Spherical object unmanned aerial vehicle releasing device and method

Abstract

The invention provides a spherical object unmanned aerial vehicle throwing device and method.The device comprises a supporting base, a rotating blade, a rotating driving part and a discharging pipeline, the supporting base is detachably installed on an unmanned aerial vehicle, the supporting base is provided with an installing hole and a discharging hole, and the rotating blade and the rotating driving part are located on the two opposite sides of the supporting base in the thickness direction correspondingly; the rotary driving piece drives the rotary blade to rotate around the thickness direction through the mounting hole; when the rotating blades rotate to pass through the discharging holes, the discharging holes are opened or closed; the discharging pipeline is installed on the side, away from the rotating blades, of the supporting base, one end of the discharging pipeline covers the supporting base, and a feeding opening is formed in the other end of the discharging pipeline. The device is applied to the unmanned aerial vehicle to efficiently throw spherical objects loaded with parasitic eggs, the parasitic wasps are used for achieving biological prevention and control of agricultural pests, the matched design of the rotating blades and the discharging holes can avoid the problems of ball clamping and blocking of the spherical objects at the discharging openings in the throwing process, the stability of ball throwing and discharging is improved, and large-area precise prevention and control of the parasitic wasps can be achieved.

Description

Technical Field

[0001] The present application belongs to the field of biological control technology for plant protection, and more specifically, relates to a device and method for delivering spherical objects by drone. Background Art

[0002] Using parasitic wasps to control agricultural pests is one of the most widely used biological control technologies in production. It is of great significance to reduce the use of chemical pesticides in the field and improve the safety of agricultural product production.

[0003] Traditionally, parasitic wasp release methods involve folding a card and placing it between the angle between the sugarcane sheath and the stem, or pinning it to the underside of a crop leaf with a toothpick. One to two cards are placed per acre of sugarcane or corn field. This is labor-intensive, time-consuming, and inefficient for large-scale bee releases. Consequently, traditional parasitic wasp release methods pose a technical challenge, requiring further improvement in their effectiveness. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a device and method for delivering spherical objects by drone, so as to solve the technical problem that the traditional parasitic wasp release method has the need to improve the parasitic control effect.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are:

[0006] On the one hand, a spherical object drone delivery device is provided, comprising a support seat, a rotating blade, a rotating drive member and a discharge pipe, wherein the support seat is detachably mounted on the drone, the support seat having a mounting hole and a discharge hole both extending along the thickness direction of the support seat, the rotating blade and the rotating drive member being respectively located on opposite sides of the support seat in the thickness direction, the rotating drive member driving the rotating blade to rotate around the thickness direction through the mounting hole; when the rotating blade rotates through the discharge hole, the discharge hole is opened or closed; the discharge pipe is mounted on a side of the support seat away from the rotating blade, one end of the discharge pipe is covered with the support seat, and the other end of the discharge pipe has a feeding port.

[0007] In one embodiment, the rotating blade includes a connecting rod and a plurality of blade bodies, the connecting rod is fixedly connected to the rotary drive member, and the plurality of blade bodies are connected to the outer wall of the connecting rod and are distributed at intervals along the circumference of the connecting rod.

[0008] In one embodiment, the outer diameter of the blade body gradually increases in a direction approaching the support seat along the height direction.

[0009] In one embodiment, the thickness of the blade body gradually increases in a direction approaching the support seat along the height direction.

[0010] In one embodiment, the connecting rod is a hollow rod, and the spherical object drone delivery device also includes a drive shaft, which is fixedly sleeved in the connecting rod, and the end of the drive shaft is fixedly connected to the output shaft of the rotating drive member.

[0011] In one embodiment, the number of the blade bodies is the same as the number of the discharge holes.

[0012] In one embodiment, the number of the discharge holes is three, and when the rotating blade opens one of the discharge holes, the rotating blade closes the other two discharge holes, and the feeding direction of the feeding port is vertically downward.

[0013] In one embodiment, the number of the discharge holes is four, and the number of the feeding ports is two. The feeding directions of the two feeding ports are horizontal and are located on opposite sides of the discharge pipe. Each feeding port corresponds to two discharge holes. When each feeding port is connected to one of the two feeding ports, it is closed by the rotating blades with the other feeding port.

[0014] In another aspect, a method for delivering a spherical object by a drone is provided, wherein a drone is equipped with the spherical object delivery device described in any one of the above items, and the method comprises the following steps:

[0015] Obtain the degree of pest infestation in the field area to determine the stocking density;

[0016] obtaining a map of the field area;

[0017] Based on the delivery density, setting the flight parameters of the drone and the delivery parameters of the spherical object drone delivery device;

[0018] The UAV flies according to the flight parameters, and the rotary drive member drives the rotary blades to operate according to the speed parameters, so as to deliver the spherical objects to the field area at a fixed point according to the delivery density.

[0019] In one embodiment, the flight parameters include flight trajectory, trajectory interval, flight speed and flight altitude.

[0020] The device and method for drone-delivered spheres provided by the present invention have at least the following beneficial effects: The device is removably mounted on a drone via a support base. Spheres containing parasitic eggs are stored in a space on one side of the support base near the rotating blades. Leveraging the drone's flight capabilities, the spheres achieve large-area coverage, achieving delivery efficiency 10-20 times greater than manual bee-card placement. The device is particularly unaffected by terrain and crop conditions, such as during the middle and late stages of sugarcane growth, where lodging is common, making manual navigation difficult. The rotating blades and the rotary drive are located on opposite sides of the support base, eliminating the sphere storage space and minimizing interference with the operation of the rotary drive. Driven by the rotary drive, the rotating blades rotate past the discharge aperture. When the rotating blades pass through the discharge aperture, they block the aperture, closing it. When the rotating blades rotate away from the discharge aperture, the aperture is opened, allowing the spheres to fall through the aperture into the discharge pipe below and be released into the field through the feed opening. The rotary drive controls the opening and closing of the discharge hole through rotating blades, precisely controlling the amount of pellets released and ensuring uniform distribution per unit area. This prevents both localized accumulation caused by a large drop and missed placements. High uniformity ensures comprehensive distribution and coverage within a short period of time, even with the limited range of parasitic wasps, thereby increasing the parasitic egg colonization rate in the field. The pellets themselves protect the parasitic eggs from predators such as ants, improving the survival rate of parasitic wasps, which in turn increases the parasitic egg colonization efficiency. Therefore, combined with the high unit area delivery rate brought by the efficient delivery of drones, the spherical object drone delivery device provided in the embodiment of the present application solves the problems of insufficient diffusion of parasitic eggs and decreased parasitic rate during the peak period of insect pests during traditional manual delivery. The coordinated design of the rotating blades and the discharge hole can avoid the problem of the spheres getting stuck or blocked at the discharge port during the delivery process, and also avoid the spheres being damaged by squeezing or collision during the delivery process, thereby ensuring the integrity of the internal parasitic eggs and indirectly improving the survival rate. It not only solves the problems of labor-intensive, inefficient and insufficient coverage of traditional manual delivery, but also improves the stability of ball delivery and discharge through technical optimization, which is conducive to the precise prevention and control of parasitic wasps over a large area. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or exemplary technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 A schematic structural diagram of a first embodiment of a spherical object delivery device provided by an embodiment of the present application;

