Precise seedling dropping device of unmanned aerial vehicle, unmanned aerial vehicle and seedling dropping method

Abstract

The invention relates to the technical field of agricultural machinery and auxiliary equipment, and discloses a precise seedling dropping device of an unmanned aerial vehicle. A seedling carrying plate is arranged on the rack, and a seedling throwing opening is formed in the seedling carrying plate; the seedling supply mechanism is arranged on the seedling carrying plate and comprises a seedling pipe frame, and a plurality of seedling storage pipes are arranged on the seedling pipe frame; the control system is fixed at the bottom of the seedling carrying plate and comprises a driving mechanism and a transmission shaft connected with the driving mechanism, and the transmission shaft is connected with the seedling pipe frame to drive the seedling supply mechanism to rotate; when the seedling storage pipe is driven to rotate to be aligned with a seedling throwing opening in the seedling carrying plate, seedlings stored in the seedling storage pipe in advance fall to the seedling guide mechanism; the seedling guide mechanism comprises a guide pipe and a branch pipe, one end of the branch pipe is communicated with the seedling throwing opening, the other end of the branch pipe is communicated with the guide pipe, and the guide pipe is arranged at the bottom of the seedling carrying plate and used for guiding seedlings to be vertically and downwards thrown; the air blowing mechanism is fixed to the rack and used for providing downward airflow for the guide pipe. The precise seedling dropping device of the unmanned aerial vehicle can realize single-plant fixed-point precise dropping.

Description

Technical Field

[0001] This invention relates to the technical field of agricultural machinery and auxiliary equipment, and in particular to a precision seedling delivery device, a drone, and a seedling delivery method. Background Technology

[0002] Currently, the main mechanized planting methods for rice and vegetables in my country are direct seeding and transplanting. Both planting and growth stages can result in seedling shortages. Firstly, during mechanized operations, mechanical defects such as malfunctions in the seedling picking and feeding mechanisms of transplanters or seed throwers, uneven seedling lifting, or abnormalities in the seed metering device of seeders (e.g., clogged or blocked seed holes, reduced seed filling rate) can directly lead to missed transplanting or sowing. Secondly, during the field growth stage, transplanted seedlings (or direct-seeded rice seeds) are susceptible to stress from various factors such as temperature, soil quality, light conditions, diseases, and pests. These adverse factors can hinder the normal growth of some seedlings (seeds), resulting in seedling shortages in the field. Seedling shortages not only reduce the effective utilization rate of land but also reduce rice yield per unit area. Solving the seedling shortage problem is of great significance for ensuring national food security.

[0003] The most common solution to the problem of missing seedlings is "plant first, then replant," which involves transplanting or sowing seedlings first, and then replanting in the missing areas. Currently, the main method for replanting seedlings is manual labor, which involves manually inspecting the farmland and soil to locate the missing seedlings and then manually replanting. This method is inefficient, time-consuming, and labor-intensive, making it unsuitable for large-scale agricultural production. Currently, the main published patents for seedling replanting equipment are manual backpack-type equipment. However, using ground-based mechanical seedling replanting methods inevitably leads to the crushing of already planted seedlings. Chinese patent applications with publication numbers CN116602099A, CN118679915A, and CN117441520A disclose the aforementioned related technical solutions.

