CN119698999A

CN119698999A - UAV seedling throwing control method and device, seedling throwing system and readable storage medium

Info

Publication number: CN119698999A
Application number: CN202311260572.9A
Authority: CN
Inventors: 危宇泰
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2023-09-26
Filing date: 2023-09-26
Publication date: 2025-03-28
Anticipated expiration: 2043-09-26
Also published as: CN119698999B

Abstract

The present application provides a method and device for controlling the seedling throwing of an unmanned aerial vehicle, a seedling throwing system and a readable storage medium, and relates to the technical field of unmanned aerial vehicles. When the unmanned aerial vehicle performs a flying seedling throwing operation and the driving source in the seedling throwing mechanism drives all the cutter heads to rotate according to a fixed cycle, the present application controls the driving source to drive any cutter head to rotate at a first speed to a preset seedling picking position, so that the cutter head separates the seedlings from the blanket seedlings transported by the seedling delivery module in the seedling throwing mechanism to avoid damage to the roots and stems of the taken seedlings, and controls the driving source to drive the cutter head to carry the separated seedlings to rotate at a second speed greater than the first speed to a preset seedling throwing position, so that the seedlings are thrown out under the action of the centrifugal force corresponding to the second speed, so as to ensure that the thrown seedlings have a sufficiently large initial velocity to resist the interference of the propeller airflow, thereby achieving a stable frequency seedling throwing effect in which the seedlings fall to the ground in an orderly manner by solidifying the rotation cycle of the cutter head and giving the seedlings a sufficiently large initial velocity to be thrown.

Description

Unmanned aerial vehicle seedling throwing control method and device, seedling throwing system and readable storage medium

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle seedling throwing control method and device, a seedling throwing system and a readable storage medium.

Background

With the continuous development of scientific technology, unmanned aerial vehicle technology is widely applied in various industries (such as agriculture, logistics industry and the like), wherein unmanned aerial vehicle seedling throwing technology is a novel research direction of unmanned aerial vehicle technology nowadays.

At present, in the unmanned aerial vehicle seedling throwing realization process, the ground position of the thrown seedling is often influenced by a plurality of factors such as propeller airflow, initial throwing speed, throwing direction and the like, the phenomenon that the actual ground position of the thrown seedling cannot be orderly distributed easily occurs, and the land utilization rate and the final yield of land planting operation are seriously influenced. Therefore, how to realize the seedling throwing effect of orderly landing of seedlings is an important technical problem to be solved in the current unmanned aerial vehicle seedling throwing technology.

Disclosure of Invention

In view of the above, the present application aims to provide a method and an apparatus for controlling seedling throwing of an unmanned aerial vehicle, a seedling throwing system and a readable storage medium, which can drive a cutter head to take seedlings at a lower rotation speed in a process that all cutter heads of a seedling throwing mechanism rotate according to a fixed period when the unmanned aerial vehicle is in a flying state, so as to avoid damage to the roots and stems of the taken seedlings, and drive the cutter head to throw seedlings at a higher rotation speed, so that the seedlings to be thrown have a sufficiently large initial speed to resist the air flow interference of a propeller, and a seedling throwing effect with a stable frequency is realized.

In order to achieve the above object, the technical scheme adopted by the embodiment of the application is as follows:

in a first aspect, the application provides a seedling throwing control method for an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a seedling throwing mechanism, the seedling throwing mechanism comprises a seedling conveying module and a seedling taking module, the seedling taking module comprises a driving source and at least one cutter head, the driving source is used for driving the at least one cutter head to rotationally separate seedlings from blanket seedlings conveyed by the seedling conveying module according to a fixed period and then throw the seedlings out, and the method comprises the following steps:

When the unmanned aerial vehicle executes flight seedling throwing operation, controlling the driving source to drive any cutter head to rotate to a preset seedling taking position at a first rotation speed, so that any cutter head separates seedlings from blanket seedlings conveyed by the seedling conveying module;

And controlling the driving source to drive the separated seedlings carried by any cutter head to rotate to a preset seedling throwing position at a second rotating speed, so that the seedlings are thrown out under the action of centrifugal force corresponding to the second rotating speed, wherein the second rotating speed is larger than the first rotating speed.

In an optional embodiment, the driving source is a servo motor, the number of bits included in the seedling taking module is one, the preset seedling taking position corresponds to a seedling taking motor position at the driving source, the preset seedling throwing position corresponds to a seedling throwing motor position at the driving source, and at this time, the step of controlling the driving source to drive any bit to rotate to the preset seedling taking position at a first rotation speed includes:

And in the process that the driving source rotates from the seedling throwing motor position to the seedling taking motor position, the actual rotating speed of the driving source applied to the cutter head is regulated down, so that the actual rotating speed of the cutter head when the driving source rotates to the seedling taking motor position is consistent with the first rotating speed.

In an alternative embodiment, the step of controlling the driving source to drive the seedlings carried by any one of the cutter heads and separated to rotate to a preset seedling throwing position at a second rotation speed includes:

and in the process that the driving source rotates from the seedling taking motor position to the seedling throwing motor position, the actual rotating speed of the driving source applied to the cutter head is regulated to ensure that the actual rotating speed of the cutter head when the driving source rotates to the seedling throwing motor position is consistent with the second rotating speed.

In an optional embodiment, the driving source is a servo motor, the number of bits included in the seedling taking module is a plurality of bits, the preset seedling taking position corresponds to a plurality of seedling taking motor positions at the driving source, the preset seedling throwing position corresponds to a plurality of seedling throwing motor positions at the driving source, one seedling throwing motor position exists between two adjacent seedling taking motor positions, the total number of positions of the seedling taking motor positions is consistent with the number of bits, and at this time, the step of controlling the driving source to drive any bit to rotate to the preset seedling taking position at a first rotation speed includes:

In the process that the driving source rotates from any seedling throwing motor position to a seedling taking motor position adjacent to the seedling throwing motor position, the actual rotation speed of the driving source, which is applied to all cutter heads at the same time, is regulated down, so that the actual rotation speed of all cutter heads when the driving source rotates to the seedling taking motor position is consistent with the first rotation speed.

In the process that the driving source rotates from any seedling taking motor position to the seedling throwing motor position adjacent to the seedling taking motor position, the actual rotation speed of the driving source, which is applied to all cutter heads at the same time, is regulated, so that the actual rotation speed of all cutter heads when the driving source rotates to the seedling throwing motor position is consistent with the second rotation speed.

In an alternative embodiment, the seedling taking module comprises a plurality of tool bits which are uniformly circumferentially distributed and connected with the driving source, and the position interval angle between two adjacent tool bits, the position interval angle between two adjacent seedling taking motor positions and the position interval angle between two adjacent seedling throwing motor positions are kept consistent.

In an alternative embodiment, the method further comprises:

Configuring a first rotation speed of the seedling taking module at the preset seedling taking position according to a seedling separation standard;

And according to the positive correlation between the seedling throwing speed and the seedling soil penetration depth, configuring the second rotating speed of the seedling taking module at the preset seedling throwing position to meet the expected rotating speed of the expected soil penetration depth.

In a second aspect, the application provides a seedling throwing control device of an unmanned aerial vehicle, the unmanned aerial vehicle is provided with a seedling throwing mechanism, wherein the seedling throwing mechanism comprises a seedling conveying module and a seedling taking module, the seedling taking module comprises a driving source and at least one cutter head, the driving source is used for driving the at least one cutter head to rotationally separate seedlings from blanket seedlings conveyed by the seedling conveying module according to a fixed period and then throw the seedlings out, and the device comprises:

The seedling taking control module is used for controlling the driving source to drive any tool bit to rotate to a preset seedling taking position at a first rotation speed when the unmanned aerial vehicle executes flying seedling throwing operation, so that any tool bit can separate seedlings from blanket seedlings conveyed by the seedling conveying module;

the seedling throwing control module is used for controlling the driving source to drive the seedlings which are separated by any cutter head and are carried by the cutter head to rotate to a preset seedling throwing position at a second rotating speed, so that the seedlings are thrown out under the action of centrifugal force corresponding to the second rotating speed, wherein the second rotating speed is larger than the first rotating speed.

In an alternative embodiment, the apparatus further comprises:

the operation configuration module is used for configuring the first rotation speed of the seedling taking module at the preset seedling taking position according to the seedling separation standard;

the operation configuration module is further configured to configure the second rotation speed of the seedling taking module at the preset seedling throwing position to be a desired rotation speed meeting the desired soil penetration depth according to a positive correlation between the seedling throwing speed and the seedling soil penetration depth.

In a third aspect, the application provides a seedling throwing system, which comprises a main control unit, an unmanned aerial vehicle and a seedling throwing mechanism, wherein the seedling throwing mechanism is arranged on the unmanned aerial vehicle, the seedling throwing mechanism comprises a seedling conveying module and a seedling taking module, the seedling conveying module is used for conveying carpet seedlings, the seedling taking module comprises a driving source and at least one cutter head, and the driving source is used for driving the at least one cutter head to rotationally separate seedlings from the carpet seedlings conveyed by the seedling conveying module according to a fixed period and then throw the seedlings out;

The unmanned aerial vehicle comprises unmanned aerial vehicle rotors and rotor driving motors, wherein each rotor driving motor is correspondingly connected with one unmanned aerial vehicle rotor, and the unmanned aerial vehicle is used for adjusting the rotation condition of the connected unmanned aerial vehicle rotor;

the main control unit stores a computer program and can execute the computer program to control the unmanned aerial vehicle and the seedling throwing mechanism to cooperatively work and realize the unmanned aerial vehicle seedling throwing control method in any one of the previous embodiments.