[0023] Figure 2 for Figure 1 Exploded view of;

[0024] Figure 3 for Figure 1 Another perspective of the picture;

[0025] Figure 4 A schematic structural diagram of a second embodiment of the spherical object delivery device provided by an embodiment of the present application;

[0026] Figure 5 for Figure 4 Another perspective of the picture;

[0027] Figure 6 A cross-sectional view of a spherical object of a spherical object drone delivery device in an embodiment;

[0028] Figure 7 Schematic diagram of the process of the method for delivering a spherical object by drone in an embodiment;

[0029] Figure 8 A schematic diagram of the flight trajectory of a drone;

[0030] Figure 9 This is another schematic diagram of the drone's flight trajectory;

[0031] Figure 10 Another schematic diagram of the drone's flight trajectory.

[0032] Among them, the main marks of the drawings in the figure are:

[0033] Z, height direction;

[0034] 100, spherical object; 110, inner cavity; 120, upper spherical shell; 130, lower spherical shell; 140, air hole;

[0035] 200, support seat; 201, mounting hole; 202, discharge hole;

[0036] 300, rotating blade; 310, connecting rod; 320, blade body;

[0037] 400, rotary drive member; 410, drive shaft;

[0038] 500, discharge pipe; 501, feeding port; 502, connecting pipe;

[0039] 600, separator; 610, connecting tube; 620, separator. DETAILED DESCRIPTION

[0040] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0041] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" means two or more, unless otherwise clearly and specifically defined. "Several" means one or more, unless otherwise clearly and specifically defined.

[0043] In the description of this application, it should be understood that the terms "center", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0044] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0045] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, when the phrases "in one embodiment" or "in some embodiments" appear in various places throughout this specification, not all references are to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0046] The traditional method of releasing parasitic wasps is to manually fold the bee card and clamp it at the angle between the sugarcane leaf sheath and the sugarcane stem, or use a toothpick to pin the bee card to the back of the crop leaf. 1-2 bee cards are released per acre of sugarcane field or corn field. There are few release points for trichogrammatids in the field, which is not conducive to the rapid spread and distribution of trichogrammatids. In addition, in the middle and late stages of sugarcane growth, the plants are tall and the sugarcane leaves are dense, making it difficult for bee releasers to move through the field, and even more difficult to ensure the uniformity of bee card release, which affects the prevention and control effect to a certain extent.

[0047] Example 1

[0048] See also Figure 1 and Figure 4 The spherical object delivery device provided by the embodiment of the present application is now described. Figure 2 and Figure 5 The spherical object delivery device comprises a support base 200, a rotating blade 300, a rotating drive member 400, and a discharge pipe 500. The support base 200 is detachably mounted on the drone. The support base 200 has a mounting hole 201 and a discharge hole 202, both of which extend through the support base 200 in the thickness direction Z. The rotating blade 300 and the rotating drive member 400 are located on opposite sides of the support base 200 in the thickness direction Z. The rotating drive member 400 drives the rotating blade 300 to rotate about the thickness direction Z through the mounting hole 201. When the rotating blade 300 rotates through the discharge hole 202, the discharge hole 202 is opened or closed. The discharge pipe 500 is mounted on the side of the support base 200 away from the rotating blade 300. One end of the discharge pipe 500 covers the support base 200, and the other end of the discharge pipe 500 has a feeding port 501.

[0049] Through years of field investigation and research, it was found that since parasitic wasps (such as trichogrammatids) mainly bounce and fly in search of hosts to lay eggs and parasitize after emerging in the field, when the occurrence of insect pests in the field is at a medium to low level, the pest parasitic control effect of 1-2 bee cards per mu is still acceptable. However, when the occurrence of insect pests in the field is at a medium to high level, the flight and diffusion range of trichogrammatids is limited, making it difficult to fully spread and cover the area in a short period of time, so the pest parasitic control effect is significantly reduced.

[0050] The device provided in this embodiment has at least the following advantages:

[0051] First, the device can be detachably mounted on the drone via the support base 200, and the ball 100 containing the parasitic eggs (see Figure 6 ) are stored in the space near the rotating blades 300 of the support base 200. Leveraging the drone's flight capabilities, the spheres 100 achieve large-area coverage and rapid deployment. A 10L agricultural drone can deploy over 400 mu (approximately 16 acres) of land per hour, achieving a deployment efficiency 10-20 times greater than manual deployment. The drone is particularly unaffected by terrain and crop conditions. For example, during the middle and late stages of sugarcane growth, lodging is a common problem, making manual navigation difficult.

[0052] Second, the spherical object 100 itself can protect the parasitic eggs from being eaten by natural enemies such as ants, which is beneficial to improving the survival rate of the parasitic wasps. A high survival rate will also improve the parasitic efficiency of the parasitic eggs.

[0053] Third, when releasing trichogrammatids on a large scale, the use of drones of the present invention to quickly release trichogrammatids can effectively solve the problems of short life generations of trichogrammatids and the waste caused by untimely manual release due to the concentrated emergence of a large number of them in a short period of time. The spherical object 100 relatively extends the shelf life.

