WO2022141667A1 - Ejection type seeding method and ejection type seeding unmanned aerial vehicle applying method - Google Patents

Abstract

An ejection type seeding method and an ejection type seeding unmanned aerial vehicle (UAV) applying said method, the ejection type seeding method comprising steps the following steps: parameter calibration, centralized seed supply, seed distribution by a seed distributor, and ejection type seeding. The ejection type seeding UAV comprises an UAV body (1), a seed box (2), a seed metering device (3), a seed divider (4) and a plurality of ejection seeding modules (5) which are provided on the UAV body (1). The ejection type seeding method and the ejection type seeding UAV applying said method are used for solving problems in the existing technology in which using a UAV for seeding means seeding is prone to interference by external airflow such as rotor wind, seeding is inaccurate, and seeding requirements of line forming and hole forming cannot be achieved well.

Description

A discharge seeding method and a discharge seeding unmanned aerial vehicle using the method technical field

The invention relates to the technical field of agricultural aviation, and more particularly, to an ejection-type seeding method and an ejection-type seeding unmanned aerial vehicle applying the method.

Background technique

In recent years, with the continuous progress of UAV technology, the accuracy and stability of its flight route have been continuously improved, and its application in agricultural production has become more and more extensive. Using drones for sowing, compared with ground machinery, has good passability, can avoid trapping cars, and avoid damaging ridges. Moreover, drones are fast in sowing and easy to operate. They are gradually being accepted by farmers and have become a new type of technology. It is especially suitable for paddy fields with small plots, large height difference and deep mud feet in southern my country.

At present, the sowing operation of drones is mainly based on sowing, and the seed metering devices are mainly divided into two types: centrifugal and pneumatic.

Chinese patent CN106612829A discloses an aircraft sowing device, which uses a centrifugal disc type sowing device. The single-chip microcomputer controls the first motor to drive the spinner to rotate, and controls the second motor to adjust the size of the gate of the discharge port. Chinese patent CN208863148U discloses a sowing device mounted on an aircraft. The sowing device includes a material barrel, a material throwing mechanism, a material unloading mechanism and a control unit, as well as a vibration motor, and the vibration motor is arranged on the material barrel. When working, the unloading mechanism discharges the material from the barrel to the material rejection mechanism, and the material is scattered under the action of centrifugal force; the vibration motor drives the side wall of the material barrel to vibrate, so that the material is evenly dispersed, and it is not easy to be blocked by arching. Chinese patent CN110963039A discloses a material spreading device, an unmanned aerial vehicle and a material spreading method. The material spreading device includes a reclaimer, a material receiver, a feeder and a controller; Take out, the material catcher is located under the reclaiming wheel and communicated with the feeder. The material in the reclaiming cavity enters the feeder through the feeder and is spread by the feeder. In the process of material spreading, the controller controls the driving part to drive the reclaiming wheel to rotate at the corresponding speed, so as to realize the control of the amount of material spreading by the drone. Chinese patent CN106714545B discloses a spreader and an agricultural drone. The spreader drives the stirring mechanism and the material spreading mechanism to rotate simultaneously through the deceleration mechanism, and the spreading mechanism uses centrifugal force to spread the material around. Chinese patent CN109665103A discloses a planting device and a planting drone with the device. The device includes a driving mechanism, a rotating rod and a seed container. The driving mechanism is used to drive the rotating rod to rotate, and several seed containers are indirectly arranged on the rotating rod. The wall of the seed container is provided with a feeding port and a material throwing port, and the seed container rotates with the rotating rod to throw out the seeds from the material throwing port to realize sowing. Chinese patent CN110077598A discloses a rice-seeding drone and its control system. From top to bottom, it includes a drone, a seed loading bucket, a seed metering structure, and a shunt structure. The seed loading bucket includes a ladder that is wide at the top and narrow at the bottom. The platform-shaped main body is provided with a seed inlet at the top and a seed outlet at the bottom. The shunt structure includes at least one row of seed shunt pipe groups.

Chinese patent CN209834007U discloses a spreader, a spreading device and plant protection equipment, wherein the spreader includes a reclaiming component, a material receiving component and a feeding component; the reclaiming component discharges materials into the material receiving component, and the feeding component can generate air flow, And send it to the material to mix with it, and use the air to spread the material. Chinese patent CN106416530B discloses a material spreading device mounted on an agricultural unmanned aerial vehicle. A discharge wheel is used under the material box of the device, and the discharge amount is adjusted by adjusting the discharge motor controller, and a fan is installed beside the roller. The material is discharged by air.