In a fourth aspect, the present application provides a readable storage medium, on which a computer program is stored, which when executed by a seedling throwing system built based on an unmanned aerial vehicle, implements the unmanned aerial vehicle seedling throwing control method according to any one of the foregoing embodiments;

the seedling throwing system comprises a seedling throwing mechanism arranged on the unmanned aerial vehicle, the seedling throwing mechanism comprises a seedling conveying module and a seedling taking module, the seedling conveying module is used for conveying blanket seedlings, the seedling taking module comprises a driving source and at least one cutter head, and the driving source is used for driving the at least one cutter head to rotationally separate seedlings from the blanket seedlings conveyed by the seedling conveying module according to a fixed period and then throw the seedlings out.

In this case, the beneficial effects of the embodiments of the present application may include the following:

When the unmanned aerial vehicle executes flying seedling throwing operation and the driving source included in the seedling throwing mechanism drives all the tool bits to rotate according to a fixed period, any one of the tool bits is driven to rotate to a preset seedling taking position at a first rotation speed by controlling the driving source, so that seedlings are separated from blanket seedlings conveyed by the seedling conveying module included in the seedling throwing mechanism, damage to roots of the picked seedlings is avoided, the driving source is controlled to drive the tool bits to rotate to the preset seedling throwing position at a second rotation speed which is larger than the first rotation speed, the seedlings are thrown out under the action of centrifugal force corresponding to the second rotation speed, so that the seedlings to be thrown have enough initial speed to resist the air flow interference of a propeller, and on the basis of ensuring stable seedling throwing frequency by utilizing the mode of the rotation period solidification of the tool bits, the mode of giving the seedlings with enough initial speed ensures that the actual landing positions of the seedlings to be orderly distributed, and further the seedling throwing effect of orderly falling to stable frequency is achieved.

In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a seedling throwing system according to an embodiment of the present application;

Fig. 2 is a schematic structural view of a seedling throwing mechanism according to an embodiment of the present application under a first view angle;

FIG. 3 is a schematic view of a seedling throwing mechanism according to an embodiment of the present application under a second view angle;

FIG. 4 is a schematic view of a seedling throwing system according to another embodiment of the present application under a first view angle;

FIG. 5 is a schematic view showing a seedling throwing system according to another embodiment of the present application under a second view angle;

FIG. 6 is a schematic diagram of communication connection of a seedling throwing system according to an embodiment of the present application;

fig. 7 is a flow chart of a method for controlling seedling throwing of an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 8 is a schematic diagram illustrating operations of a seedling picking module according to an embodiment of the present application;

FIG. 9 is a schematic diagram showing the variation of the rotational speed of the cutter head of the seedling taking module shown in FIG. 8;

FIG. 10 is a schematic operation diagram of a seedling picking module according to another embodiment of the present application;

FIG. 11 is a schematic view of the variation of the rotational speed of the cutter head of the seedling taking module shown in FIG. 10;

Fig. 12 is a flowchart of a method for controlling seedling throwing of an unmanned aerial vehicle according to still another embodiment of the present application;

Fig. 13 is a schematic diagram of a composition of a seedling throwing control device of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 14 is a schematic diagram of a seedling throwing control device of an unmanned aerial vehicle according to another embodiment of the present application.

The icons comprise 1000-seedling throwing systems, 100-seedling throwing mechanisms, 10-load modules, 20-seedling conveying modules, 21-seedling supporting plates, 211-openings, 22-seedling conveying trays, 23-driving devices, 24-conveying devices, 25-seedling pressing devices, 251-rotating shafts, 252-pressing strips, 30-seedling taking modules, 31-driving sources, 32-transmission boxes, 33-cutter heads, 331-mounting parts, 332-cutter bodies, 333-notch openings, 40-supporting modules, 43-first supports, 46-second supports, 47-third supports, 200-unmanned aerial vehicles, 300-blanket seedlings, 310-seedling, 50-main control units, 201-rotor wing driving motors, 400-unmanned aerial vehicle seedling throwing control devices, 410-seedling taking control modules, 420-seedling throwing control modules and 430-operation configuration modules.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present application, it should be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on those shown in the drawings, or those conventionally put in place when the product of the application is used, or those conventionally understood by those skilled in the art, merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediary, or in communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.

In the description of the present application, it should be understood that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.

The applicant finds in the research and development process that on the basis that the existing unmanned aerial vehicle is required to maintain the flying state in the flying seedling throwing operation, the unmanned aerial vehicle is used for driving the tool bit to rotate according to a fixed rotating speed to realize the separation of seedlings, and the separated seedlings are thrown to the position right below the tool bit through the centrifugal force generated by the rotation of the tool bit, so that the flying seedling throwing effect is realized.

But it is worth noting that, this kind of unmanned aerial vehicle throws seedling scheme is slower when the tool bit rotational speed easily leads to the throwing initial velocity of seedling lower, makes the throwing seedling receive screw wind field interference, leads to being thrown the unable orderly landing of seedling, and this kind of unmanned aerial vehicle throws seedling scheme makes seedling rhizome appear damaging under the tool bit separating effect easily simultaneously when the tool bit rotational speed is faster, leads to being thrown the growth cycle of seedling in the soil inconsistent, is difficult to unified management, exists the risk that reduces final output.

Therefore, the embodiment of the application provides the unmanned aerial vehicle seedling throwing control method and device, the seedling throwing system and the readable storage medium, so that the seedling throwing frequency is ensured to be stable in the flying process of the unmanned aerial vehicle by solidifying the rotation period of the tool bit, the seedlings are taken at a lower rotating speed in the rotation process of the tool bit, the root and stem of the taken seedlings are prevented from being damaged, and meanwhile, the seedlings are thrown at a higher rotating speed in the rotation process of the tool bit, so that the seedlings to be thrown have enough initial speed to resist the air flow interference of the propeller, and the actual landing positions of the seedlings to be thrown are ensured to be orderly distributed under the synergistic effect of the stable seedling throwing frequency and the higher seedling throwing initial speed, thereby realizing the seedling throwing effect of orderly landing of the stable frequency.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1 and 2 in combination, a seedling throwing mechanism 100 and a seedling throwing system 1000 are provided in an embodiment of the present application. Specifically, the seedling throwing system 1000 includes an unmanned aerial vehicle 200 and at least one set of seedling throwing mechanism 100, wherein the seedling throwing mechanism 100 is carried on the unmanned aerial vehicle 200, so as to separate the blanket seedlings 300 by using the seedling throwing mechanism 100, and realize seedling throwing operation by centrifugal force and/or ejection force of the separated seedlings 310, and meanwhile, realize flying seedling throwing operation in cooperation with flight of the unmanned aerial vehicle 200.

There are various ways in which the seedling-throwing mechanism 100 can throw the seedlings 310. In one embodiment, the seedling throwing mechanism 100 may throw the seedlings 310 out by centrifugal force after separating the seedlings 310 from the blanket seedlings 300. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the blanket seedling 300, the separated seedlings 310 may be ejected by an ejection force (the seedling throwing mechanism 100 may be provided with an ejection member, which may provide the ejection force). In one embodiment, the seedling throwing mechanism 100 may throw out the separated seedlings 310 using a combination of centrifugal force and ejection force.

The seedling throwing mechanism 100 may include a load module 10, a seedling feeding module 20, and a seedling taking module 30. The load module 10 is configured to be disposed on a fuselage frame of the unmanned aerial vehicle 200. The seedling feeding module 20 is disposed on the load module 10, and the seedling feeding module 20 is used for feeding the blanket seedlings 300. The seedling taking module 30 is disposed on the load module 10, and the seedling taking module 30 is used for separating the seedlings 310 from the blanket seedlings 300 on the seedling feeding module 20 and then throwing the seedlings out by centrifugal force and/or ejection force. In this way, the unmanned aerial vehicle 200 can carry the seedling throwing mechanism 100 to execute the seedling throwing operation in a flying manner, the seedling conveying module 20 conveys the blanket seedlings 300, the seedling taking module 30 separates the blanket seedlings 300 and then throws out the seedlings 310, and the seedling throwing operation in a flying manner of the blanket seedlings 300 is realized.

There are many ways of separating, for example, cutting, grasping, pushing out, pressing down, and the like. The specific mode of separating and taking seedlings is not limited.

In the embodiment of the present application, the unmanned aerial vehicle 200 is specifically a four-rotor unmanned aerial vehicle, which may be a single-rotor unmanned aerial vehicle, a double-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, or the like. The unmanned aerial vehicle 200 may be automatically operated according to a preset path, flight speed, attitude, etc., or manually controlled by an operator. For ease of description, the figures show front, rear, left, right, up, down, etc. directions, which are relative positional relationships that would be apparent to one skilled in the art when the drone 200 is conventionally placed or flown.