[0054] Specifically, the rotating blades 300 and the rotary drive member 400 are located on opposite sides of the support base 200. The rotary drive member 400 does not occupy the storage space of the spheres 100, and also reduces interference of the spheres 100 on the operation of the rotating drive member 400. Driven by the rotary drive member 400, the rotating blades 300 rotate past the discharge hole 202. When the rotating blades 300 pass through the discharge hole 202, they block the discharge hole 202, closing it. When the rotating blades 300 rotate away from the discharge hole 202, the discharge hole 202 is opened, and the spheres 100 fall through the discharge hole 202 into the discharge pipe 500 below, and are ejected from the feeding port 501 into the field. The rotating drive member 400 controls the opening and closing of the discharge hole 202 through the rotating blades 300, thereby precisely controlling the amount of spherical objects 100 released and ensuring uniform release per unit area. This prevents both localized accumulation caused by a large amount of dropping at once and missed releases. The high uniformity allows for comprehensive spread and coverage in a short period of time even when the parasitic wasp has a limited jumping flight distance, thereby increasing the parasitic egg infestation rate in the field and resolving the issues of insufficient parasitic egg diffusion and decreased parasitic rates during peak pest seasons with traditional manual release. The coordinated design of the rotating blades 300 and the discharge hole 202 prevents damage to the spherical objects 100 due to squeezing or collision during the release process, ensuring the integrity of the internal parasitic eggs and indirectly increasing their survival rate. This addresses the labor-intensive, inefficient, and insufficiently covered issues of traditional manual release, while also improving the stability of biological control through technical optimization, facilitating large-scale, precise control of parasitic wasps.

[0055] In one embodiment, the rotating blades 300 divide the space above the support base 200 into a plurality of feeding spaces for accommodating the balls 100, thereby preventing a large number of balls 100 from being disorderly accumulated and forming a dead pile.

[0056] In one embodiment, see Figure 3 and Figure 4As a specific embodiment of the drone-mounted ball delivery device provided in an embodiment of the present application, a rotating blade 300 includes a connecting rod 310 and multiple blade bodies 320. The connecting rod 310 is fixedly connected to the rotary drive member 400. The multiple blade bodies 320 are connected to the outer wall of the connecting rod 310 and are spaced apart along the circumference of the connecting rod 310. The ball 100 is located in the space between adjacent blade bodies 320. The ball 100 slides along the blade bodies 320, which push the bottom ball 100 to rotate to the adjacent discharge hole 202.

[0057] The multiple, spaced-apart blade bodies 320 disperse the spheres 100, reducing the impact of a single blade body 320 contacting the spheres 100. This reduces the risk of damage to the spheres 100 due to compression and collision, and protects the integrity of the parasitic eggs within. The rotary drive 400 controls the speed of the blade bodies 320 to steadily open and close the discharge aperture 202, ensuring that the spheres 100 fall evenly at a preset frequency, thus preventing the accumulation of spheres 100 and the risk of missing spheres.

[0058] In one embodiment, see Figure 3 and Figure 4 As a specific embodiment of the spherical object drone delivery device provided in an embodiment of the present application, the outer diameter of the blade body 320 gradually increases in the height direction toward the support base 200. That is, the outer edge of the blade body 320 moves further away from the connecting rod 310 as it approaches the support base 200. The spherical object 100 located at the top can bypass the outer edge of the blade body 320 and automatically and evenly distribute itself to the intervals between different blade bodies 320, improving distribution uniformity and reducing rotational resistance. The large outer diameter of the bottom of the blade body 320 more stably contacts the spherical object 100, providing a more balanced thrust, ensuring that the spherical object 100 is accurately pushed to the discharge hole 202, and reducing missed releases due to insufficient thrust or offset.

[0059] Combine Figure 3 In this embodiment, multiple discharge holes 202 are provided, spaced apart around the mounting hole 201. If only one discharge hole 202 were provided, the rotating blade 300 would discharge once per revolution, resulting in a long discharge time. All the balls 100 would be squeezed into one discharge hole 202, which could easily cause ball jamming. Multiple discharge holes 202 significantly shorten the discharge time, reduce the rotation speed of the rotating drive element 400, reduce wear, and increase feeding density, meeting the parasitic wasp's requirement for short-range jumping coverage.

[0060] On a horizontal plane perpendicular to the thickness direction Z, the hole center distance d formed between the geometric center B of each discharge hole 202 and the geometric center A of the mounting hole 201 is the same. The outer diameter of the blade body 320 refers to the distance from the edge of the blade body 320 to the geometric center A of the mounting hole 201.

[0061] Specifically, the minimum outer diameter a of the blade body 320 is less than or equal to the difference between the center-to-center distance d of the discharge hole 202 and the radius r of the discharge hole 202, that is, a ≤ dr. This means that the top edge of the blade body 320 does not intrude into the inner area of ​​the discharge hole 202, nor does it interfere with the free and even distribution of the top spheres 100. The spheres 100 can easily bypass the top edge of the blade body 320 and evenly enter the spaces between different blade bodies 320.

[0062] Optionally, the minimum outer diameter a of the blade body 320 is equal to the difference between the hole center distance d of the discharge hole 202 and the radius r of the discharge hole 202, that is, a=dr.

[0063] Specifically, the maximum outer diameter b of the blade body 320 is greater than or equal to the sum of the center-to-center distance d of the discharge hole 202 and the radius r of the discharge hole 202, i.e., b ≥ d + r. In other words, the bottom edge of the blade body 320 overlaps and extends beyond the outer edge of the discharge hole 202. The ball 100 at the bottom is firmly restrained within the gap by the edge of the blade body 320 and cannot escape from the outside of the blade body 320, allowing it to be accurately and reliably pushed into the discharge hole 202.

[0064] Optionally, the maximum outer diameter b of the blade body 320 is equal to the sum of the hole center distance d of the discharge hole 202 and the radius r of the discharge hole 202, that is, b=d+r.

[0065] In one embodiment, see Figure 3 and Figure 4 As a specific embodiment of the spherical object drone delivery device provided in the embodiment of the present application, the thickness of the blade body 320 gradually increases in the direction of the height direction toward the support seat 200. The thickness of the blade body 320 at the top is small, which is conducive to reducing the overall weight, reducing the load of the rotating drive component 400, and reducing the space occupied. The blade body 320 at the bottom is the main action area for contacting the spherical object 100 and pushing it to move. The gravity of the spherical object 100, the centrifugal force during rotation, and the friction with the blade will be concentrated here. Its large thickness can improve the structural strength and load-bearing capacity of this position, extend the service life of the blade body 320, and the large bottom thickness of the blade body 320 can better cover the discharge hole 202 when closing the discharge hole 202, improve the stability of the closure, and avoid leakage.

[0066] In addition, when the ball 100 slides along the blade body 320, the thickness of the blade body 320 in contact gradually increases, reducing sudden collisions or jams between the ball 100 and the blade, making the sliding process smoother and further reducing the risk of the ball 100 being damaged by squeezing.