The above-mentioned UAV sowing operation, although the sowing uniformity is improved compared with manual sowing, there are still the following shortcomings: 1) After the seeds are discharged from the seeding device, due to the interference of the rotor wind, the seeding position is uncontrollable and the seeding is uniform. 2) Seeds fall on the surface and are easily eaten by birds and rodents or washed by rain, resulting in lack of seedlings; 3) The seed metering device is easy to be blocked by arches; It is difficult to form holes in rows, and the crops have poor ventilation and ventilation, which is easy to breed diseases and insect pests, and is not convenient for field management in the growing period.

In order to solve the problems of poor uniformity and difficulty in forming rows and forming holes, Chinese patent CN109287211B discloses a wheat pneumatic acceleration seeding and sowing device. No-tillage sowing of wheat without straw mulching in wheat rotation area. Chinese patent CN209643328U discloses a seed broadcasting device that can be mounted on unmanned aerial vehicles or ground machinery and can control the opening and closing size and opening and closing frequency of seed openings. The device uses fans to accelerate seeds to reduce the size of unmanned aerial vehicles Wind field effects. The above-mentioned method of accelerating seeds by pneumatic means has limited acceleration capacity, and the seeds are still easily affected by the wind field when they fall, and the seed outlet must be close to the ground (usually within 50cm) during sowing operations to be effective; however, with With the decrease of the flying height, the operational difficulty and accident rate of UAVs increase sharply, and safety accidents such as collisions with the ground are extremely likely to occur.

Chinese patent CN211123767U discloses a precision seeding drone. By setting a seeding point, when the drone hovers at the point, the seeding angle is adjusted in real time, and the seeds are accelerated by the friction wheel to complete the seeding. The device uses friction wheels to accelerate seeds, which reduces the interference of rotor wind on the falling of seeds, but the device has the following shortcomings: 1) There are many types of crops, and the dimensions of seeds of different varieties of the same crop are different, and the size and shape of seeds of the same variety are different. It is also difficult to achieve the same, and the distance between the friction wheels in the prior art cannot be adjusted adaptively according to the shape of the seeds, so it is easy to cause damage or blockage; 2) The seeds are divided by the method of dialing the seeds, and the sowing speed is affected. The limit is large, and the seeds cannot be queued up to enter the friction wheel, which is prone to the problem of jamming; 3) During the operation, it is necessary to adjust the motor according to the pitch angle, and it is difficult to achieve precise seeding.

Chinese patent CN111516874A discloses an agricultural unmanned aerial vehicle drilling device and control method, including a seed box device, a seed metering plate device, a drive shaft device, a left support device and a right support device. The seed metering plate device includes a seed metering plate, an electromagnet , springs, permanent magnets and other parts, the seeds are taken out through a wheel with a shaped hole during operation, and the combination of electromagnets, springs and permanent magnets is used to form a circulatory system for the accumulation and release of elastic potential energy, and the elastic force is used to eject the seeds and release them. to accelerate. Although this method can improve the initial speed of the seed exit, the acceleration range is limited, and it is still susceptible to external wind interference such as rotor wind field when the seed is dropped, and the structure is complex and the weight of the whole machine is large, which is suitable for UAVs with high load requirements. Poor applicability.

SUMMARY OF THE INVENTION

The present invention aims to overcome at least one defect (deficiency) of the above-mentioned prior art, and provides an ejection-type seeding method, which achieves the purpose of forming holes in rows and accurately sowing, and can avoid arching and jamming of seeds during the sowing process. Seeds and other blockages, thereby improving seeding efficiency.

Another object of the present invention is to provide an ejection-type seeding unmanned aerial vehicle applied to the ejection-type seeding method. Due to the impact of falling, the drone can maintain a high flying height and still achieve precise sowing in rows and holes, and the seeds can have a certain depth of mud, which can realize ditch-free sowing in loose soil and paddy fields.

The technical scheme adopted by the present invention is a seeding method of a discharge-type seeding unmanned aerial vehicle, comprising the following steps:

S1: Calibration parameters: calibrate and store the ejection seeding control parameters;

S2: centralized seed supply: when sowing, the seeds enter the seed meter from the seed box, and the seed discharge is controlled by the seed meter;

S3: Sorting by the seed divider: The seeds discharged by the seed meter are divided into multiple parts, and are guided and dispersed to each spot shot seeding module through the seed divider;

S4: Ejection seeding: The seeds enter into each spot seeding module, and the spot seeding method is used to queue up and accelerate the single seed respectively. According to the preset ejection seeding control parameters, the seeds in each spot seeding module are accelerated after being accelerated. It was shot at the expected location on the ground at high speed.