Shown in fig. 1 is a split seedling throwing system 1000. Specifically, the load module 10 of the seedling throwing mechanism 100 is detachably mounted on the lower part of the unmanned aerial vehicle 200, that is, the unmanned aerial vehicle 200 and the seedling throwing mechanism 100 adopt an up-down split type design, and the unmanned aerial vehicle 200 is used as a moving platform and is in a split type design with the seedling throwing mechanism 100. In other words, the seedling-throwing mechanism 100 of this form is an independent structure, which does not depend on the frame of the body of the unmanned aerial vehicle 200, and based on this type, the corresponding device can be replaced according to the actual operation requirement in a specific operation scene, for example, after the seedling-throwing mechanism 100 is disassembled, a sowing device is installed to realize sowing of pesticides, fertilizers, seeds, and the like. Similarly, after the seedling throwing mechanism 100 is detached, agricultural operation mechanisms such as a mapping device, a spraying device and the like can be installed.

Referring to fig. 2 and 3 in combination, the respective modules of the seedling throwing mechanism 100 will be described in detail.

Specifically, the seedling taking module 30 may include a driving source 31 and a cutter head 33. The driving source 31 is connected to the cutter head 33, and is used for driving the cutter head 33 to separate the blanket seedlings 300 on the seedling feeding module 20 and throw out the separated seedlings 310 by centrifugal force and/or ejection force. Generally, the driving source 31 is a motor which drives the cutter head 33 to rotate in the direction indicated by the arrow a in fig. 2, so that the separated seedlings 310 are separated in the process of contacting the blanket seedling 300, the separated seedlings 310 rotate along the arrow a along with the cutter head 33, and the seedlings 310 are thrown out under the action of centrifugal force and/or ejection force when rotating to a specific position. Wherein, the tool bit 33 can be provided with an ejection member, the ejection member can finish energy storage and release through the cam member in the rotation process of the tool bit, and when the ejection member releases energy, the seedling 310 is ejected and thrown under the ejection force provided by the ejection member.

The cutter head 33 may be directly mounted on the output shaft of the driving source 31, the driving source 31 directly drives the cutter head 33 to rotate, or the cutter head 33 may be rotatably mounted on the load module 10, and the driving source 31 is mounted on the load module 10 and connected to the cutter head 33 via a transmission mechanism, such as a gear box, a link mechanism, a sprocket mechanism, or a pulley mechanism, to thereby provide driving force. Of course, the driving source 31 may be a motor, such as a pneumatic motor or a gasoline engine.

In order to facilitate the ejection of the seedlings 310, in the embodiment of the present application, the cutter head 33 includes a mounting portion 331 and a cutter body 332 disposed on the mounting portion 331, the mounting portion 331 is connected to the driving source 31, a notch 333 is formed on the cutter body 332, and the notch 333 is used for clamping the seedlings 310 after the cutter body 332 separates the seedlings 310, so that the seedlings 310 follow rotation and are ejected under the centrifugal force and/or ejection force. It will be appreciated that during the specific operation, the notch 333 of the cutter body 332 will catch the soil portion of the root of the seedling 310 and then rotate it during rotation, thereby throwing it out. Of course, the specific structure of the cutter head 33 can also select seedling needles.

Referring to fig. 2 and 3, in this embodiment, the seedling taking module 30 may further include a transmission case 32, and the driving source 31 is connected to the transmission case 32 and is used for driving the transmission case 32 to rotate, and at least one cutter head 33 is disposed on each transmission case 32. The transmission case 32 can give a specific motion track to the tool bit 33, generally, a plurality of gears meshed with each other can be arranged in the transmission case 32, the driving source 31 is meshed with one gear in the transmission case 32, the tool bit 33 is meshed with another gear, and the transmission case 32 can enable the motion track of the tool bit 33 and the gesture of the tool bit 33 in the motion process to meet the requirements.

In order to improve seedling taking efficiency, the rotation speed of the tool bit 33 is generally improved, which naturally may bring about other problems such as heat dissipation and unstable separation, and in order to solve the problem, in this embodiment, at least two tool bits 33 are disposed on each transmission case 32, so that the number of tool bits 33 at the same separated seedling throwing position can be expanded.

In this embodiment, two cutter heads 33 are distributed on one gear box 32, however, in other embodiments, only one cutter head 33 may be distributed, or three, four or more cutter heads 33 may be distributed. When two cutter heads 33 are distributed in one gear box 32, the two cutter heads 33 may be distributed at 180 degrees from the center of the gear box 32, three cutter heads 33 may be spaced at 120 degrees, and four cutter heads 33 may be spaced at 90 degrees, in other words, the cutter heads 33 may be uniformly distributed. Of course, it is not excluded that the cutter heads 33 are arranged in an unevenly distributed manner in a certain scenario.

By designing a larger number of cutter heads 33 on the transmission case 32, seedling taking efficiency can be improved under the condition of the same rotation speed. In addition, in the installation form, the transmission case 32 may be directly installed on the output shaft of the driving source 31, or the transmission case 32 may be rotatably installed on the load module 10, and the driving source 31 is installed on the load module 10 and connected to the transmission case 32 through a transmission mechanism, for example (a gear box, a link mechanism, a sprocket mechanism, a pulley mechanism) to provide driving force.

On the other hand, the efficiency of the seedling throwing operation can be increased by increasing the number of the seedling feeding modules 20, and referring to fig. 3, in the embodiment, the number of the seedling feeding modules 20 is plural, and the number of the seedling taking modules 30 is plural and corresponds to the plural seedling feeding modules 20 one by one.

Specifically, the number of seedling feeding modules 20 in fig. 3 is three, and correspondingly, the number of seedling taking modules 30 is also three. Of course, when the number of the seedling-feeding modules 20 is greater than three, the number of the seedling-taking modules 30 can be correspondingly increased. In general, the seedlings 310 transported by the plurality of seedling-feeding modules 20 are the same seedling 310, and the seedling-throwing operation is performed in the same agricultural field, and therefore, the synchronous operation of the plurality of seedling-taking modules 30 can be controlled by the control device provided on the load module 10, and also can be controlled by the flight control of the unmanned aerial vehicle 200. Of course, it is not excluded that the plurality of seedling-feeding modules 20 operate independently, for example, the seedling-taking efficiency of the plurality of seedling-taking modules 30 is controlled to be unequal, or some of the seedling-taking modules 30 are controlled to operate while the rest of the seedling-taking modules 30 do not operate.

In order to realize that the blanket seedlings 300 are thrown separately row by row, in this embodiment, the seedling feeding module 20 may include a seedling supporting plate 21 and a seedling feeding tray 22, the seedling supporting plate 21 is disposed on the load module 10, the seedling supporting plate 21 is provided with an opening 211, the seedling feeding tray 22 is used for conveying the blanket seedlings 300, the lower portion of the seedling feeding tray 22 is located in the seedling supporting plate 21, the seedling feeding tray 22 is movable transversely relative to the seedling supporting plate 21, and the seedling taking module 30 is used for separating the blanket seedlings 300 through the opening 211 and throwing out the separated seedlings 310.

In other words, the positions of the seedling taking module 30 and the opening 211 of the seedling supporting plate 21 are kept unchanged relative to the load module 10, and the seedling feeding tray 22 can reciprocate in the left-right direction, so that the seedling taking module 30 only separates the blanket seedlings 300 exposed in the opening 211, and therefore separation throwing and throwing of the blanket seedlings 300 row by row can be achieved. Of course, in other embodiments, the position of the seedling tray 22 relative to the load module 10 may be kept unchanged, and the seedling-supporting plate 21 and the seedling-taking module 30 may be laterally movable in the left-right direction.

In this embodiment, the seedling supporting plate 21 may be understood as an opening plate with a long strip shape, the seedling supporting plate 21 is relatively fixed to the load module 10, and does not move along with the left-right reciprocating motion of the seedling feeding tray 22, and the seedling supporting plate 21 has a certain supporting effect on the seedling feeding tray 22. Referring to fig. 3, in the present embodiment, the number of seedling taking modules 30 is three and is distributed at intervals, so the number of openings 211 is also three and is correspondingly distributed at intervals, and each seedling taking module 30 can separate and throw seedlings of the blanket seedlings 300 in the corresponding opening 211.

In order to facilitate the lateral movement of the seedling tray 22, in this embodiment, the seedling module 20 further includes a driving device 23, where the driving device 23 is disposed on the load module 10, and the driving device 23 is used to drive the seedling tray 22 to move laterally relative to the seedling tray 21.

Generally, the driving device 23 may be a motor and a rack-and-pinion mechanism to reciprocate the seedling tray 22, or a motor and a screw mechanism or a synchronous belt. Of course, the use of the rotor power of the drone 200 to drive the tray 22 laterally across is not precluded.

Referring to fig. 2, in general, the seedling tray 22 is set to be in an inclined state, so that after the seedling tray 22 laterally moves once, the blanket seedling 300 can move downward under the action of gravity, so that the seedling taking module 30 can take the next round of seedling. Of course, a power source may be provided to drive the seedling-feeding module 20, for example, referring to fig. 2, in this embodiment, the seedling-feeding module 20 further includes a conveying device 24, the conveying device 24 is disposed on the seedling-feeding tray 22, and the conveying device 24 is used to drive the carpet seedling 300 to move toward the seedling-supporting plate 21.