[0004] As an important part of intelligent agricultural technology, using unmanned aerial vehicles for seedling replacement operations in the case of seedling shortage will greatly reduce labor input. Its stable low-altitude flight operation characteristics solve the disadvantages of ground mechanical rolling seedlings. The Chinese patent application with publication number CN119256712A discloses a seedling throwing mechanism and an unmanned aerial vehicle seedling throwing system. The seedling throwing mechanism includes a load module, a first seedling taking module and a second seedling taking module arranged on the load module. The load module is arranged on the unmanned aerial vehicle. The first seedling taking module includes a first driving source and a first cutter head connected to each other. The first driving source is used to drive the first cutter head to rotate. The second seedling taking module includes a second driving source and a second cutter head connected to each other. The second driving source is used to drive the second cutter head to rotate. The rotation direction of the first cutter head and the rotation direction of the second cutter head are opposite to each other to offset the swing torque of the seedling throwing mechanism. The Chinese patent application with publication number CN115104410A discloses a novel airborne seedling throwing mechanism and an unmanned aerial vehicle seedling throwing device. The seedling throwing mechanism includes a suspension bracket which can be detachably connected to the unmanned aerial vehicle. A plurality of groups of seedling conveying mechanisms are arranged side by side on the suspension bracket. The seedling conveying mechanism includes a conveying belt. A seedling separating piece is arranged on the conveying belt to separate the conveying belt into a plurality of seedling releasing positions. The above patent technologies are used for large-scale seedling throwing and transplanting operations. They are single-row or multi-row continuous seedling throwing operations and do not have a seedling throwing guiding function. To some extent, they reduce the accuracy of seedling throwing. They are not suitable for single-plant or multi-plant pinpoint delivery for seedling replacement. The patent CN108370690A discloses a flying intelligent control automatic seedling replacement machine which uses a mechanical arm to complete sampling and seedling replacement operations. The structure of this patent is complex and the manufacturing cost is high, which limits its practical application and promotion. SUMMARY

[0005] The technical problem to be solved by the present application is to overcome the deficiencies and shortcomings mentioned in the above background art. The present application provides an unmanned aerial vehicle precision seedling throwing device which has a simple structure and can realize single-plant pinpoint accurate delivery and seedling replacement. To solve the above technical problems, the technical solution proposed by the present application is as follows: An unmanned aerial vehicle precision seedling throwing device includes a seedling supply mechanism, a control system, a seedling guiding mechanism, an air blowing mechanism and a rack. A seedling carrying plate is arranged on the rack. A seedling throwing opening is formed in the seedling carrying plate. The seedling supply mechanism is arranged on the seedling carrying plate and includes a seedling pipe rack and a plurality of seedling storage pipes. The plurality of seedling storage pipes are arranged on the seedling pipe rack. The control system is fixed to the bottom of the seedling carrying plate and includes a driving mechanism and a transmission shaft connected to the driving mechanism. The transmission shaft penetrates the seedling carrying plate and is connected to the seedling pipe rack to drive the seedling supply mechanism to rotate. When the seedling storage pipe is rotated to be aligned with the seedling throwing opening on the seedling carrying plate, the seedlings pre-stored in the seedling storage pipe fall into the seedling guiding mechanism. The seedling guiding mechanism comprises a guiding pipe and a branch pipe, one end of the branch pipe is communicated with the seedling dropping port, the other end of the branch pipe is communicated with the guiding pipe, and the guiding pipe is arranged at the bottom of the seedling carrying plate and used for guiding the seedlings to be vertically dropped downwards; The air blowing mechanism is fixed on the frame and used for providing downward air flow to the guiding pipe.

[0006] Based on the same inventive concept, the seedling pipe frame is also provided as a plurality of seedling pipe frames which are distributed in a circumferential array on the seedling carrying plate and are driven by independent driving mechanisms.

[0007] Based on the same inventive concept, the number of the seedling dropping ports and the number of the branch pipes correspond to the number of the seedling pipe frames, each branch pipe is communicated with one seedling dropping port, and a plurality of branch pipes are communicated to one guiding pipe.

[0008] Based on the same inventive concept, the guiding pipe is vertically arranged at the bottom of the seedling carrying plate, the guiding pipe comprises, from top to bottom, a gas inlet section, a junction section and a guiding section which are communicated in sequence, the branch pipe and the guiding pipe are communicated at the junction section, the cross section of the gas inlet section and the guiding section are both smaller than the cross section of the junction section, the cross section of the gas inlet section gradually decreases from top to bottom and generates negative pressure at the junction section.

[0009] Based on the same inventive concept, the branch pipe is smoothly transitioned and the tangent angle between the axis of the branch pipe and the horizontal plane is greater than the friction angle between the seedling and the material of the branch pipe.

[0010] Based on the same inventive concept, the control system further comprises an unmanned aerial vehicle end control module, a ground control module and a camera module, the unmanned aerial vehicle end control module and the camera module are arranged at the bottom of the frame, the image captured by the camera module is transmitted to the ground control module, and the ground control module sends instructions to the unmanned aerial vehicle control module to start the driving structure to drive the seedling supply mechanism to rotate and drop the seedlings.