In this technical solution, in step S1, parameter calibration needs to be carried out according to the agronomic requirements of sowing. The main parameters of the calibration are: row spacing, plant spacing, working height and working speed of sowing, as well as seeding frequency and seeding angle of the spot shot seeding module and the rotational speed of the friction wheel; in step S2, a seed meter is used for the centralized seed supply to supply seeds for each spot shot seeding module, and the displacement should meet the sum of the required filling flow of each spot shot seeding module; in step S3, the seed divider Divide the seeds discharged from the seed metering device into equal portions, and guide the seeds to fill each of the spot shot seeding modules; in step S4, the seeds enter the spot shot seeding module for single-seed queuing, and after improving the uniformity, they are accelerated and ejected, and multiple spot shot seeding modules simultaneously Work to achieve row-type multi-line simulcast operation.

Further, in step S1, the row-type seeding calibration parameters are determined by the following relational models: the relational model between the working height, the seeding angle and the row spacing, the seeding frequency of the spot-shooting sowing module, the operating speed and the spacing between the rows. The relational model, the relational model of the rotational speed of the friction wheel, the working height and the depth of the seeds into the soil.

In this technical solution, the row spacing, plant spacing and seed depth are determined by agronomic requirements and are known quantities; the calibration parameters are:

Seed shooting angle, the angle between the seed shooting direction and the vertical direction, the angle range is 0～45°;

Working height, the height of the seed ejection position from the ground, the preferred range of the working height is 1-10m;

The rotation speed of the friction wheel is adjusted by adjusting the rotation speed of the friction wheel to adjust the seed injection speed, thereby adjusting the depth of the seeds into the soil. The preferred range of the rotation speed of the friction wheel is 6000-12000rpm;

The operating speed, the flying speed of the drone or the forward speed of the equipment, when the displacement is constant, the plant spacing can be controlled by controlling the operating speed, and the preferred operating speed range is 1-3m/s;

The method for calibrating parameters is as follows: when the row spacing is determined, various combinations of working heights and seeding angles can be calculated according to the geometric relationship, and suitable working heights and seeding angles are selected according to the working environment; The working speed can be calculated according to the seeding frequency of the spot shot seeding module; when the seeding depth is determined, and the working height is determined, the seeding depth can be controlled by adjusting the rotational speed of the friction wheel to control the seeding speed.

Further, in step S4, the steps of the spot seeding method include:

A1: Point shot seeding parameter calibration: According to the size and fluidity of the seeds to be filled, the appropriate seed filling flow, the diameter of the seed head and the vibration excitation force are calibrated to form the control parameters of the vibration queuing seed and the arch breaking vibration motor. and store.

A2: Vibration queuing for seeding: Fill the cone with seeds, control the vibration of the cone, and the seeds are discharged from the seeding head one by one due to the vibration and the restriction of the cone; The control parameters of the arch-breaking vibration motor vibrate until the arching blockage is cleared; the criterion for determining the arching blockage is: if no seed pulse is detected within the specified time, it is determined as the arching blockage.

A3: Friction acceleration: The falling seeds pass through the gap between two friction wheels with opposite running directions. The size of the gap is adaptively adjusted according to the size of the seeds. The friction wheel squeezes the falling seeds on both sides, and passes the friction of the friction wheel Rotate to generate the same frictional force as the preset ejection direction on both sides of the falling seeds, so that the seeds can be ejected at high speed with an acceleration corresponding to the frictional force, and guide the movement direction of the seeds ejected at high speed, so that the seeds can be accurately ejected to the expected ground. drop location.