[0067] In one embodiment, see Figure 3 and Figure 4 As a specific implementation of the spherical object drone delivery device provided in an embodiment of the present application, the blade body 320 gradually bends clockwise or counterclockwise around the height direction in the direction away from the support seat 200. On the one hand, it guides the spherical object 100 to slide smoothly along the curved surface, reducing damage to the spherical object 100 and improving the survival rate of the parasitic wasp; on the other hand, the curved surface can guide the freely scattered spherical objects 100 to the discharge hole 202, thereby achieving stable discharge.

[0068] Optionally, the top edge of the blade body 320 extends radially toward the mounting plate, and the top of the blade body 320 does not form an inwardly narrowing angle due to bending or tilting, thereby preventing the sphere 100 from getting stuck or piling up at the top, and facilitating the free and even distribution of the sphere 100 at the top, ensuring that each interval can evenly accommodate the sphere 100.

[0069] Optionally, the bottom edge of the blade body 320 extends toward the tangential direction of the mounting plate, and the bottom of the blade body 320 performs circular motion, the tangential direction is its instantaneous motion direction, and its motion trajectory is highly consistent with the distribution position of the discharge hole 202, ensuring that each spherical object 100 can be accurately guided to the corresponding discharge hole 202.

[0070] When the spherical object 100 moves downward with the rotation of the blade body 320, the curved surface of the blade body 320 gradually transitions from the radial direction to the tangential direction, and the movement direction of the spherical object 100 also changes smoothly, further reducing wear and damage.

[0071] In one embodiment, see Figure 2 As a specific embodiment of the spherical object delivery device provided by an embodiment of the present application, connecting rod 310 is a hollow rod. The spherical object delivery device also includes a drive shaft 410, the end of which is fixedly connected to the output shaft of the rotary drive member 400. Drive shaft 410 is fixedly sleeved into connecting rod 310, improving the coaxiality between the two, reducing shaking or deviation caused by eccentricity during rotation, increasing the connection area between the two, and improving the stability of the connection.

[0072] Optionally, the driving shaft 410 and the connecting rod 310 are interference fit, glue fixed or snap fixed, which is not limited here.

[0073] In some embodiments, in one embodiment, see Figure 3 and Figure 4As a specific embodiment of the drone-based ball delivery device provided in this embodiment, the number of blade bodies 320 is equal to the number of discharge holes 202. This equal number of blade bodies 320 achieves equal angle distribution through a symmetrical structure, allowing for the regular opening and closing of discharge holes 202, facilitating precise control of delivery volume. The equal number of blade bodies 320 alternately absorbs the pressure of the ball 100 during rotation, preventing wear or deformation of individual blade bodies 320 due to long-term concentrated force.

[0074] Specifically, the three blade bodies 320 and the three discharge holes 202 are all distributed at 120° intervals along the circumference, and the angle of rotation of the blade body 320 fully matches the angle of hole position switching. With every 120° rotation, the blade body 320 and the hole position synchronously switch corresponding relationships. The symmetry performance is precisely controlled through a purely mechanical structure, without the need for complex sensors or calibration procedures. For example, the gap between the bottoms of two adjacent blade bodies 320 forms a discharge gap. The bottoms of the three blade bodies 320 form three rotating discharge gaps. The first discharge gap covers one discharge hole 202, which is open; the second discharge gap covers 2 / 3 of the discharge hole 202, which is 2 / 3 exposed and cannot discharge; the third discharge gap covers 1 / 3 of the discharge hole 202, which is 1 / 3 exposed and cannot discharge, so that only one discharge hole 202 can discharge material, while the other discharge holes 202 are closed. After rotating 40°, the first discharge interval covers 2 / 3 of the discharge hole 202, and 2 / 3 of the discharge hole 202 is exposed; the second discharge interval covers the entire discharge hole 202, and the discharge hole 202 is open; the third discharge interval covers 2 / 3 of the discharge hole 202, and 2 / 3 of the discharge hole 202 is exposed, and so on, in a cycle.

[0075] In one embodiment, see Figures 1 to 3 As a specific embodiment of the ball-dropping drone device provided in the embodiment of the present application, there are three discharge holes 202. When the rotating blade 300 opens one of the discharge holes 202, the rotating blade 300 closes the other two discharge holes 202, ensuring that only one ball 100 can pass through the discharge hole 202 at a time, avoiding the situation where multiple balls fall at the same time, meeting the field delivery of parasitic wasp balls 100, and a fixed number of balls 100 are required per square meter to ensure the prevention and control effect.

[0076] Specifically, the feeding direction of the feeding port 501 is vertically downward, so that the spherical object 100 falls only under the action of gravity, the movement trajectory is stable, and the accuracy of the feeding position is improved.

[0077] In one embodiment, see Figure 4 and Figure 5As a specific embodiment of the spherical object drone delivery device provided in an embodiment of the present application, the number of discharge holes 202 is four, and the number of feeding ports 501 is two. The feeding directions of the two feeding ports 501 are horizontal and are located on opposite sides of the discharge pipe 500; each feeding port 501 corresponds to two discharge holes 202, and when each feeding port 501 is connected to one of the two feeding ports 501, it is closed by the rotating blade 300 with the other feeding port 501.

[0078] Based on this, the device opens two discharge holes 202 at a time, achieving bilateral horizontal feeding. The two spheres 100 form parabolic trajectories in the air and descend to the field, initially in opposite horizontal directions. This ensures a consistent feeding interval when they finally land, reducing the number of feedings required, allowing a larger area to be covered with a single feeding, and improving operational efficiency. Furthermore, each feeding port 501 is connected to only one discharge hole 202, with the other discharge hole blocked by the blade body 320. This provides a single, clear flow path for the spheres 100, preventing material jams.

[0079] Specifically, combined Figure 5 The discharge pipe 500 is provided with a connecting pipe 502 inside. Each feeding port 501 is connected to the corresponding two discharge holes 202 through two connecting pipes 502. One end of the two connecting pipes 502 is separately connected to the two discharge holes 202, and the other ends of the two connecting rods 310 are connected to the feeding port 501 after being closed. That is, the two connecting pipes 502 form a three-way pipe connection.

[0080] Specifically, one end of the connecting tube 502 is vertically connected to the discharge hole 202, aligned with the axis of the discharge hole 202, ensuring smooth entry of the ball 100 into the connecting tube 502 and minimizing impact. The other end of the connecting tube 502 is horizontally connected to the feeding port 501, ensuring horizontal feeding. The connecting tube 502 smoothly transitions, and the movement of the ball 100 within the connecting tube 502 shifts from "free fall" to "horizontal feeding," reducing the risk of collision within the tube and preventing interruptions in feeding due to jamming.