[0011] Based on the same inventive concept, the seedling is a pot seedling, the center of gravity of the seedling is located at the root, and the minimum cross section diameters of the branch pipe and the guiding pipe are greater than the diameter of the pot seedling.

[0012] Based on the same inventive concept, an unmanned aerial vehicle is also provided, which comprises the unmanned aerial vehicle precision seedling dropping device as described above.

[0013] Based on the same inventive concept, a seedling dropping method using the unmanned aerial vehicle as described above is also provided, which comprises the following steps: Placing the seedlings to be dropped into the seedling storage pipe; Flying the unmanned aerial vehicle to a seedling dropping target position at a working height; Sending a dropping instruction by the control system, driving the driving mechanism to drive the seedling supply mechanism to rotate, releasing the seedlings, and precisely dropping the seedlings to the target position by the guiding effect of the guiding pipe and the accelerating effect of the air blowing mechanism.

[0014] In an embodiment, the seedling dropping target position is a seedling supplementing position, and different seedling tubes store different seedlings; Each seedling tube and its corresponding driving mechanism are numbered, and the corresponding seedling variety information is recorded in the control system; When the unmanned aerial vehicle flies to the seedling supplementing position, the image is captured by the camera module and transmitted to the ground control module, and the position of the unmanned aerial vehicle is fine-tuned so that the reference drop point on the image coincides with the target point of the seedling supplementing position; The unmanned aerial vehicle end control module receives the dropping instruction corresponding to the seedling variety number; The driving mechanism drives the corresponding seedling tube to rotate and release the seedlings, and the seedlings are precisely dropped into the seedling supplementing position through the guidance of the guide tube and the airflow acceleration of the air blowing mechanism.

[0015] Compared with the prior art, the beneficial effects of the unmanned aerial vehicle precise seedling dropping device and the unmanned aerial vehicle and the seedling dropping method are that: through the guidance of the guide tube of the seedling guide mechanism and the airflow acceleration of the air blowing mechanism, the consistency of the initial speed direction and the size of the initial speed of the seedlings when leaving the seedling supply mechanism are improved, thereby improving the seedling dropping precision. Multiple seed storage tubes can carry multiple varieties to meet the seedling supplementing needs of multiple variety fields in the breeding production process, and single plant point seedling dropping can be realized. The unmanned aerial vehicle precise seedling dropping device is used on the unmanned aerial vehicle, and the improvement of the seedling dropping precision can have a higher operation flight height, improve the safety of the operation, and reduce the risk of seedling lodging caused by the wind field of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0017] Fig. 1 It is an embodiment of the overall structure schematic diagram of the unmanned aerial vehicle precise seedling dropping device; Fig. 2 It is an embodiment of the cross-sectional structure schematic diagram of the unmanned aerial vehicle precise seedling dropping device; Fig. 3 It is an embodiment of the local structure schematic diagram of the unmanned aerial vehicle precise seedling dropping device; 100: seedling supply mechanism; 101: seedling storage tube; 102: seedling tube rack; 200: control system; 201: transmission shaft; 202: driving mechanism; 203: unmanned aerial vehicle end control module; 204: ground control module; 205: camera module; 300: seedling guide mechanism; 301: branch tube; 302: guide tube; 3021: air inlet section; 3022: intersection section; 3023: guide section; 400: air blowing mechanism; 500: rack; 501: seedling carrying plate; 502: seedling dropping port. DETAILED DESCRIPTION

[0018] In order to facilitate the understanding of the present application, the present application will be described in more detail and in a more complete, specific and detailed manner with reference to the accompanying drawings and preferred embodiments. However, the scope of protection of the present application is not limited to the following specific embodiments.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The technical terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of the present application.

[0020] Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present application can be purchased from the market or can be prepared by existing methods.