In this technical solution, the first-time seeds need to be calibrated with parameters, including: seed filling flow, the diameter of the seed head and the vibration excitation force, where the vibration excitation force includes the line out seed excitation force and the vibration arch breaking excitation force. Vibration force; the diameter of the seeding head is determined according to the size of the seeds, and the size of the initial selection is the diameter corresponding to exactly two seeds discharged in parallel. Fine-tuning; in this scheme, the seeding flow refers to the seed flow received by each burst seeding module, and the sum of the seeding flow of all the burst seeding modules is the displacement of the centralized seed supply in S2. If the flow rate of the material rushing into the spot shot seeding module is too large, it will cause the blockage of the arch, and if the flow rate is too small, the work efficiency will be reduced. The determination method of this interval is: under the action of no vibration of the cone, the maximum flow rate when the material can pass through the cone smoothly is the minimum value of the interval; under the action of vibration of the cone, the maximum flow rate when the material can pass through the cone smoothly is the maximum value of this interval, and the middle value of the interval is preferably used as the seed filling flow; the vibration excitation force is adjusted by the motor speed, and the criterion for judging that the vibration queuing seed excitation force is suitable is: under the action of the seed vibration excitation force , a certain amount of cached seeds persists at the outlet of the cone, and the seeds can be discharged one by one due to vibration and the restriction of the seeding head. The reason for the formation of the seed buffer is: the bottom of the cone is a small diameter, after the seeds enter the cone, under the action of vibration and geometric dimensions, they gather near the exit at the bottom of the cone to form a buffer area, and the seeds in the buffer area vibrate. Grain-by-grain discharge is achieved under the limitation of the size of the seed head and the size of the seed head; the calibration method of the arch-breaking vibration excitation force is: under the action of the vibration excitation force, the seeds blocked by the arch in the cone can be dredged.

The vibrating queuing and seeding step has the functions of detecting arch blocking and self-breaking arch. When working, the arching blockage detection is continued. When the arching blockage is detected, the seed filling is stopped, and the vibration arch breaking procedure is started.

Further, in step A1, the vibration exciting force is:

F=Ameω ²

Among them, F--vibration exciting force, N; the control parameters are: A-external interference coefficient; m-eccentric block mass, kg; e-eccentricity of eccentric block, m; ω-vibration motor rotational angular velocity, rad/ s.

The vibration excitation force is a combination of vibration excitation forces generated by more than one vibration motor, the size is F, and the direction changes periodically, which drives the buffered seeds in the cone to vibrate.

In this technical solution, the vibration exciting force includes the vibration queuing seeding exciting force and the vibration arch breaking exciting force, the magnitude of the exciting force can be controlled by the speed of the vibration motor, and the vibration lining up seeding exciting force and the vibration breaking force The arch vibration force may be provided by at least one vibration motor.

Further, in step A2,

A21 generates vibration excitation force according to the control parameters of the vibrating motor for queuing out seeds determined in step A1 to control the vibration of the cone, so as to realize high-speed queuing out seeds;

A22 Detects the situation of arching blockage to detect whether the seeds in the cone are blocked by arching. If the arching blockage occurs, it shall be handled according to A23. The criterion for determining the arching blockage is: if the seed pulse is not detected within the specified time, it is determined as the arching blockage; If there is an arch blockage, repeat A21 and A22;

A23 Vibration arch breaking: When the arching blocking detection system shows that the arching is blocked, stop seeding, and start the arch breaking vibration motor according to the control parameters of the arch breaking vibration motor determined in step A1; Continue to process according to A23; check that the blockage of the arch has been cleared, turn off the arch breaking vibration motor, and repeat A21 and A22.

In this technical solution, the operation is performed according to the parameters calibrated by A1, and the vibration queuing and seeding operation is performed, and the vibration queuing and seeding step has the functions of detecting arch blockage and self-breaking arch. When working, the arching blockage detection is continued. When the arching blockage is detected, the seed filling is stopped, and the vibration arch breaking procedure is started.

The present invention also provides a seeding drone that can be applied to the above-mentioned ejection-type seeding method, which is characterized in that it includes a drone body, a seed box, a seed metering device, and a seed separator arranged on the drone body. , a number of spot shot sowing modules; the seed metering device is used to discharge the seeds from the seed box to the seed divider according to a predetermined displacement; the seed divider is used to distribute and transmit the seeds to the corresponding spot shot sowing modules; The spot shot seeding modules are distributed side by side in a fan shape, and the spur shot seeding modules are used to accelerate the seeds and shoot them out.