[0081] In one embodiment, see Figure 2 and Figure 3 As a specific embodiment of the spherical object delivery device provided by an embodiment of the present application, the spherical object delivery device further includes a separator 600, which includes a connecting tube 610 and a plurality of separators 620. The connecting tube 610 is fixedly mounted on the support base 200 and covers the rotating drive member 400 to protect the rotating drive member 400. The connecting tube 610 does not rotate with the rotating drive member 400.

[0082] Specifically, a plurality of separators 620 are installed on the outer wall of the connecting tube 610 at intervals along the circumference of the connecting tube 610. The separators 620 are staggered with the discharge hole 202 to divert and guide the spheres 100 discharged from the discharge hole 202. The separators 620 are distributed along the circumference of the connecting tube 610 to divide and guide the eddy currents or turbulent flow generated during the flight of the drone, thereby stabilizing the airflow surrounding the spheres 100 during their descent and providing a certain degree of wind protection for the spheres 100.

[0083] In one embodiment, see Figure 2 and Figure 3 As a specific embodiment of the spherical object drone delivery device provided in an embodiment of the present application, the outer diameter of the separator 620 gradually decreases in the height direction away from the support base 200, forming a gradually expanding falling channel. This ensures that the spherical object 100 falls continuously and smoothly, reducing the risk of material jamming. When the spherical object 100 contacts the upper part of the separator 620, the contact area is relatively large, which can disperse the impact force. As the spherical object falls, the outer diameter of the separator 620 decreases, and the contact between the spherical object 100 and the separator 620 is reduced. This can prevent the spherical object 100 from being damaged by frequent collisions with the separator 620, thereby ensuring the integrity of the delivered object.

[0084] In one embodiment, see Figure 2 and Figure 3 As a specific embodiment of the spherical object delivery device provided by the present invention, the separator 620 gradually bends clockwise or counterclockwise in the height direction away from the support base 200. Because the discharge hole 202 is eccentrically positioned relative to the support base 200, the bend guides the spherical object 100 to gradually slide onto the axis of the support base 200.

[0085] In some embodiments, combined Figure 6 The device provided in this embodiment includes a spherical object 100 , which is accommodated in a space on one side of a support seat 200 close to a rotating blade 300 .

[0086] It should be noted that the spherical object 100 may contain parasitic eggs for biological pest control, or it may not contain parasitic eggs, for example, it may contain fertilizer or repellent for fertilization or insect repellent, without specific limitations here. The parasitic eggs may be Trichogramma eggs for controlling sugarcane borers, or other parasitic eggs for controlling other pests, without specific limitations here. The spherical object 100 may be made of a biodegradable material containing a sex attractant, a biodegradable material without a sex attractant, or a plastic material, without specific limitations here.

[0087] For a possible example, see Figure 6The spherical object 100 includes an upper spherical shell 120 and a lower spherical shell 130. Specifically, an insect sex attractant is dissolved in a degradable material, which is then melt-pressed into the upper spherical shell 120 and the lower spherical shell 130 using a mechanical mold. The upper spherical shell 120 and the lower spherical shell 130 have regularly arranged pores 140, which serve as exit holes for the parasitic eggs of the natural enemy of the stem borer (Trichogrammatus) after they hatch. After the parasitic eggs of the natural enemy of the stem borer are loaded, the upper spherical shell 120 and the lower spherical shell 130 are buckled together to form the spherical object 100, forming an inner cavity 110 inside the spherical shell 100. After a certain amount of parasitic eggs of trichogrammatids are loaded into the spherical shell containing sex attractants, it is dropped into the sugarcane field by a drone. The spherical object 100 slowly releases the insect sex attractants while releasing the trichogrammatids after the parasitic eggs of the trichogrammatids emerge, thereby achieving the purpose of using sex attractants to interfere with the mating of adult insects and the parasitic eggs of trichogrammatids to control the eggs of stem borers, thereby achieving the purpose of coordinated pest control by sex attractants and trichogrammatids.

[0088] Optionally, the weight ratio of the insect attractant to the degradable material is 10%:90% to 30%:70%. The degradable material, by weight, includes 40% to 50% starch, 2% to 5% plant fiber, 20% to 30% degradable resin, and 15% to 38% auxiliary materials. After the insect attractant and the degradable material are melted, they are extruded into a mechanical mold through an extruder to form the upper spherical shell 120 and the lower spherical shell 130 of this embodiment.

[0089] In one embodiment, the discharge hole 202 can accommodate a single ball 100, but not two balls 100 simultaneously. In other words, the diameter of the discharge hole 202 is larger than the diameter of the ball 100, allowing a single ball 100 to pass more smoothly. The diameter of the discharge hole 202 is less than twice the diameter of the ball 100 to prevent two or more balls 100 from being squeezed into the hole simultaneously and becoming stuck due to mutual compression. Therefore, a single discharge hole 202 can only accommodate one ball 100 at a time. By combining the rotational frequency of the rotating blades 300 and the number of discharge holes 202, the total discharge volume can be precisely controlled by controlling the rotational speed of the rotary drive 400.

[0090] Optionally, the diameter of the discharge hole 202 is 120% to 150% of the diameter of the spherical object 100 .

[0091] On the surface of the support base 200, i.e., the bottom of the blade body 320, the distance between two adjacent blade bodies 320 at the discharge hole 202 is 5 / 4 to 3 / 2 of the diameter of the ball 100, which can accommodate a single ball 100 while avoiding the need to accommodate more than two balls 100. Optionally, the distance between two adjacent blade bodies 320 at the discharge hole 202 is 4 / 3 of the diameter of the ball 100, ensuring that the ball 100 can smoothly enter the gap between the two adjacent blade bodies 320.

[0092] In one embodiment, the diameter of the discharge hole 202 gradually decreases as it moves away from the rotating blades 300. The wide entrance of the tapered hole more naturally receives the ball 100 pushed by the rotating blades 300, preventing the ball 100 from bouncing or deflecting due to its instantaneous impact with the hole, thereby improving smoother entry into the hole. Once the ball 100 enters the hole, as the hole diameter gradually decreases, it is guided by the tapered inner wall toward the central axis, ensuring that the ball 100 is ultimately discharged accurately from the end of the discharge hole 202.