The conveyor 24 may be a conveyor belt or a conveyor roller (e.g., wolf cone). In addition, the seedling tray 22 may be provided with a conveying device 24 at different positions in the height direction. The inclined arrangement of the seedling tray 22 can also realize effective utilization of the longitudinal space, so as to reduce the space occupied by the seedling tray 22 in the horizontal width. Meanwhile, due to the inclined arrangement, the blanket 300 can slide down by utilizing the gravity effect, and the overall power consumption of the conveying device 24 can be reduced.

In addition, considering the possible detachment situation of the carpet seedling 300 after being placed on the seedling tray 22, referring to fig. 2 and 3, in this embodiment, the seedling module 20 further includes a seedling pressing device 25, where the seedling pressing device 25 is disposed on the seedling tray 22, and the seedling pressing device 25 is used for limiting the carpet seedling 300 in the seedling tray 22. The seedling pressing device 25 may take the form of a plate or a rod, and specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and a plurality of pressing strips 252, the rotating shaft 251 is rotatably and horizontally arranged on the seedling feeding tray 22, the plurality of pressing strips 252 are vertically and alternately arranged on the rotating shaft 251, and the plurality of pressing strips 252 are used for limiting the blanket seedlings 300 in the seedling feeding tray 22.

In this embodiment, in a specific scenario, the rotation shaft 251 may rotate with respect to the seedling tray 22 with a certain damping, so that the force of the pressing strip 252 against the carpet seedling 300 may be adjusted, and the pressing state thereof may be maintained. Of course, the torsion spring 251 may be sleeved with the rotation shaft, and the torsion spring may provide a pressure to rotate in the direction of the carpet 300.

Referring to fig. 3, in the present embodiment, the seedling tray 22 has a rectangular frame structure, and specifically includes a carrying plate and two baffles disposed on the left and right sides of the carrying plate, and no baffles are disposed on the upper and lower sides of the carrying plate, so that an upper opening is formed above to facilitate seedling placement, and a lower opening is formed below to facilitate seedling taking. The width of the seedling tray 22 may be matched with the width of the blanket seedling 300, and in addition, the height of the seedling tray 22 is not limited to the height of the blanket seedling 300. When in installation, two ends of the rotating shaft 251 can be respectively and rotatably arranged on two baffles of the seedling-feeding tray 22, and four pressing strips 252 are correspondingly arranged on one rotating shaft 251 in fig. 3. In other words, four pressing strips 252 are distributed on one seedling-feeding tray 22 to limit the blanket seedlings 300 in the seedling-feeding tray 22, so that the blanket seedlings 300 can be pressed on the seedling-feeding tray 22 by the pressing strips 252, and the blanket seedlings 300 are greatly ensured not to be blown away in the flight process of the unmanned aerial vehicle 200. Of course, the number of the pressing bars 252 correspondingly arranged on one seedling tray 22 is not limited to four, and may be three, five or more, for example. In addition, since the number of seedling feeding modules 20 is plural in the present embodiment, the number of seedling pressing devices 25 may be plural, and each seedling feeding tray 22 is provided with a seedling pressing device 25. In some cases, the rotation shaft 251 may be shared by a plurality of seedling pressing devices 25 located in the same seedling throwing mechanism 100.

In addition, as shown in fig. 2, in the present embodiment, the seedling tray 22 is supported by the load module 10 at a plurality of positions in the height direction. For example, in the present embodiment, the seedling throwing mechanism 100 may further include a support module 40, for example, the support module 40 includes a first bracket 43, one end of the first bracket 43 is connected to the load module 10, and the other end of the first bracket 43 supports an upper portion of the seedling tray 22. Referring to fig. 2 and 3, since the seedling tray 22 is to be laterally moved, for convenience in supporting, the supporting positions of the first bracket 43 and the seedling tray 22 may be matched with each other by a sliding rail and a pulley, for example, the end of the first bracket 43 is provided with a pulley, and the seedling tray 22 is provided with a sliding rail, and the two are in rolling fit. Alternatively, the end of the first bracket 43 is provided with a sliding rail, and the seedling tray 22 is provided with a pulley. In addition, in a certain scenario, the height of the first bracket 43 may be adjustable, and the inclination angle of the seedling tray 22 may also be adjustable.

At the same time, the lower part of the seedling tray 22 is supported by the seedling supporting plate 21, so that the overall structural compactness can be improved. Of course, the middle position of the seedling tray 22 can also be supported by the load module 10. It should be noted here that the upper part is only intended to indicate that the position of the support is higher in the height direction with respect to the middle and lower parts.

Of course, the support module 40 may further include a second bracket 46 and a third bracket 47, wherein one end of the second bracket 46 is connected to the load module 10, and the other end of the second bracket 46 is mounted with the seedling tray 21 mentioned above. One end of the third bracket 47 is connected to the load module 10, and the other end of the third bracket 47 is mounted with the seedling taking module 30 (specifically, the driving source 31) described above. Of course, the second bracket 46 and the third bracket 47 may be a bracket structure, that is, the seedling tray 21 and the seedling module 30 are mounted to the load module 10 through the same bracket.

The embodiments shown in fig. 1-3 show the main structure of the seedling throwing mechanism 100 provided by the present application, and in addition, the modules (the load module 10, the seedling feeding module 20, the seedling taking module 30, etc.) mentioned by the present application can be manufactured and sold separately in the earlier stage, and assembled in the later stage to form a whole structure.

Fig. 4 and 5 illustrate another embodiment of a seedling throwing system 1000 provided by the present application, wherein the same modules, mechanisms, or components are described with reference to the foregoing. In this embodiment, the seedling throwing system 1000 is a double-set system, i.e., it is provided with two sets of seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 share one load module 10. The two sets of seedling throwing mechanisms 100 are arranged in a back-to-back manner. Of course, in other embodiments, two sets of the seedling-throwing mechanisms 100 may be arranged in other ways (e.g., in the same direction), and three, four, or more sets of the seedling-throwing mechanisms 100 may be arranged. When the seedling throwing system 1000 is provided with two sets of seedling throwing mechanisms 100, the offset of the transverse moving impact force can be realized by controlling the respective seedling conveying trays 22 of the two sets of seedling throwing mechanisms 100 to maintain opposite states in the actual transverse moving direction at the same moment, so that the flight stability of the unmanned aerial vehicle 200 is improved.

For the above-mentioned seedling throwing system 1000 provided by the embodiment of the present application, the working principle of the seedling throwing system 1000 is as follows:

When the unmanned aerial vehicle 200 flies, the driving source 31 drives the transmission case 32 to rotate, the transmission case 32 drives the cutter head 33 to rotate at a high speed, the cutter head 33 separates and removes the seedlings 310 when rotating to the opening 211, the seedlings 310 are driven to rotate, and when the seedlings 310 rotate to a certain angle, the seedlings 310 are thrown out and fall into the field under the action of centrifugal force and/or ejection force, so that the carpet seedlings 300 fly and are thrown at the same time. Simultaneously, the seedling feeding tray 22 transversely moves to drive the blanket seedlings 300 to move left and right so that the blanket seedlings 300 are separated, thrown and thrown line by line. When the seedlings 310 in the left-right direction of the blanket seedling 300 are separated, the whole blanket seedling 300 moves downwards under the action of gravity and the driving force of the conveying device 24, and in this way, the seedlings are separated, thrown and thrown by the seedling taking module 30 row by row in the process of the re-traversing of the seedling feeding tray 22. And the like and the reciprocating cycle are performed until all blanket seedlings 300 are separated and thrown.

Referring to fig. 1 and fig. 6 in combination, in an embodiment of the present application, the seedling throwing system 1000 may further include a main control unit 50, where the main control unit 50 may be communicatively connected to the seedling throwing mechanism 100 and the unmanned aerial vehicle 200, so as to control the seedling throwing mechanism 100 and the unmanned aerial vehicle 200 to cooperatively operate to achieve the seedling throwing effect of the unmanned aerial vehicle.

Wherein, the unmanned aerial vehicle 200 may comprise unmanned aerial vehicle rotors and rotor driving motors 201, wherein the unmanned aerial vehicle rotors and the rotor driving motors 201 are all installed on the frame, each rotor driving motor 201 is correspondingly connected with one unmanned aerial vehicle rotor for driving the corresponding connected unmanned aerial vehicle rotor to rotate, and the unmanned aerial vehicle 200 is provided with lifting force by adjusting the rotation condition of the connected unmanned aerial vehicle rotor, and the number of the rotor driving motors of the unmanned aerial vehicle 200 is consistent with that of the unmanned aerial vehicle rotor.

In the embodiment of the present application, the main control unit 50 may include at least one software function module capable of being stored in a software or firmware form, and may operate software program logic corresponding to the unmanned aerial vehicle seedling throwing control device 400 by executing a computer program corresponding to the software function module, so as to achieve a seedling throwing effect of stabilizing frequency of orderly landing seedlings in the flight process of the unmanned aerial vehicle, and synchronously avoid damage to the roots of the thrown seedlings, thereby effectively improving the land utilization rate and the final yield of the land planting operation.