In this technical solution, the seeds stored in the seed box are discharged into the seed divider through the seed meter, and the seed divider divides the seeds into multiple parts and transports them to the corresponding spot shot seeding module. The seeds are accelerated and then ejected, so that the seeds have a faster initial speed, reduce the influence of external wind such as the rotor wind field, and can enter the soil surface to a certain depth in the mud to prevent the seeds from falling on the surface and being eaten by birds and rodents In addition, a plurality of spot shot seeding modules are distributed side by side in a fan shape, which can effectively reduce the space occupation and is more suitable for drone mounting. After the seeds are shot, multiple seeds The shape of the flow is scattered side by side according to the predetermined row spacing and plant spacing to the surface; by adjusting the seeding angle of the point shot seeding module and the adjustment of the rotational speed of the friction wheel, precise seeding in rows and holes with different row spacing and plant spacing can be realized.

Further, the spot shot seeding module includes:

mounting plate;

A friction wheel acceleration device, located at the lower part of the mounting plate, is used to accelerate the seeds;

A vibrating queuing seed ejecting device is arranged on the upper part of the mounting plate, and the lower seed ejecting head is opposite to the upper opening of the friction wheel accelerating device, and is used to provide single seeds to the friction wheel accelerating device one by one; and

The guide tube is arranged at the lower part of the mounting plate, which is opposite to the opening below the friction wheel acceleration device, and is used for guiding the accelerated seeds to accurately shoot to the target position.

In this technical solution, the spot-type seed metering device utilizes vibration to achieve uniform seeding seed by seed, and the discharged seeds obtain a certain kinetic energy and fall to the friction wheel acceleration device, which utilizes the high-speed rotation of the friction wheel to adjust the The seeds are accelerated, and seeds of different sizes and shapes can be accelerated. The seeds obtained through the friction wheel acceleration device are discharged at a certain speed, enter the guide tube and run for a certain distance before being ejected. The device realizes modular installation, The simple structure makes daily operation, maintenance and cleaning more convenient, the running power is smaller, and it can also realize high-speed seeding, which can be applied to field operations to ensure its timeliness and efficiency.

Further, the friction wheel acceleration device includes:

The acceleration tube is arranged on the mounting plate, and the left and right sides of the acceleration tube are provided with through holes;

a friction wheel, installed on both sides of the acceleration tube, and at least a part of the friction wheel is embedded in the through hole, so that the friction wheel rotates in the acceleration tube;

a driving mechanism, the power output end of which is connected with the friction wheel, and is used for driving the friction wheel to rotate;

an adaptive adjustment component, arranged on the mounting plate, for adaptively adjusting the distance between the friction wheels on both sides; and

The guide groove is arranged on the mounting plate and has an arc shape, which is used to limit the rotation angle of the self-adaptive adjustment component and limit the axial movement of the friction wheel.

In this technical solution, the pelletized seeds are accelerated by the friction wheel, and the distance between the friction wheels is automatically adjusted by the self-adaptive adjustment component for seeds of different sizes. The friction wheels on both sides accelerate the seeds by high-speed friction. According to the size of the accelerated seeds, the self-adaptive adjustment component rotates relative to the mounting plate to adaptively adjust the distance between the friction wheels. The granulated seeds are accelerated to ensure that the acceleration effect of the seeds will not be affected by the too large or too small spacing of the friction wheels, and can effectively avoid the damage of the seeds and the wear of the friction wheels, thereby improving the seeding efficiency and seeding accuracy; the guide groove has The function of limiting the position of the self-adaptive adjustment component ensures the stability of the work. The surface of the friction wheel is made of elastic materials such as rubber, which can increase the friction force and avoid the seeds from being damaged due to excessive extrusion.

Still further, it is characterized in that the self-adaptive adjustment component comprises:

elastic parts; and

The first adjustment frame and the second adjustment frame are respectively arranged on the mounting plates on both sides of the acceleration tube, and they are arranged symmetrically with respect to the acceleration tube; the first adjustment frame and the second adjustment frame are arranged at one end of the There is a hinge hole, and the other end is provided with a buckle and a slider;

One end of the first adjusting frame and the second adjusting frame is hinged with the mounting plate through the hinge hole, and the other end is connected with the buckle through the elastic member, and the sliding block is matched with the guide groove of the mounting plate;

The drive mechanism includes a first motor and a second motor, the first motor and the second motor are respectively connected with the first adjustment frame and the second adjustment frame, the first motor and the second motor The rotation directions of the motors are opposite, the friction wheels are respectively arranged on the outer rotors of the first motor and the second motor, and the friction wheels have no relative sliding with the first motor and the second motor.