[0093] Specifically, the diameter of the discharge hole 202 gradually decreases, with the minimum diameter of the discharge hole 202 being larger than the diameter of the spherical object 100, and the maximum diameter of the discharge hole 202 being less than twice the diameter of the spherical object 100. Optionally, the diameter of the discharge hole 202 gradually decreases from 150% of the diameter of the spherical object 100 to 120% of the diameter of the spherical object 100 from top to bottom.

[0094] In one embodiment, the feeding port 501 is configured to allow a single ball 100 to pass through, thereby preventing multiple balls 100 from being jammed and accurately controlling the overall feeding rhythm. It is understood that in other embodiments, the diameter of the feeding port 501 may be greater than twice the diameter of the ball 100 to ensure smooth feeding. Since the discharge hole 202 already accurately controls the feeding amount, the feeding port 501 does not need to be repeatedly restricted.

[0095] Example 2

[0096] This embodiment provides a method for delivering a spherical object 100 by a drone, wherein the drone is equipped with any spherical object delivery device as in the first embodiment, and Figure 7 , the method comprises the following steps:

[0097] S100: Obtain the degree of insect infestation in the field area to determine the density of placement. Specifically, based on insect infestation monitoring and field survey data, the degree of insect infestation is obtained and the number of 100 balls to be placed per mu is determined.

[0098] S200: Obtaining a map of the field area. Specifically, the pilot controls the drone through a mobile phone app to map the planned beekeeping area.

[0099] S300: Based on the drop density, the drone's flight parameters and the rotational speed parameters of the rotary drive unit 400 are set. Specifically, the pilot uses a mobile app to plan the drone's flight path, flight speed, altitude, and the rotational speed of the rotary drive unit 400. Alternatively, the pilot inputs the drop density through the mobile app, and the app's built-in program automatically plans the flight and rotational speed parameters to control the rotational speed of the rotary drive unit 500.

[0100] S400: The drone flies according to the flight parameters, and the rotary drive member 400 drives the rotary blades 300 to operate according to the speed parameters, so as to release the spheres 100 to the field area at a fixed point according to the release density. Prior to this, the spheres 100 containing the parasitic eggs of the trichogrammatid were placed in the release device. Then, the drone was started, and the pilot controlled the drone through the mobile phone APP to perform flight control operations. Among them, the rotation frequency of the rotary blades 300 directly determines the release frequency of the spheres, that is, the speed parameter of the rotary drive member 400 determines the release amount per unit time: the flight speed determines the flight distance between two releases. After the flight speed and speed are determined, the release density can be uniquely determined.

[0101] Based on this, when releasing trichogrammatids on a large scale, using this method to quickly release trichogrammatids can effectively solve the problems of short life generations of trichogrammatids and large-scale emergence in a short period of time, resulting in untimely manual release and waste. The spherical object 100 relatively extends the shelf life.

[0102] In a possible embodiment, before step S100, the following steps are further included:

[0103] S510: preparing a spherical object 100 containing a stem borer sex attractant and capable of loading parasitic eggs of a trichogrammatid.

[0104] S520: The parasitic eggs of the trichogrammatid were placed into the spherical object 100.

[0105] S530: Load multiple spherical objects 100 into the silo of the drone, and install the delivery device in Example 1 at the bottom of the silo.

[0106] In one embodiment, as a specific implementation of the spherical object drone delivery device provided in the embodiment of the present application, the flight parameters include flight trajectory, trajectory interval, flight speed and flight altitude. Because the generation of trichogrammatids is short and the emergence is concentrated, the optimization of flight trajectory and flight speed can achieve the completion of delivery in a large area (such as 100 acres of farmland) within a few hours, avoiding the failure of trichogrammatids after emergence due to delivery delays. The coordination of trajectory interval, flight altitude and delivery interval ensures that the spatial distribution of trichogrammatid spheres 100 in the field matches the pest density, avoiding local pest rebound. Through precise parameter control, the delivery amount of spheres 100 strictly matches the demand, and avoids repeated operations caused by missed delivery, thereby reducing costs.

[0107] In one possible embodiment, the flight altitude is 3-6 meters above the sugarcane canopy. If the flight altitude is greater than 6 meters, the sphere 100 will fall too quickly to the sugarcane canopy and easily rebound upon impact, resulting in uneven delivery intervals and significant wind speed impacts. If the flight altitude is less than 3 meters, the drone's propellers are prone to becoming entangled in the sugarcane canopy. Furthermore, the sphere 100's falling time is too short, making it difficult to adjust its landing point through free fall. This short delivery time amplifies delivery position errors and increases the difficulty of delivery control.

[0108] Based on this, the flight altitude is 3m-6m. On the one hand, the falling kinetic energy of the sphere 100 is moderate, which can penetrate the canopy but will not bounce excessively, ensuring that the delivery interval error is <10% and the wind offset is controllable (<0.5m). On the other hand, the drone maintains a safe distance from the canopy, and the drone is less affected by the ground effect (airflow disturbance). In addition, the falling time of the sphere 100 (0.78-1.01 seconds) is sufficient. With the help of wind speed, flight speed and initial speed, the delivery radius of the drone can be increased, and the flight path is more flexible, which is conducive to shortening the flight distance and avoiding obstacles.

[0109] In one possible embodiment, the flight speed is 6m / s to 10m / s. If the flight speed is greater than 10m / s, on the one hand, the time interval for dropping the sphere 100 is too short, resulting in the need to shorten the drop interval of the sphere 100. For example, the sphere 100 is dropped once every 10m. When the UAV flight speed is 10m / s, regardless of the wind speed and the initial speed of the drop, the sphere 100 is dropped approximately once every 1 second. However, the system response delay may cause a drop delay, resulting in an increase in the drop interval error. On the other hand, the kinetic energy of the sphere 100 is too large, and it is easy to penetrate the canopy and bounce off when falling. If the flight speed is less than 6m / s, the same flight path takes longer, the drop efficiency is low, and the horizontal initial velocity of the sphere 100 is too small, requiring a greater throwing force.

[0110] Based on this, the flight speed is 6m / s~10m / s, the time interval is controllable, the horizontal initial velocity of the spherical object 100 is reasonable, the kinetic energy when falling is enough to penetrate the canopy but will not bounce excessively, the flight efficiency is improved, and the needs of medium and large sugarcane fields are met.

[0111] Optionally, the flight speed is 6 m / s, 7 m / s, 8 m / s, 9 m / s or 10 m / s.