It can be understood that the main control unit 50 may be a control type electronic device independent of the seedling throwing mechanism 100 and the unmanned aerial vehicle 200 and capable of regulating and controlling respective operation states of the seedling throwing mechanism 100 and the unmanned aerial vehicle 200, the main control unit 50 may also be a control type electronic device arranged on the unmanned aerial vehicle 200, and the control type electronic device directly gives consideration to the operation control function of the seedling throwing mechanism 100, the main control unit 50 may also be a control type electronic device arranged on the seedling throwing mechanism 100, and the control type electronic device directly gives consideration to the operation control function of the unmanned aerial vehicle 200, and the main control unit 50 may also be regarded as a device combination of the control type electronic device arranged on the unmanned aerial vehicle 200 and the control type electronic device arranged on the seedling throwing mechanism 100, and the two control type electronic devices realize the specific control function of the main control unit 50 through network communication. The specific main control unit setting mode can be configured according to different requirements.

In the present application, in order to ensure that the unmanned aerial vehicle 200 in the seedling throwing system 1000 can carry the seedling throwing mechanism 100 to fly stably and realize the seedling throwing effect of stable frequency for orderly landing of seedlings and synchronously avoid the damage of the roots of the thrown seedlings, the embodiment of the present application provides an unmanned aerial vehicle seedling throwing control method applied to the seedling throwing system 1000 to achieve the above-mentioned purposes. The unmanned aerial vehicle seedling throwing control method provided by the application is described in detail below.

Referring to fig. 7, in an embodiment of the present application, the unmanned aerial vehicle seedling throwing control method shown in fig. 7 may include steps S510 to S520.

Step S510, when the unmanned aerial vehicle executes the flying seedling throwing operation, the driving source is controlled to drive any tool bit to rotate to a preset seedling taking position at a first rotation speed, so that any tool bit separates seedlings from blanket seedlings conveyed by the seedling conveying module.

In this embodiment, the main control unit 50 may obtain a seedling throwing command for implementing a seedling throwing operation during the flight of the unmanned aerial vehicle 200, and control the driving device 23 included in the seedling throwing mechanism 100 according to the seedling throwing command, so that the driving device 23 controls the seedling delivering tray 22 to carry the blanket seedling 300 to reciprocate and move horizontally, and simultaneously control the driving source 31 in the seedling fetching module 30 included in the seedling throwing mechanism 100 according to the seedling throwing command to drive all the tool bits 33 connected with the driving source 31 to rotate according to a fixed rotation period, so as to ensure that when the seedling delivering tray 22 moves the blanket seedling 300 to the position of the opening 211, any one tool bit 33 connected with the driving source 31 just rotates to a preset seedling fetching position (such as the position shown by a dotted triangle in fig. 1), and separate the seedling 310 from the blanket seedling 300 through the opening 211.

In this process, the preset seedling taking position is a preset tool bit rotation position capable of separating seedlings 310 through the opening 211, all tool bits 33 connected with the driving source 31 synchronously rotate under the driving action of the driving source 31, and the respective tool bit rotation periods of all the tool bits 33 are kept consistent, so that the seedling throwing mechanism 100 can realize stable seedling throwing frequency in the unmanned aerial vehicle flight seedling throwing operation process through the seedling taking module 30, and the planting distances among the actual falling positions of the finally thrown seedlings can be preliminarily and orderly distributed.

Meanwhile, the main control unit 50 controls the driving source 31 to adjust the rotation speed of the tool bit 33 nearest to the preset seedling taking position in the process that the driving source 31 drives any one tool bit 33 to rotate to the preset seedling taking position, so that the tool bit 33 can reach the preset seedling taking position according to the first rotation speed with smaller numerical value, and the seedlings 310 are directly separated from the blanket seedlings 300 by adopting the first rotation speed, so that the seedlings to be thrown can be separated at the lower tool bit rotation speed, and the phenomenon of seedling rhizome damage caused by too high tool bit rotation speed is avoided.

Step S520, controlling the driving source to drive any tool bit to drive the separated seedlings to rotate to a preset seedling throwing position at a second rotating speed, so that the seedlings are thrown out under the action of centrifugal force corresponding to the second rotating speed, wherein the second rotating speed is larger than the first rotating speed.

In this embodiment, when the main control unit 50 controls the driving source 31 to drive any one of the cutter heads 33 to separate the seedlings 310 at the preset seedling taking position according to the first rotation speed according to the seedling throwing command, the main control unit 50 controls the driving source 31 to drive the cutter heads 33 to carry the separated seedlings 310 to continue to rotate according to the seedling throwing command, so that when the cutter heads 33 rotate to the preset seedling throwing position (the position shown by the black filling triangle in fig. 1), the seedlings 310 carried by the cutter heads 33 can be thrown out under the centrifugal force, and thus the seedling throwing effect is achieved in the flight process of the unmanned aerial vehicle 200.

In the process, the main control unit 50 controls the driving source 31 to regulate the rotating speed of the tool bit 33 when the driving source 31 drives the tool bit 33 carrying the seedling 310 to rotate from the preset seedling taking position to the preset seedling throwing position, so that the tool bit 33 can reach the preset seedling throwing position according to the second rotating speed with larger value, and the carried seedling 310 is directly thrown out by adopting the second rotating speed, so that the thrown seedling can have enough initial throwing speed under the action of the larger tool bit rotating speed to resist the air flow interference of a screw propeller generated by unmanned aerial vehicle flight operation, and the ordered distribution effect of the actual landing position of the thrown seedling can be achieved under the synergistic effect of stable seedling throwing frequency and the initial throwing speed with larger value, so as to realize the ordered landing stable frequency seedling throwing effect of the unmanned aerial vehicle in the flight process.

It can be understood that the above-mentioned seedling throwing command may be a control command automatically generated by the main control unit 50 at a specific time point according to a preset seedling throwing operation policy, or may be a control command directly sent to the main control unit 50 by an operator through a remote control terminal.

Therefore, the application can ensure that the seedling throwing frequency is stable by solidifying the rotation period of the cutter head in the flight process of the unmanned aerial vehicle through executing the steps S510-S520, adopts lower rotation speed to take seedlings in the rotation process of the cutter head, avoids the damage of the roots of the taken seedlings, and simultaneously adopts higher rotation speed to throw the seedlings in the rotation process of the cutter head, so that the thrown seedlings have enough initial speed to resist the air flow interference of the propeller, ensure that the actual landing positions of the thrown seedlings are orderly distributed under the synergistic effect of the stable seedling throwing frequency and the higher initial speed of the thrown seedlings, and realize the seedling throwing effect of the stable frequency of orderly landing of the seedlings.

Optionally, in an embodiment of the present application, referring to fig. 8, the driving source 31 included in the seedling taking module 30 may be implemented by a servo motor, where the number of bits included in the seedling taking module 30 is only one, the driving source 31 may drive the bit 33 to implement a follow-up rotation effect through a motor rotation operation, at this time, a motor rotation period of the driving source 31 is a bit rotation period of the bit 33, one rotation of the driving source 31 indicates one rotation of the bit 33, the driving source 31 may directly implement a seedling separation effect and a seedling throwing effect through a rotation operation of the bit 33, the preset seedling taking position (a bit rotation position corresponding to a "dashed triangle" in fig. 8) may correspond to a seedling taking motor position (a motor rotation position p ₁ represented by a "dashed rectangle" in fig. 8) during a motor rotation of the driving source 31, and the preset seedling throwing position (a bit rotation position corresponding to a "black filling triangle" in fig. 8) may represent a throwing motor position p in a preset seedling position representing a position of the motor 31 before the preset seedling taking motor 31 rotates to a preset seedling taking position p33, and the throwing position is a preset seedling position representing a throwing position before the preset motor position of the motor 31 rotates the preset motor 31 is shown in fig. 8.

When the driving source 31 drives the cutter head 33 to rotate, the driving source 31 can rotate from the seedling taking motor position p ₁ to the seedling throwing motor position p ₂ along the direction indicated by arrow a in fig. 8, and then rotate from the seedling throwing motor position p ₂ to the seedling taking motor position p ₁, so as to drive the cutter head 33 to rotate one round completely. It will be appreciated that, when the driving source 31 is initially started, the cutter head 33 may be placed between a preset seedling taking position and a preset seedling throwing position, and then the rotation speed of the motor driving the driving source 31 is accelerated from 0 to a state of ensuring that the cutter head 33 achieves the first rotation speed, so that the driving source 31 drives the cutter head 33 to perform unmanned seedling throwing operation.

At this time, the unmanned aerial vehicle seedling throwing control method shown in fig. 7 has the following tool bit movement constraint conditions when acting on the seedling taking module 30 shown in fig. 8:

Wherein q (t ₁) is used for indicating the actual position reached by the rotation of the cutter head 33 at the time point t ₁, P ₁ is used for indicating the preset seedling taking position corresponding to the seedling taking motor position P ₁, For indicating the actual rotational speed of the cutter head 33 at the time point t ₁, V ₁ for indicating the first rotational speed, q (t ₂) for indicating the actual position reached by the rotation of the cutter head 33 at the time point t ₂, P ₂ for indicating the preset seedling taking position corresponding to the seedling throwing motor position P ₂,For indicating the actual rotational speed of the cutter head 33 at the point in time t ₂, V ₂ for indicating the second rotational speed, t ₁<t₂.

In this case, the step of "controlling the driving source 31 to drive any one of the cutter heads to rotate at the first rotation speed to the preset seedling taking position" in the above step S510 may include:

In the process that the driving source 31 rotates from the seedling throwing motor position to the seedling taking motor position, the actual rotating speed of the driving source 31 applied to the cutter head 33 is regulated down, so that the actual rotating speed of the cutter head 33 when the driving source 31 rotates to the seedling taking motor position is consistent with the first rotating speed.

