the seed-collecting box, and the brush is in contact with the cylindrical surface of the seed-collecting wheel. The seed-collecting wheel has n annular seed-collecting channels evenly distributed along the axial direction, where n≥4. Each annular seed-collecting channel has multiple seed-collecting grooves evenly distributed along the circumference. The seeding device includes a seed-introducing box, a flexible hose, connecting plates, a segmented seed-introducing tube, and a rotating box. The seed-introducing box is fixed at three positions of a rectangular opening, and has n vertical holes aligned with each annular seed-taking channel. The upper end of each vertical hole is connected to the corresponding annular seed-taking channel, and the lower end is fixed and connected to the inlet of a flexible hose. An air inlet channel is provided in the middle. Vertically arranged connecting plates are fixed at both ends of the seed-introducing box. The two ends of the rotating box and the two connecting plates form a rotating pair, and are synchronously driven to rotate by two symmetrically arranged lifting mechanisms. The rotating housing has n straight holes aligned with each hose, and the inlet of each straight hole is fixed and connected to the outlet of the corresponding hose. The segmented seeding tube consists of a straight tube and a bent tube, and has n tubes arranged along the axial direction of the seed-taking wheel. The straight tube of each segmented seeding tube is aligned with each straight hole, and the inlet of each straight tube is fixed and connected to the outlet of the corresponding straight hole. The bent tubes of each segmented seeding tube are arranged in a fan-shaped interval, and the outlets of each bent tube are equidistant. The central axis of the outlet of each bent tube is parallel to the central axis of the straight tube. The air supply mechanism includes an air supply fan, an air duct, and branch air supply pipes. The air supply fan is fixed to the seed collection box. The air outlet of the air supply fan is fixed and connected to the air inlet of the air duct. The air outlet of the air duct is fixed and connected to the air inlet of the branch air supply pipes. The air outlet of the branch air supply pipes is provided with n integrally formed branch pipes arranged in a fan shape. The end of each branch pipe away from the air duct is fixed to each air inlet channel and connected to each vertical hole through each air inlet channel. The cross-sectional area of the air inlet of the air duct is larger than the cross-sectional area of the air outlet of the air duct. The air acceleration device includes an acceleration tee and a centrifugal fan. The centrifugal fan is fixed on the rotating housing, and the outlet of the centrifugal fan is fixed and connected to the inlet of the acceleration tee through a centrifugal fan pipe. The inlet and outlet of the acceleration tee are arranged coaxially. The acceleration tee has an integrally formed inner tube 1 and an inner tube 2 extending inward at the inlet and outlet, respectively. The end of the inner tube 1 away from the inlet is embedded in the end of the inner tube 2 away from the outlet, and there is a gap between the outer wall of the inner tube 1 and the inner wall of the inner tube 2. The cross-sectional area of the air inlet of the acceleration tee is larger than the cross-sectional area of the gap. The air acceleration device has n units equidistantly arranged along the axial direction of the seed-collecting wheel. The inlet and outlet of the acceleration tee in each air acceleration device are fixed and connected to the outlet of the straight tube and the inlet of the bent tube in a segmented seeding tube, respectively. 2.The unmanned aerial vehicle ordered precision strip live device for rice according to claim 1, characterized in that: The load-bearing frame includes a load-bearing beam, a connecting frame one, and a connecting frame two. The connecting frame one and the connecting frame two are arranged horizontally and parallel to each other and are fixed by the two load-bearing beams. Two support brackets are fixed to the lower surfaces of the two load-bearing beams, and the seed box is fixed to the two load-bearing beams. 3.The unmanned aerial vehicle ordered precision strip live device for rice according to claim 2, characterized in that: The lower surface of the load-bearing beam has slots at both ends, the support bracket is W-shaped, and the two ends of the support bracket are fixed to the two slots on the corresponding load-bearing beam.
4. The unmanned aerial vehicle ordered precision strip live device for rice according to claim 2, characterized in that: A detection radar is fixed on the connecting frame.
5. The unmanned aerial vehicle ordered precision strip live device for rice according to claim 2, characterized in that: The buoyancy mechanism consists of two symmetrically arranged propellers (first type) and two symmetrically arranged propellers (second type). Propeller 1 includes a propeller support, a rotor support, and a rotor. The rotor support and one end of the propeller support form a rotating pair and are driven to rotate by a servo motor. Two rotors are fixed on the rotor support at a distance. The ends of the propeller supports of the two propellers 1 away from the rotor support are fixed to the two ends of the connecting frame 2, and the included angle between the propeller supports of the two propellers 1 is 120°. The structure of propellers 2 is the same as that of propellers 1, and the ends of the propeller supports of the two propellers 2 away from the rotor support are fixed to the two ends of the connecting frame 1. The included angle between the propeller supports of the two propellers 2 is 120°. 6.The unmanned aerial vehicle ordered precision strip live device for rice according to claim 1, characterized in that: The seed-collecting wheel is fixed on a horizontally arranged connecting shaft. The connecting shaft and the seed-collecting box form a rotating pair and are driven by a drive motor.