[0112] In one possible embodiment, the release interval is 8 to 12 meters. The daily hopping flight distance of trichogrammatids is approximately 4.5 to 5.5 meters. If trichogrammatids in adjacent spheres 100 travel toward each other, they will converge within a day. Within a day, the trichogrammatids can cover the entire sugarcane area, quickly establishing population dominance and reducing the chances of pest reproduction and spread. The shorter flight distance reduces the risk of trichogrammatids dying from environmental stress, ensuring the effectiveness of biological control. Compared to traditional biological control, which typically requires more than three days for natural enemies to take effect, the 8 to 12 meter release interval allows trichogrammatids to quickly reach every corner of the sugarcane field, promptly controlling pest outbreaks and avoiding sugarcane yield losses due to untimely pest control. This also reduces the time and labor costs of the control process, improving the overall efficiency of agricultural production.

[0113] Optionally, the delivery interval is 8m, 9m, 10m, 11m or 12m.

[0114] In some embodiments, see Figure 8 As a specific embodiment of the spherical drone delivery device provided in the embodiment of the present application, the flight trajectory is two parallel straight line trajectories with a trajectory interval of 12.5 to 13.5 meters. The flight altitude is 4.5 to 5.5 meters from the crop canopy. The flight speed is 6 to 8 m / s. The delivery density is 12.5 to 13.5 meters apart. The number of parasitic eggs built into the sphere 100 is 3,000 to 5,000.

[0115] Specifically, it is set that 4 balls 100 are evenly placed per mu of sugarcane field. Before placing the balls 100, the drone is used to map and plan the bee-releasing area. The drone flight route is as follows: Figure 8 Plan two parallel lines for each mu of sugarcane field, one going and one returning, with a flight speed of 7m / s and a flight altitude of 5m±0.5m from the crop canopy. The distance between the two balls 100 is set to 12.9m, and the distance between the two parallel flight centers is 12.9m. Figure 8 Four balls (100) are evenly placed on each mu of sugarcane field. Each ball (100) contains more than 3,000 parasitic eggs of the trichogrammatid wasp. Each ball (100) controls an area of ​​167m. 2 ±10m 2 .

[0116] In one embodiment, see Figure 9 As a specific embodiment of the spherical drone delivery device provided in the embodiment of the present application, the flight trajectory is two parallel straight line trajectories with a trajectory interval of 10 to 11 meters, the flight altitude is 4.5 to 5.5 meters from the crop canopy, the flight speed is 7 to 9 m / s, the delivery density is 10 to 11 meters apart, and the number of parasitic eggs built into the sphere 100 is 2,000 to 4,000.

[0117] Specifically, it is set that 6 balls 100 are placed per mu of sugarcane field. Before placing the balls 100, the drone is used to map and plan the bee-releasing area. The drone flight route is as follows: Figure 9 Plan two parallel lines for each mu of sugarcane field, one going and one returning, with a flight speed of 8m / s and a flight altitude of 5m±0.5m from the crop canopy. The distance between the two balls 100 is set to 10.5m, and the distance between the two parallel flight centers is 10.5m. Figure 9 The route is uniformly flown at a constant speed. Six balls (100) are evenly placed per mu of sugarcane field. Each ball (100) contains more than 2,000 parasitic eggs of the trichogrammatid wasp. Each ball (100) controls an area of ​​111m. 2 ±9m 2 .

[0118] In one embodiment, see Figure 10 As a specific embodiment of the spherical drone delivery device provided in the embodiment of the present application, the flight trajectory is two parallel straight line trajectories with a trajectory interval of 8.6 to 9.5 meters. The flight altitude is 4.5 to 5.5 meters from the crop canopy. The flight speed is 8 to 10 meters per second. The delivery density is 8.6 to 9.5 meters apart. The number of parasitic eggs built into the sphere 100 is 2,000 to 4,000.

[0119] Specifically, it is set that 8 balls 100 are placed per mu of sugarcane field. Before placing the balls 100, the drone is used to map and plan the bee-releasing area. The drone flight route is as follows: Figure 10 Plan two parallel lines for each mu of sugarcane field, one going and one returning, with a flight speed of 9m / s and a flight altitude of 5m±0.5m from the crop canopy. The distance between the two balls 100 is set to 9.1m, and the distance between the two parallel flight centers is 9.1m. Figure 10 The route is uniformly flown at a constant speed. Six balls (100) are evenly placed per mu of sugarcane field. Each ball (100) contains more than 2,000 parasitic eggs of the trichogrammatid wasp. Each ball (100) controls an area of ​​83m. 2 ±9m 2 .

[0120] In one embodiment, step S200 includes the following steps:

[0121] S210: Use a mapping camera mounted on a drone to obtain a bird's-eye view of the field area.

[0122] S220: Generate a two-dimensional map based on the bird's-eye view image. This two-dimensional map is essentially a two-dimensional graphic composed of a series of interconnected points and lines. To reduce data errors and improve the accuracy of the baseline terrain model, it is vectorized and converted into a standardized vector format. Specifically, image recognition technology is used to convert the bird's-eye view image into a digitized form, thereby generating a two-dimensional map.

[0123] S230: Acquire characteristic data of plants and mark them on a two-dimensional plane map, thereby generating a three-dimensional environment map.

[0124] The resulting three-dimensional environmental map can present richer spatial information than a two-dimensional map, including details such as terrain undulations and changes in sugarcane height. This information can help drones plan flight routes more accurately and control flight altitude more effectively.

[0125] In one embodiment, step S300 includes the following steps:

[0126] S310: Based on the three-dimensional environment image obtained in step S230, the height distribution information of the sugarcane canopy layer is obtained.

[0127] S320: Output the flight altitude of the UAV based on the altitude distribution information.

[0128] The height of the sugarcane canopy layer will vary with factors such as the growth stage, variety, and planting area, and adapt to different terrain and landforms. To ensure that the drone's flight altitude from the canopy layer reaches a preset height, a three-dimensional environmental map is first generated, and then the height distribution information of the sugarcane canopy layer is obtained. The drone can accurately determine the flight altitude based on the actual canopy layer height.

[0129] Based on this, in a complex three-dimensional environment, the varying altitudes of the sugarcane canopy can cause deviations in the drop height. By acquiring this altitude distribution information and determining the appropriate flight altitude, the drone can plan its flight path in advance, avoiding collisions with the sugarcane canopy and other obstacles while also preventing the ball from bouncing off the ground.