The rotational speed reducing strategy used by the main control unit 50 when reducing the actual rotational speed of the driving source 31 applied to the cutter head 33 may be, but is not limited to, a uniform deceleration strategy, a smooth deceleration strategy, a stepped deceleration strategy, and the like.

Meanwhile, the step of controlling the driving source 31 to drive any one of the cutter heads 33 to rotate the separated seedling 310 to the preset seedling throwing position at the second rotation speed in the above step S520 may include:

In the process that the driving source 31 rotates from the seedling taking motor position to the seedling throwing motor position, the actual rotating speed of the driving source 31 applied to the cutter head 33 is regulated to enable the actual rotating speed of the cutter head 33 to be consistent with the second rotating speed when the driving source 31 rotates to the seedling throwing motor position.

The rotational speed increasing strategy used by the main control unit 50 to increase the actual rotational speed of the driving source 31 applied to the cutter head 33 may be, but is not limited to, a uniform acceleration strategy, a smooth acceleration strategy, a stepwise acceleration strategy, and the like.

Therefore, the present application can realize the seedling-throwing effect with stable frequency by executing the respective step flows of step S510 and step S520, and ensuring that the cutter head 33 directly outputs proper rotation speeds at the preset seedling-taking position and the preset seedling-throwing position respectively in the process that the driving source 31 drives the single cutter head 33 to rotate according to the fixed period.

In one implementation of this embodiment, the main control unit 50 uses a uniform acceleration strategy to increase the actual rotation speed of the cutter head 33, and uses a uniform deceleration strategy to decrease the actual rotation speed of the cutter head 33.

Taking fig. 8 and 9 as an example, assuming that the motor rotation period of one rotation of the driving source 31 is T0, the time point when the driving source 31 is initially rotated to the seedling taking motor position p ₁ shown in fig. 8 in one motor rotation period is the first T (p ₁) in fig. 9, the actual rotation speed of the bit 33 at the first T (p ₁) is the first rotation speed V ₁, the time point when the driving source 31 is rotated to the seedling throwing motor position p ₂ shown in fig. 8 in this motor rotation period is T (p ₂) in fig. 9, the actual rotation speed of the bit 33 at T (p ₂) is the second rotation speed V ₂, the time point when the driving source 31 is finally rotated to the seedling taking motor position p ₁ shown in fig. 8 in this motor rotation period is the second T (p ₁) in fig. 9, the actual rotational speed of the cutting head 33 at the second T (p ₁) is the first rotational speed V ₁, the rotational speed of the cutting head 33 in the period T12 from the first T (p ₁) to T (p ₂) is uniformly accelerated from the first rotational speed V ₁ to the second rotational speed V ₂, the rotational speed of the cutting head 33 in the period T21 from T (p ₂) to the second T (p ₁) is uniformly decelerated from the second rotational speed V ₂ to the first rotational speed V ₁, and at this time, if the average rotational speed of the cutting head 33 in one motor rotation period of the driving source 31 is V _aver, it is required to ensure that the cutting head 33 satisfies the kinematic constraint "2 x T0 x V _aver＝T12*(V₂+V₁)+T21*(V₂+V₁"), wherein t0=t12+t21%, to ensure that the seedling taking module 30 realizes stable seedling throwing frequency 'f=1/T0' on the basis of the single cutter head 33.

Optionally, in another embodiment of the present application, referring to fig. 10, the driving source 31 included in the seedling taking module 30 may be implemented by using a servo motor, where the number of bits included in the seedling taking module 30 is plural (for example, two bits 33, ① and ② bits, are present in the seedling taking module 30 shown in fig. 10), the driving source 31 may drive the plural bits 33 by a motor rotation operation to implement a follow-up rotation effect, at the same time, a motor rotation period of the driving source 31 is a bit rotation period of each bit 33, one rotation of the driving source 31 indicates that each bit 33 rotates one rotation, the driving source 31 may alternately implement a seedling separation effect and a seedling throwing effect by using a bit rotation motion, the preset seedling taking positions (for example, bit rotation positions corresponding to a "dashed triangle" in fig. 10) may correspond to plural seedling taking motor positions (for example, two "dashed rectangle motor rotation positions p ₁ and a preset motor p ₁ shown in fig. 10 respectively represent motor rotation positions p ₁ and a preset seedling throwing motor p 35 p 24 respectively corresponding to a black throwing position 35 b" 10) of the driving source 31 are set to a filling position p 1 in any one rotation position shown in fig. 10, the seedling throwing motor position is the motor rotation position of the driving source 31 when driving any one of the tool bits 33 to rotate to a preset seedling throwing position, one seedling throwing motor position exists between two adjacent seedling taking motor positions, and the total number of the positions of the seedling taking motor positions is kept consistent with the number of the tool bits (for example, two tool bits 33 exist in fig. 10, the total number of the positions of the corresponding seedling taking motor positions is also two).

When the driving source 31 drives the plurality of cutter heads 33 to rotate, the driving source 31 can rotate from the seedling taking motor position p ₁ to the seedling throwing motor position p ₂ along the direction indicated by arrow a in fig. 10, then rotate from the seedling throwing motor position p ₂ to the seedling taking motor position p ₁ ', then rotate from the seedling taking motor position p ₁' to the seedling throwing motor position p ₂ ', and finally rotate from the seedling throwing motor position p ₂' to the seedling taking motor position p ₁, so as to drive all cutter heads 33 to synchronously rotate one round completely, and make all cutter heads 33 alternately perform unmanned aerial vehicle seedling throwing operation. It will be appreciated that, when the driving source 31 is initially started, any one of the cutter heads 33 may be placed between a preset seedling taking position and a preset seedling throwing position, and then the rotation speed of the motor driving the driving source 31 is accelerated from 0 to a state of ensuring that the cutter heads 33 achieve a first rotation speed, so that the driving source 31 drives each cutter head 33 to perform unmanned seedling throwing operation.

At this time, the unmanned aerial vehicle seedling throwing control method shown in fig. 7 has the following tool bit movement constraint conditions when acting on the seedling taking module 30 shown in fig. 10:

Wherein q ₁(t₃) is used for indicating the actual position reached by the rotation of the ① bit at the time point t ₃, P ₁ is used for indicating the preset seedling taking position corresponding to the seedling taking motor position P ₁, For indicating the actual rotation speed of the ① th bit at the time point t ₃, V ₁ for indicating the first rotation speed, q ₁(t₄) for indicating the actual position reached by the ① th bit at the time point t ₄, P ₂ for indicating the preset seedling taking position corresponding to the seedling throwing motor position P ₂,For indicating the actual rotational speed of the ① th bit at time t ₄, V ₂ for indicating the second rotational speed, q ₂(t₅) for indicating the actual position reached by the ② th bit at time t ₅, P ₁ 'for indicating the preset seedling taking position corresponding to the seedling taking motor position P ₁',For indicating the actual rotational speed of the ② th bit at time t ₅, q ₂(t₆) for indicating the actual position reached by the ② th bit at time t ₆, P ₂ 'for indicating the preset seedling taking position corresponding to the seedling throwing motor position P ₂',For representing the actual rotational speed of the ② bit at time t ₆, where t ₃<t₄<t₅<t₆.

In the process that the driving source 31 rotates from any seedling throwing motor position to the seedling taking motor position adjacent to the seedling throwing motor position, the actual rotation speed of the driving source 31 applied to all the cutter heads 33 simultaneously is regulated down, so that the actual rotation speed of all the cutter heads 33 when the driving source 31 rotates to the seedling taking motor position is consistent with the first rotation speed.

The rotational speed reducing strategy used when the main control unit 50 reduces the actual rotational speeds of the driving sources 31 applied to all the tool bits 33 at the same time may be, but is not limited to, a uniform deceleration strategy, a smooth deceleration strategy, a stepped deceleration strategy, and the like.

In this process, it will be appreciated that the motor rotation time period required for the drive source 31 to rotate from a different seedling throwing motor position (e.g., p ₂ or p ₂ ') to an adjacent seedling taking motor position (e.g., p ₁ ' adjacent to p ₂, or p ₁ adjacent to p ₂ ') may be the same or different from each other. The specific time length of the motor rotation time length is associated with the distribution condition of the deployment positions of the plurality of tool bits 33, and is also associated with the deceleration acceleration corresponding to the adopted rotation speed reduction strategy. For example, the plurality of cutter heads 33 are uniformly circumferentially distributed and connected with the driving source 31, and the rotation speed regulating strategies adopted at different positions of the seedling throwing motors maintain the same deceleration acceleration, so that the position interval angles between two adjacent cutter heads 33 in the plurality of cutter heads 33 are kept consistent, and at the same time, the position interval angles between two adjacent cutter heads 33, the position interval angles between two adjacent seedling throwing motor positions and the position interval angles between two adjacent seedling throwing motor positions are kept consistent, and the motor rotation time required by the driving source 31 to rotate to the adjacent seedling throwing motor positions at different positions of the seedling throwing motors is kept consistent.