7. The rice unmanned aerial vehicle (UAV) ordered precision strip direct seeding device according to claim 1, characterized in that: The bent pipe is composed of a straight pipe section 1, an arc section 1, a straight pipe section 2, an arc section 3 and a straight pipe section 3 arranged in sequence, with the straight pipe section 1 and the straight pipe section 3 being parallel to the straight pipe. The inlet of the straight pipe section 1 of each segmented seeding pipe is fixed and connected to the outlet of the corresponding acceleration tee pipe. The straight pipe sections 2 of each segmented seeding pipe are arranged in a fan-shaped interval, and the straight pipe sections 3 of each segmented seeding pipe are arranged at equal intervals. 8.The unmanned aerial vehicle ordered precision strip live device for rice according to claim 1, characterized in that: The centrifugal fan is fixed inside the fan cover, and the fan cover is fixed on the rotating box. 9.The unmanned aerial vehicle ordered precision strip live device for rice according to claim 1, characterized in that: The lifting mechanism includes a servo motor and a cam. The housing of the servo motor is fixed to a corresponding connecting plate. The output shaft of the servo motor and the corresponding connecting plate form a rotating pair and are fixed to the cam. The cam is fixed to the rotating housing.
10. The strip sowing method of the unmanned aerial vehicle ordered precision strip sowing device for rice according to any one of claims 1 to 9, characterized in that: Specifically as follows: Rice seeds are placed in the seed box and fall into the seed collection slots located inside the seed box. Initially, each support bracket is supported on the ground, each segmented seed tube is horizontal, and each hose is in a bent and deformed state. The floating mechanism drives the load-bearing frame to lift the seed-collecting device, seed-laying device, air-feeding mechanism, various air-accelerating devices, and various support brackets to a preset height, and each support bracket is separated from the ground; each lifting mechanism synchronously drives the rotating box to rotate each segmented seed-laying tube and each air-accelerating device 90° clockwise, so that the straight tubes of each segmented seed-laying tube turn downwards to a vertical state, and each hose returns to a straight tube state; The buoyancy mechanism drives the load-bearing frame to fly in a straight line in the field. Simultaneously, the controller controls the drive motor to rotate the seed-collecting wheel and activates the air blower and centrifugal fans. As the seed-collecting wheel rotates, the empty seed-collecting slots on each annular seed-collecting path sequentially move from the seed-collecting box to the seed-dispensing box to collect rice seeds. Each seed-collecting slot on each annular seed-collecting path passes through a brush before being transferred to the seed-collecting box. The brush pushes excess rice seeds from each passing slot to the rear, ensuring that each passing slot contains only one rice seed. The rice seeds delivered to the seed-collecting box are positioned according to their respective collection points. Within the space formed by the seed trough and the inner wall of the seed collection box, when each seed trough carrying rice seeds on each annular seed collection channel is sequentially connected to a rectangular opening, the rice seeds in each seed trough on each annular seed collection channel fall sequentially into the corresponding vertical holes, and then sequentially pass through the corresponding flexible tube, straight hole, straight pipe, accelerating tee pipe, and bend pipe, exiting sequentially from the outlet of the corresponding bend pipe. Simultaneously, the air supply fan delivers air into each vertical hole through the air duct and branch air supply pipes, performing the first acceleration on each rice seed falling sequentially into each vertical hole. Each centrifugal fan delivers air into each accelerating tee pipe through its respective centrifugal fan pipe. Air is supplied to give a second acceleration to the rice seeds falling sequentially in each acceleration tee, causing the seeds falling sequentially in each bend to be ejected sequentially from the outlet of that bend and into the soil. As the buoyancy mechanism flies linearly, the seeds ejected from each bend are sown at intervals along a straight line. Because the cross-sectional area of the air duct inlet is larger than that of the air duct outlet, the fluid velocity at the air duct outlet is greater than that at the air supply fan outlet, thus increasing the speed of the rice seeds after the first acceleration. Simultaneously, due to the... In the speed-accelerating tee, the cross-sectional area of the gap between the outer wall of the inner tube one furthest from the inlet and the inner wall of the inner tube two furthest from the outlet is smaller than the cross-sectional area of the air inlet of the speed-accelerating tee. This results in the fluid velocity at the gap being greater than the fluid velocity at the air inlet of the speed-accelerating tee, and the fluid pressure at the gap being lower than the fluid pressure at the air inlet of the speed-accelerating tee. The fluid entering the inner tube two from the gap flows along the inner wall of the inner tube two, forming a negative pressure space on the inner wall of the inner tube two. Under the action of negative pressure, the speed of the rice seed after the second acceleration is increased, thereby further increasing the speed at which the rice seed is ejected from the outlet of the corresponding bend. After the direct seeding of rice seeds is completed, the controller stops the drive motor, air blower and centrifugal fans. The lifting mechanism drives the rotating box to rotate the segmented seeding tubes and air acceleration devices 90° in reverse, so that the straight tubes of the segmented seeding tubes turn upward to a horizontal state. Then the floating mechanism drives the load-bearing frame to fly back to its original position.