[0021] Please refer to Figs. 1-3 The seedling precision dropping device of an embodiment of the unmanned aerial vehicle comprises a seedling supply mechanism 100, a control system 200, a seedling guide mechanism 300, an air blowing mechanism 400 and a rack 500. The rack 500 is provided with a seedling carrying plate 501, and the seedling carrying plate 501 is provided with a seedling dropping port 502. The seedling supply mechanism 100 is arranged on the seedling carrying plate 501 of the rack 500. The seedling supply mechanism 100 comprises a seedling tube rack 102 and a plurality of seedling storage tubes 101, and the plurality of seedling storage tubes 101 are arranged on the seedling tube rack 102. Preferably, the seedling storage tubes 101 are arranged in a circumferential array on the seedling tube rack 102. The seedling storage tubes 101 can carry one or more varieties of seedlings. Preferably, the seedlings are pot seedlings, and the seedling root pots have a certain mass, so that the center of gravity of the seedlings is located at the root part, ensuring that the dropped seedlings can land on the root part and remain vertical or slightly inclined, and improving the precision of dropping. Preferably, when it is necessary to supplement multiple types of seedlings for different varieties, a plurality of seedling tube racks 102 are provided, and each seedling tube rack 102 is provided with a plurality of seedling storage tubes 101. The plurality of seedling tube racks 102 are arranged in a circumferential array.

[0022] The control system 200 is arranged below the rack, specifically, is fixed at the bottom of the seedling carrying plate 501, and comprises a driving mechanism 202, a transmission shaft 201 connected with the driving mechanism 202, a UAV end control module 203, a ground control module 204 and a camera module 205. When the seedlings are planted, the ground control module 204 sends an instruction to the UAV control module 203 to control the driving mechanism 202, and the power drives the seedling supply mechanism 100 to rotate by a certain angle through the transmission shaft 201, and the seedlings of the corresponding variety are planted. Specifically, the rotation angle of the seedling supply mechanism 100 is calculated by the number of the seedling pipe racks 102 of the seedling pipe 101: , wherein is the rotation angle of the seedling pipe rack 102, n is the number of the seedling pipe 101 of the seedling pipe rack 102. Preferably, the camera module 205 is installed at the bottom of the UAV end control module 203, and the seedling supplement position and the seedling planting point are shot from the top. The image shot by the camera module 205 can be returned to the ground control module 204 for seedling planting aiming of the precision seedling planting device.

[0023] Specifically, the transmission shaft 201 penetrates the seedling carrying plate 501 of the rack and is connected with the seedling pipe rack 102 of the seedling supply mechanism 100, thereby driving the seedling supply mechanism 100 to rotate. When the seedlings need to be planted, the seedling pipe 101 is driven to rotate to be aligned with the seedling planting port 502 on the rack 500, and the seedlings in the seedling pipe 101 fall into the seedling guide mechanism 300. Preferably, when the seedling pipe rack 102 is a plurality of groups, each seedling pipe rack 102 is driven by an independent driving mechanism, and can be selectively planted according to actual needs to meet the seedling supplement demand of the multi-variety field in the breeding production process. Specifically, in an embodiment, the driving mechanism 202 can be a stepping motor. The hardware of the ground control module 204 includes but is not limited to a mobile phone, and the communication mode between the ground control module 204 and the UAV end control module 203 includes but is not limited to radio communication.

[0024] The seedling guide mechanism 300 comprises a branch pipe 301 and a guide pipe 302. The branch pipe 301 is communicated with the seedling planting port 302 above, and is connected with the guide pipe 302 below. The guide pipe 302 is vertically arranged, and the outlet is downward, for guiding the seedling planting direction, and realizing the vertical downward precision seedling planting. Preferably, when multiple seedlings need to be supplemented for different varieties, the number of the branch pipes 301 corresponds to the arrangement of the seedling pipe racks 102, and multiple branch pipes 301 are communicated with one guide pipe 302, and the multiple branch pipes 301 converge at the middle segment of the guide pipe 302.

[0025] More preferably, the guide pipe 302 of the seedling guiding mechanism 300 comprises, from top to bottom, a gas inlet section 3021, a junction section 3022 and a guide section 3023 in sequence. The upper part of the gas inlet section 3021 is connected with the air blowing mechanism 400, which provides high-speed downward airflow in the guide pipe 302, with the airflow speed being about 20 m / s. The high-speed airflow accelerates the seedlings, and in combination with the gravity of the seedlings, the accuracy of seedling dropping can be improved.