In the process that the driving source 31 rotates from any seedling taking motor position to the seedling throwing motor position adjacent to the seedling taking motor position, the actual rotation speed of the driving source 31 applied to all the cutter heads 33 simultaneously is regulated, so that the actual rotation speed of the cutter heads 33 when the driving source 31 rotates to the seedling throwing motor position is consistent with the second rotation speed.

In this process, it will be appreciated that the motor rotation time period required for the drive source 31 to rotate from a different seedling taking motor position (e.g., p ₁ or p ₁ ') to an adjacent seedling throwing motor position (e.g., p ₂ adjacent to p ₁, or p ₂ adjacent to p ₁') may be the same or different from each other. The specific time length of the motor rotation time length is associated with the distribution condition of the deployment positions of the plurality of tool bits 33, and is also associated with the acceleration corresponding to the adopted rotation speed increasing strategy. For example, the plurality of cutter heads 33 are uniformly circumferentially distributed and connected with the driving source 31, and the rotation speed regulating strategies adopted at different positions of the seedling throwing motors maintain the same acceleration, so that the position interval angles between two adjacent cutter heads 33 in the plurality of cutter heads 33 are kept consistent, and at the same time, the position interval angles between two adjacent cutter heads 33, the position interval angles between two adjacent seedling throwing motor positions and the position interval angles between two adjacent seedling throwing motor positions are kept consistent, and the motor rotation time required by the driving source 31 to rotate to the adjacent seedling throwing motor positions at different seedling throwing motor positions is kept consistent.

Therefore, the present application can ensure that each cutter head 33 can alternately reach a preset seedling taking position and a preset seedling throwing position in the process of driving the plurality of cutter heads 33 by the driving source 31 to rotate according to a fixed period by executing the respective step flows of the step S510 and the step S520, and output proper rotation speeds at the preset seedling taking position and the preset seedling throwing position respectively, so as to realize the seedling orderly falling stable frequency seedling throwing effect.

In one implementation of this embodiment, the seedling taking module 30 includes a plurality of tool bits 33 that are uniformly circumferentially distributed and connected to the driving source 31, where a position interval angle between two adjacent tool bits 33 (for example, a position interval angle between ① and ② tool bits in fig. 10 is 180 °), a position interval angle between two adjacent seedling taking motor positions, and a position interval angle between two adjacent seedling throwing motor positions are kept consistent, and at the same time, the master control unit 50 adopts a uniform acceleration strategy to increase the actual rotation speeds of all the tool bits 33 at the same time at different seedling taking motor positions, and adopts a uniform deceleration strategy to decrease the actual rotation speeds of all the tool bits 33 at the different seedling throwing motor positions.

Taking fig. 10 and 11 as an example, assuming that the motor rotation period of one rotation of the driving source 31 is T0, the time point when the driving source 31 is initially rotated to the seedling taking motor position p ₁ shown in fig. 10 in one motor rotation period is the first T (the actual rotation speeds of the first T (p ₁) of the first T (₁),①) cutter head and the ② cutter head are both the first rotation speed V ₁, seedling taking is performed by the ① cutter head at the preset seedling taking position, the time point when the driving source 31 is rotated to the seedling taking motor position p ₂ shown in fig. 10 in the motor rotation period is the second rotation speed V ₂ of the first T (p ₂),① cutter head and the ② cutter head at the second rotation speed V ₂ of the first (p ₂) in fig. 11, the time point when the driving source 31 is rotated to the first motor position p ₁' shown in fig. 10 in the motor rotation period is the first rotation speed V ₁, the actual rotation speeds of the second T (p ₁′),①) of the second motor position p ② in fig. 11 are both the actual rotation speeds of the first T (p 4632) of the first rotation speed V4632) of the first T (p ₂) in fig. 11 are both the seedling taking motor rotation speeds of the first rotation speed V4393 at the first T (p 65343) in fig. 11, the time point when the driving source 31 finally rotates to the seedling taking motor position p ₁ shown in fig. 10 in the motor rotation period is the second t (the actual rotation speeds of the No. p ₁),① cutter head and the No. ② cutter head at the second t (p ₁) are both the first rotation speed V ₁, and then the No. ① cutter head performs seedling taking at the preset seedling taking position.

Wherein the rotation speed of the two cutter heads 33 in the period T12 from the first rotation speed V ₁ to the second rotation speed V ₂, the rotation speed of the two cutter heads 33 in the period T21 'from T (p ₂) to T (p ₁') is uniformly decelerated from the second rotation speed V ₂ to the first rotation speed V ₁, the rotation speed of the two cutter heads 33 in the period T1'2' from T (p ₁ ') to T (p ₂') is uniformly accelerated from the first rotation speed V ₁ to the second rotation speed V ₂, the rotation speed of the two cutter heads 33 in the period T2'1 from T (p ₂') to the second T (p ₁) is uniformly decelerated from the second rotation speed V ₂ to the first rotation speed V ₁, and at this time, if the average rotation speed of the two cutter heads 33 in one motor rotation cycle of the driving source 31 is V _aver, the two cutter heads 33 are required to meet the constraint that the two cutter heads in T1'2 from T (p ₂') are required to be ensured to be more than the above the first rotation speed V4632 ', wherein the number of the cutter heads is more than 0+2' 2 in the rotation speed of the driving source 31 to achieve the stable seedling throwing frequency of the seedling module.

Optionally, referring to fig. 12, in another embodiment of the present application, compared to the unmanned aerial vehicle seedling-throwing control method shown in fig. 7, the unmanned aerial vehicle seedling-throwing control method shown in fig. 12 may further include steps S530 to S540 to ensure that the seedling-throwing system 1000 can separate the seedlings 310 without damage, and simultaneously ensure that the separated seedlings 310 reach the desired soil-penetration effect after being thrown and landed, and reduce the interference influence of the propeller airflow on the thrown seedlings as much as possible.

Step S530, configuring the first rotation speed of the seedling taking module at the preset seedling taking position according to the seedling separating standard.

The first rotation speed substantially meets the seedling separation standard after the first rotation speed is configured successfully, so as to ensure that the seedling taking module 30 can achieve the seedling non-damage separation effect at the preset seedling taking position by utilizing the first rotation speed which is configured successfully.

Step S540, according to the positive correlation between the seedling throwing speed and the seedling soil penetration depth, configuring the second rotating speed of the seedling taking module at the preset seedling throwing position to be the expected rotating speed meeting the expected soil penetration depth.

The positive correlation between the seedling throwing speed and the seedling penetration depth is used for representing that the larger the seedling throwing speed of the seedling throwing system 1000 under the specific unmanned aerial vehicle flight height is, the deeper the corresponding seedling penetration depth is. Therefore, the second rotation speed used by the seedling taking module 30 can be configured to meet the expected rotation speed of the expected soil penetration depth according to the unmanned aerial vehicle seedling throwing operation requirement, so that the seedling taking module 30 can ensure that the seedlings are thrown out and fall to the expected soil penetration depth effect at the preset seedling throwing position by using the successfully configured second rotation speed, and the interference influence of the air flow of the propeller on the seedlings to be thrown is reduced as much as possible by using the second rotation speed, so that the seedling throwing effect with the stable frequency of orderly falling is improved.

Therefore, the present application can configure the rotation speed of the tool bit, which is respectively applied to the preset seedling taking position and the preset seedling throwing position, of the seedling throwing system 1000 by executing the steps S530 and S540, so as to ensure that the seedling throwing system 1000 can separate the seedlings 310 without damage, ensure that the separated seedlings 310 reach the desired soil penetration effect after being thrown and landed, and reduce the interference influence of the propeller airflow on the thrown seedlings as much as possible.

In the present application, in order to ensure that the main control unit 50 in the seedling throwing system 1000 can control the unmanned aerial vehicle 200 to cooperatively perform the unmanned aerial vehicle seedling throwing control method with the seedling throwing mechanism 100, the present application implements the foregoing functions by performing functional module division on the unmanned aerial vehicle seedling throwing control device 400 stored in the main control unit 50. The following describes the specific components of the unmanned aerial vehicle seedling throwing control device 400 according to the present application.

Referring to fig. 13, in an embodiment of the application, the unmanned aerial vehicle seedling throwing control device 400 may include a seedling taking control module 410 and a seedling throwing control module 420.

The seedling taking control module 410 is used for controlling the driving source to drive any one of the cutter heads to rotate to a preset seedling taking position at a first rotation speed when the unmanned aerial vehicle executes the flying seedling throwing operation, so that any one of the cutter heads can separate seedlings from blanket seedlings conveyed by the seedling conveying module.

The seedling throwing control module 420 is used for controlling the driving source to drive any tool bit to rotate to a preset seedling throwing position with a second rotating speed, so that seedlings are thrown out under the action of centrifugal force corresponding to the second rotating speed, wherein the second rotating speed is larger than the first rotating speed.

Alternatively, referring to fig. 14, in another embodiment of the present application, compared to the unmanned aerial vehicle seedling control device 400 shown in fig. 13, the unmanned aerial vehicle seedling control device 400 shown in fig. 14 may further include a job configuration module 430.

The operation configuration module 430 is configured to configure the first rotation speed of the seedling taking module at the preset seedling taking position according to the seedling separation standard.

The operation configuration module 430 is further configured to configure the second rotation speed of the seedling taking module at the preset seedling throwing position to be a desired rotation speed meeting the desired soil penetration depth according to the positive correlation between the seedling throwing speed and the seedling soil penetration depth.