[0130] In one embodiment, step S300 further includes the following steps:

[0131] S330: Obtain meteorological data for the area where the sugarcane field is to be planted. This data can be obtained by visiting the official website of the local or national meteorological department and using the data interface or query function provided. Alternatively, a service agreement can be signed with a professional meteorological service company to purchase the required meteorological data. Alternatively, meteorological sensors, such as wind speed sensors, wind direction sensors, temperature sensors, and humidity sensors, can be installed in the area surrounding the sugarcane field to collect real-time meteorological data.

[0132] S340: Obtaining a vector wind speed in the area based on meteorological data.

[0133] S350: Based on the vector wind speed and flight parameters, the initial velocity for releasing the ball 100 is set. According to the second law of free fall and the principle of free fall, the falling height (flight altitude) and falling velocity (a composite of the vector wind speed, flight speed, and the initial velocity relative to the drone at the time of release) of the ball 100 determine the drop location (release interval). Since the release interval is already determined, the initial velocity can be inferred, allowing the ball 100 to accurately reach the target release location while taking into account the vector wind speed and flight parameters.

[0134] Based on this, vector wind speed takes into account the direction and magnitude of the wind. By setting the initial release speed based on the vector wind speed, the effect of wind on the flight trajectory of the ball 100 can be compensated. Combining flight parameters and vector wind speed can more accurately calculate the flight trajectory of the ball 100, achieving precise positioning and release.

[0135] In one embodiment, S400 includes the following steps:

[0136] S411: The UAV flies along a bow-shaped path according to the flight parameters.

[0137] S412: The drone releases the spherical object 100 according to the release parameters.

[0138] Based on this, the drone follows a bow-shaped path through all nodes, achieving comprehensive coverage and ensuring that all nodes are delivered with the pellets 100, reducing the likelihood of any borer nodes being missed. The bow-shaped path is simple and easy to plan, making the drone's flight path more organized and avoiding the time and energy waste associated with erratic flight. This path planning also improves drone flight efficiency, reducing flight distance. Even with limited battery life, it can more quickly complete inspections and delivery missions to all nodes, improving work efficiency.

[0139] In one embodiment, S400 includes the following steps:

[0140] S421: Use swarm intelligence algorithm to plan the shortest flight path.

[0141] S422: The UAV flies along the shortest flight path according to the flight parameters.

[0142] S423: The drone releases the spherical object 100 according to the release parameters.

[0143] The drone flies along this path, reducing flight mileage and time, lowering energy consumption and improving energy efficiency.

[0144] Optionally, the swarm intelligence algorithm can be a particle swarm optimization algorithm, an artificial bee colony algorithm (ABC), a whale optimization algorithm (Whale Optimization Algorithm), a Harris Hawks Optimization algorithm (HHO), a sparrow search algorithm (SSA), a dung beetle optimizer (DBO), a crested porcupine optimizer (CPO), a honey badger algorithm (HBA), etc.

[0145] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0146] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0147] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0148] As used in this specification and the appended claims, the term "if" may be interpreted as meaning "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [the described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [the described condition or event]" or "in response to detecting [the described condition or event]," depending on the context. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless specifically emphasized otherwise.

[0149] In addition, those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units in the various embodiments of the present application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0150] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A spherical object delivery device by drone, characterized in that: It includes a support seat, a rotating blade, a rotating drive member and a discharge pipe. The support seat can be detachably mounted on the drone. The support seat has a mounting hole and a discharge hole both of which pass through the thickness direction of the support seat. The rotating blade and the rotating drive member are respectively located on opposite sides of the support seat in the thickness direction. The rotating drive member drives the rotating blade to rotate around the thickness direction through the mounting hole; when the rotating blade rotates through the discharge hole, the discharge hole is opened or closed; the discharge pipe is mounted on the side of the support seat away from the rotating blade, one end of the discharge pipe is covered with the support seat, and the other end of the discharge pipe has a feeding port.

2. The spherical object delivery device according to claim 1, characterized in that: The rotating blade includes a connecting rod and a plurality of blade bodies. The connecting rod is fixedly connected to the rotary driving member. The plurality of blade bodies are connected to the outer wall of the connecting rod and are distributed at intervals along the circumference of the connecting rod.

3. The spherical object delivery device according to claim 2, characterized in that: The outer diameter of the blade body gradually increases in a direction approaching the support seat along the height direction; And / or, the thickness of the blade body gradually increases in a direction approaching the support seat along the height direction.

4. The spherical object delivery device according to claim 2, characterized in that: The connecting rod is a hollow rod, and the spherical object drone delivery device also includes a drive shaft, which is fixedly sleeved in the connecting rod, and the end of the drive shaft is fixedly connected to the output shaft of the rotating drive member.

5. The spherical object delivery device by drone according to claim 2, characterized in that: The number of the blade bodies is the same as the number of the discharge holes.

6. The spherical object delivery device by drone according to claim 2, characterized in that: There are three discharge holes. When the rotating blade opens one of the discharge holes, the rotating blade closes the other two discharge holes. The feeding direction of the feeding port is vertically downward.

7. The spherical object delivery device by drone according to claim 2, characterized in that: There are four discharge holes and two feeding ports. The feeding directions of the two feeding ports are horizontal and are located on opposite sides of the discharge pipe. Each feeding port corresponds to two discharge holes. When each feeding port is connected to one of the two feeding ports, it is closed by the rotating blades with the other feeding port.

8. The spherical object delivery device according to any one of claims 1 to 7, characterized in that: The spherical object drone delivery device also includes a partition, which includes a connecting tube and multiple partitions. The connecting tube is fixedly installed on the support seat and covers the rotating drive component. The multiple partitions are installed on the outer wall of the connecting tube at intervals along the circumference of the connecting tube, and the partitions are staggered with the discharge hole.

9. A method for delivering spherical objects by drone, characterized in that: The drone is equipped with the spherical object drone delivery device according to any one of claims 1 to 8, and the method comprises the following steps: Obtain the degree of insect infestation in the field area to determine the stocking density; obtaining a map of the field area; Setting flight parameters of the UAV and speed parameters of the rotary drive member based on the delivery density; The UAV flies according to the flight parameters, and the rotary drive member drives the rotary blades to operate according to the speed parameters, so as to deliver the spherical objects to the field area at a fixed point according to the delivery density.

10. The method for delivering a spherical object by a drone according to claim 9, characterized in that: The flight parameters include flight trajectory, trajectory interval, flight speed and flight altitude.

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