[0026] Preferably, the gas inlet section 3021 of the guide pipe 302 has a gradually decreasing cross section from top to bottom, so as to accelerate the airflow and generate negative pressure at the junction section 3022 of the guide pipe 302 and the branch pipe 301, thereby avoiding backflow of the airflow to the branch pipe 301.

[0027] Further, preferably, the branch pipe 301 has smooth transitions and the tangent of the axis at each position has an angle greater than the friction angle between the seedlings and the material of the branch pipe, so as to ensure that the seedlings can fall in the branch pipe by gravity.

[0028] Further, preferably, the minimum cross-sectional diameter of the branch pipe 301 and the guide pipe 302 is greater than the diameter of the seedling root plug, so as to avoid blockage of the seedlings in the seedling guiding mechanism 300.

[0029] Based on the same inventive concept, the present application also provides an unmanned aerial vehicle, which comprises the unmanned aerial vehicle precision seedling dropping device as described above. That is, the unmanned aerial vehicle precision seedling dropping device is installed on the unmanned aerial vehicle.

[0030] Based on the same inventive concept, the present application also provides a seedling dropping method of an unmanned aerial vehicle, which comprises: S10, placing seedlings to be dropped into the seedling storage pipe 101; Specifically, when there are multiple seedling pipe racks 102, the required seedlings of different varieties are stored in the respective seedling storage pipes 101, with the seedling roots being stored vertically downward. The respective seedling pipe racks 102 and the stepping motors of the corresponding control systems are numbered, and the control system 200 records the seedling varieties corresponding to the numbers. Since the operations of replenishing seedlings and continuous seedling dropping planting are basically similar, the operation of replenishing seedlings is more complex, and only the operation of replenishing seedlings is described in detail, and the operation of continuous seedling dropping is performed by reference, which will not be described herein.

[0031] S20, when the unmanned aerial vehicle precision seedling dropping device is used for the first time or the operation parameters are changed, the seedling dropping reference point needs to be calibrated. (This step can be ignored when repeating the operation) Specifically, the unmanned aerial vehicle carrying the precision seedling dropping device hovers at the operation height to perform multiple seedling dropping tests, the camera module 205 is fixed at an angle to take pictures of the seedling dropping points, the center of the seedling dropping point is extracted, the center of the dropping point is calibrated to the return image of the unmanned aerial vehicle, and the seedling dropping reference point on the return image is established. S30, the unmanned aerial vehicle flies to the seedling dropping target position at the operation height; Specifically, the unmanned aerial vehicle carries the accurate seedling throwing device at the working height, the unmanned aerial vehicle hovers to carry out multiple seedling throwing tests, the fixed camera module 205 angle carries out seedling throwing drop point camera shooting, the center of the seedling throwing drop point is extracted, the drop point center is calibrated to the return image of the unmanned aerial vehicle, and the seedling throwing reference drop point on the return image is established; the unmanned aerial vehicle carries the accurate seedling throwing device to the seedling supplement target position, adjusts the position of the unmanned aerial vehicle according to the image returned by the unmanned aerial vehicle, so that the reference drop point on the image coincides with the target point of the seedling supplement target position.

[0032] S40, after the control system sends the throwing instruction, the driving mechanism drives the seedling supply mechanism to rotate, releases the seedlings, and the seedlings are accurately thrown to the target position through the guidance of the guide pipe and the acceleration of the air blowing mechanism.

[0033] Specifically, the control system queries the variety to be thrown at the target seedling supplement position, and the ground control module sends the throwing instruction corresponding to the variety number to the unmanned aerial vehicle end control module. After the unmanned aerial vehicle end control module receives the throwing instruction, the stepping motor drives the corresponding seedling supply mechanism to rotate, releases the seedlings, and the seedlings are accurately thrown to the target seedling supplement position through the guidance of the guide pipe and the acceleration of the air blowing mechanism.