It should be noted that, the basic principle and the technical effects of the unmanned aerial vehicle seedling-throwing control device 400 provided by the embodiment of the application are the same as the unmanned aerial vehicle seedling-throwing control method. For a brief description, reference may be made to the description of the unmanned aerial vehicle seedling control method described above, where this embodiment is not mentioned.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part. The functions provided by the present application may be stored in one storage medium if implemented in the form of software functional modules and sold or used as a separate product. Based on this understanding, the technical solution of the present application, or the parts contributing to the prior art or the parts of the technical solution, may be embodied in the form of a software product stored in a readable storage medium comprising several instructions for causing a seedling throwing system 1000, consisting of a seedling throwing mechanism 100 and a drone 200, to perform all or part of the steps of the method described in the various embodiments of the present application. The readable storage medium includes a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.

In summary, in the unmanned aerial vehicle seedling throwing control method and device, the seedling throwing system and the readable storage medium provided by the embodiment of the application, when the unmanned aerial vehicle executes flying seedling throwing operation and the driving source included in the seedling throwing mechanism drives all the tool bits to rotate according to a fixed period, the driving source is controlled to drive any one of the tool bits to rotate to a preset seedling taking position at a first rotation speed, so that seedlings are separated from blanket seedlings conveyed by the seedling throwing module included in the seedling throwing mechanism, damage to roots of the picked seedlings is avoided, the driving source is controlled to drive the seedlings carrying the separated seedlings to rotate to the preset seedling throwing position at a second rotation speed which is larger than the first rotation speed, the seedlings are thrown out under the action of centrifugal force corresponding to the second rotation speed, so that the seedlings with enough initial speed are ensured to resist the air flow interference of a propeller, and on the basis of ensuring stable seedling throwing frequency by utilizing the mode of the rotation period solidification of the tool bits, the mode of endowing the seedlings with enough initial speed is ensured, the actual landing position of the seedlings with enough initial speed is ensured, the seedlings are distributed in a stable seedling throwing frequency under the synergistic effect of the stable seedling throwing frequency.

Meanwhile, the application can ensure that the seedling throwing system can separate seedlings without damage by configuring the rotation speeds of the tool bit, which are respectively applicable to the preset seedling taking position and the preset seedling throwing position, of the seedling throwing system, ensure that the separated seedlings reach the expected soil penetration depth effect after being thrown out and landed, and reduce the interference influence of the air flow of the propeller on the thrown seedlings as much as possible.

The above description is merely illustrative of various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present application, and the application is intended to be covered by the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling seedling throwing of a drone, characterized in that the drone is equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, the seedling retrieval module includes a driving source and at least one cutter head, the driving source is used to drive the at least one cutter head to rotate according to a fixed period to separate the seedlings from the blanket of seedlings transported by the seedling delivery module and then throw them out; the method comprises:

When the drone performs the flying seedling throwing operation, the driving source is controlled to drive any one of the cutter heads to rotate at a first speed to a preset seedling picking position, so that any one of the cutter heads separates the seedlings from the blanket of seedlings transported by the seedling delivery module;

The driving source is controlled to drive any of the cutter heads to carry the separated seedlings and rotate to a preset seedling throwing position at a second rotation speed, so that the seedlings are thrown out under the action of the centrifugal force corresponding to the second rotation speed, wherein the second rotation speed is greater than the first rotation speed.

2. The method according to claim 1 is characterized in that the driving source is a servo motor, the number of the cutter heads included in the seedling taking module is one, the preset seedling taking position corresponds to a seedling taking motor position at the driving source, and the preset seedling throwing position corresponds to a seedling throwing motor position at the driving source, and the step of controlling the driving source to drive any cutter head to rotate at a first speed to the preset seedling taking position comprises:

During the process of the driving source rotating from the position of the seedling throwing motor to the position of the seedling taking motor, the actual rotation speed applied by the driving source to the cutter head is lowered so that the actual rotation speed of the cutter head when the driving source rotates to the position of the seedling taking motor is consistent with the first rotation speed.

3. The method according to claim 2, characterized in that the step of controlling the driving source to drive any of the cutter heads to carry the separated seedlings to rotate at a second speed to a preset seedling throwing position comprises:

During the process of the driving source rotating from the position of the vine-picking motor to the position of the vine-throwing motor, the actual rotation speed applied by the driving source to the cutter head is increased so that the actual rotation speed of the cutter head when the driving source rotates to the position of the vine-throwing motor is consistent with the second rotation speed.

4. The method according to claim 1 is characterized in that the driving source is a servo motor, the seedling taking module includes a plurality of cutter heads, the preset seedling taking position corresponds to a plurality of seedling taking motor positions at the driving source, the preset seedling throwing position corresponds to a plurality of seedling throwing motor positions at the driving source, wherein there is a seedling throwing motor position between two adjacent seedling taking motor positions, the total number of the seedling taking motor positions is consistent with the number of cutter heads, and at this time, the step of controlling the driving source to drive any cutter head to rotate at a first speed to the preset seedling taking position comprises:

In the process of the driving source rotating from any seedling throwing motor position to the seedling retrieval motor position adjacent to the seedling throwing motor position, the actual rotational speed of the driving source applied to all the cutting heads at the same time is lowered so that the actual rotational speed of all the cutting heads when the driving source rotates to the seedling retrieval motor position is consistent with the first rotational speed.

5. The method according to claim 4, characterized in that the step of controlling the driving source to drive any of the cutter heads to carry the separated seedlings to rotate at a second speed to a preset seedling throwing position comprises:

During the process of the driving source rotating from any seedling plucking motor position to the seedling throwing motor position adjacent to the seedling plucking motor position, the actual rotational speed of the driving source applied to all the cutting heads at the same time is increased so that the actual rotational speed of all the cutting heads when the driving source rotates to the seedling throwing motor position is consistent with the second rotational speed.

6. The method according to claim 4 is characterized in that the multiple cutter heads included in the seedling pluck module are connected to the driving source in a uniform circular distribution, and the position interval angle between two adjacent cutter heads, the position interval angle between two adjacent seedling pluck motor positions and the position interval angle between two adjacent seedling throwing motor positions are kept consistent.

7. The method according to any one of claims 1 to 6, characterized in that the method further comprises:

configuring the first rotation speed of the seedling picking module at the preset seedling picking position according to the seedling separation standard;

According to the positive correlation between the seedling throwing speed and the seedling burying depth, the second rotation speed of the seedling taking module at the preset seedling throwing position is configured to be a desired rotation speed that satisfies the desired burying depth.

8. A control device for throwing rice seedlings of a drone, characterized in that the drone is equipped with a throwing mechanism, wherein the throwing mechanism comprises a rice seedling delivery module and a rice seedling retrieval module, the rice seedling retrieval module comprises a driving source and at least one cutter head, the driving source is used to drive the at least one cutter head to rotate according to a fixed period to separate the rice seedlings from the blanket of rice seedlings transported by the rice seedling delivery module and then throw them out; the device comprises:

a seedling picking control module, used for controlling the driving source to drive any one of the cutting heads to rotate at a first speed to a preset seedling picking position when the UAV performs a flying seedling throwing operation, so that any one of the cutting heads separates the seedlings from the blanket of seedlings transported by the seedling delivery module;

The seedling throwing control module is used to control the driving source to drive any one of the cutting heads to carry the separated seedlings and rotate at a second speed to a preset seedling throwing position, so that the seedlings are thrown out under the action of the centrifugal force corresponding to the second speed, wherein the second speed is greater than the first speed.

9. The device according to claim 8, characterized in that the device further comprises:

An operation configuration module, used for configuring the first rotation speed of the seedling picking module at the preset seedling picking position according to the seedling separation standard;

The operation configuration module is also used to configure the second rotation speed of the seedling retrieval module at the preset seedling throwing position to an expected rotation speed that meets the expected seedling embedment depth according to the positive correlation between the seedling throwing speed and the seedling embedment depth.

10. A seedling throwing system, characterized in that the system comprises a main control unit, a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism is installed on the drone, wherein the seedling throwing mechanism comprises a seedling delivery module and a seedling retrieval module, wherein the seedling delivery module is used to deliver blanket seedlings, and the seedling retrieval module comprises a driving source and at least one cutter head, wherein the driving source is used to drive the at least one cutter head to rotate according to a fixed period to separate the seedlings from the blanket seedlings delivered by the seedling delivery module and then throw them out;

The drone includes a drone rotor and a rotor drive motor, wherein each rotor drive motor is connected to a corresponding drone rotor and is used to adjust the rotation state of the connected drone rotor;

The main control unit stores a computer program and can execute the computer program to control the coordinated operation of the drone and the seedling throwing mechanism, and implement the drone seedling throwing control method described in any one of claims 1-7.

11. A readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a rice seedling throwing system constructed based on a drone, the drone rice seedling throwing control method according to any one of claims 1 to 7 is implemented;

Among them, the seedling throwing system includes a seedling throwing mechanism installed on the drone, and the seedling throwing mechanism includes a seedling sending module and a seedling taking module, wherein the seedling sending module is used to transport the seedlings, and the seedling taking module includes a driving source and at least one cutter head, and the driving source is used to drive the at least one cutter head to rotate according to a fixed period to separate the seedlings from the seedlings transported by the seedling sending module and then throw them out.