[0034] Obviously, the above embodiments of the present application are only examples for clearly illustrating the technical solutions of the present application, and are not intended to limit the specific embodiments of the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A precision seedling delivery device for unmanned aerial vehicles, characterized in that, include: Seedling supply mechanism, control system, seedling guiding mechanism, air blowing mechanism, and frame; The frame is equipped with a seedling tray, and the seedling tray has a seedling inlet. The seedling supply mechanism is set on the seedling plate and includes a seedling tube rack and multiple seedling storage tubes, with the multiple seedling storage tubes set on the seedling tube rack. The control system is fixed at the bottom of the seedling plate and includes a drive mechanism and a transmission shaft connected to the drive mechanism. The transmission shaft passes through the seedling plate and is connected to the seedling tube frame, thereby driving the seedling supply mechanism to rotate. When the seedling storage tube is rotated to align with the seedling inlet on the seedling plate, the seedlings pre-stored in the seedling storage tube fall to the seedling guiding mechanism. The seedling guiding mechanism includes a guide tube and a branch tube. One end of the branch tube is connected to the seedling inlet, and the other end of the branch tube is connected to the guide tube. The guide tube is set at the bottom of the seedling plate and is used to guide the seedlings to be placed vertically downwards. The air blowing mechanism is fixed to the frame and is used to provide downward airflow to the guide tube.

2. The unmanned aerial vehicle precision seedling delivery device according to claim 1, characterized in that, There are multiple seedling tube racks, which are arranged in a circular array on the seedling plate. Each seedling tube rack is driven by an independent drive mechanism.

3. The unmanned aerial vehicle precision seedling delivery device according to claim 2, characterized in that, The number of seedling inlets and branch pipes corresponds to the number of seedling tube racks. Each branch pipe is connected to a seedling inlet, and multiple branch pipes are connected to a guide pipe.

4. The unmanned aerial vehicle precision seedling delivery device according to any one of claims 1-3, characterized in that, The guide tube is vertically installed at the bottom of the seedling plate. The guide tube includes an air intake section, a junction section and a guide section connected in sequence from top to bottom. The branch pipe and the guide tube meet at the junction section. The cross-section of the air intake section and the guide section are both smaller than the cross-section of the junction section. The cross-section of the air intake section gradually decreases from top to bottom and generates negative pressure at the junction section.

5. The unmanned aerial vehicle precision seedling delivery device according to any one of claims 1-3, characterized in that, The branch pipe has a smooth transition, and the angle between the tangent at each point of the axis and the horizontal plane is greater than the friction angle between the seedling and the branch pipe material.

6. The unmanned aerial vehicle precision seedling delivery device according to claim 1, characterized in that, The control system also includes an unmanned aerial vehicle (UAV) terminal control module, a ground control module, and a camera module. The UAV terminal control module and the camera module are located at the bottom of the frame. The images captured by the camera module are transmitted to the ground control module, which then sends instructions to the UAV control module to activate the drive structure, which drives the seedling supply mechanism to rotate and deliver the seedlings.

7. The unmanned aerial vehicle precision seedling delivery device according to claim 1, characterized in that, The seedlings are potted seedlings, with the center of gravity located at the root. The minimum cross-sectional diameter of the branch pipe and guide pipe is larger than the diameter of the potted seedling.

8. An unmanned aerial vehicle, characterized in that, Including the unmanned aerial vehicle precision seedling delivery device as described in any one of claims 1-7.

9. A seedling delivery method using the unmanned aerial vehicle as described in claim 8, characterized in that, include: Place the seedlings to be released into the seedling storage tube; The drone flew to the seedling distribution target location at the operating altitude; The control system sends a delivery command, which drives the seedling supply mechanism to rotate and release the seedlings. The seedlings are then guided by the guide tube and accelerated by the air blowing mechanism and precisely delivered to the target location.

10. The seedling placement method according to claim 9, characterized in that: The seedling placement target location is the replanting location, where seedlings of different varieties are stored on different seedling racks; Each seedling rack and its corresponding drive mechanism is numbered, and the seedling variety information corresponding to the number is recorded into the control system; When the drone flies to the seedling replanting location, it takes pictures through the camera module and transmits them to the ground control module. The drone's position is then finely adjusted so that the reference landing point on the image coincides with the target point at the seedling replanting location. The drone's terminal control module receives the deployment command corresponding to the seedling variety number; The drive mechanism drives the corresponding seedling rack to rotate and release the seedlings. The seedlings are guided by the guide tube and accelerated by the air blowing mechanism and are accurately placed into the replanting position.

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