The gap of the friction wheel in the prior art is fixed and cannot be adjusted during the working process, so the friction wheel acceleration device can only launch spherical objects with a fixed size, but for the coated seeds, it is difficult to achieve every seed. They are all wrapped in the same size and shape, so the fixed gap will cause damage to the seeds and aggravate the wear of the friction wheel. Therefore, in this technical solution, the elastic components in the adaptive adjustment assembly and the first adjustment frame and the second adjustment frame are used. When the friction wheel is subjected to different pressing forces due to seeds of different sizes during the acceleration process, the friction wheel drives the drive mechanism connected to it and the first adjustment frame and the second adjustment frame to rotate around the hinge axis of the mounting plate, thereby pulling The elastic components are stretched and retracted to achieve the effect of adaptively adjusting the distance between the friction wheels; the cooperation between the slider and the guide groove limits the gap between the friction wheels, so that the gap between the friction wheels is smaller than the diameter of the seeds, so that the friction wheels can exert pressure on the seeds, so as to ensure that the seeds enter There is enough friction behind the gap, which can not only effectively avoid damage and wear due to excessive seeds, but also ensure the acceleration effect.

Still further, the upper part of the acceleration tube is a square tube, the lower part of the acceleration tube is a circular tube, and the through holes are provided on the left and right sides of the upper part of the acceleration tube; The junction of the circular tubes is a smooth transition. The front and rear inner walls of the square tube on the upper part of the acceleration tube are each provided with two fan-shaped concave surfaces. The concave surfaces cooperate with the friction wheel to prevent seeds or other impurities from entering the friction wheel and the acceleration tube. gaps in the wall.

In this technical solution, the acceleration tube is divided into upper and lower parts, the upper part of the acceleration tube is a square tube, and the lower part is a circular tube, the left and right sides of the acceleration tube are provided with through holes into which the friction wheels can be embedded, and the friction wheels are just embedded in the through holes The inner fan-shaped concave surface constitutes the space required for accelerating seeds, and prevents seeds or other impurities from entering the gap between the two ends of the friction wheel and the inner wall of the accelerating tube; the installation method between the accelerating tube and the mounting plate is detachable installation, and the accelerating tube can be installed according to The size of the object to be accelerated is changed, and the seeds to be accelerated enter from the square nozzle at the upper part of the acceleration tube, are accelerated by the friction wheel at the through hole at the upper part of the acceleration tube, and then are ejected from the circular nozzle at the lower part of the acceleration tube.

Still further, the vibrating queuing seeding device includes:

a cone for providing single seeds to the friction wheel acceleration device;

A seed head is installed at the bottom of the cone;

A seeding port with an upward opening, and the lower part is connected with the cone;

The vibration motor unit is fixed on the outer wall of the cone to provide excitation force for the cone, which is used to line up seeds and vibrate to break the arch;

a fixing seat, which is arranged at the connection between the cone and the seeding port, and the two ends are fixed on the mounting plate for fixing the cone; and

The vibration isolation component is arranged in the fixed seat, and is used for buffering the vibration of the cone to the body.

In this technical solution, the seed filling port makes seed filling more convenient, the seeds filled through the seed feeding port are placed in the cone, and the vibration motor unit determines the required vibration excitation force according to the size and fluidity of the seeds. The size is controlled by changing the motor speed. Moreover, since the vibrating queuing and seeding device needs to vibrate continuously during operation, in order to avoid the vibration of the vibrating queuing and seeding device from affecting other components during the working process, a vibration isolation component is installed to weaken the impact of vibration on the rest of the device and the overall body. The seat is used to fasten the vibration isolation components to enhance the fixing effect.

Further, the top of the cone has a large diameter, the bottom is a small diameter, and the inner wall is a smooth spiral pattern, which is used to guide the seeds to move toward the seed head along the spiral pattern; the seed head is detachably fastened to the cone. At the bottom of the cylinder, the diameter of the seed head is consistent with the diameter of the seed head calibrated in A1; the lower part of the seed head is provided with an arch clogging detection system, when the seeds pass through the central area of the arch clogging detection system, a seed pulse is generated for Detecting the seed queuing and seeding situation; the vibration motor group includes more than one vibration motor, and is set as the queuing seeding vibration motor group and the arch breaking vibration motor group according to the function.

In this technical solution, the top cross-sectional area of the cone is larger, so that the seeds can freely pass through and fall into it, which reduces the difficulty of seed filling and facilitates operation, and the bottom cross-sectional area is smaller, so that the cone is an inverted cone. The inner wall is provided with a smooth spiral pattern. When vibration is applied to the cone, the seeds charged into the cone can move along the spiral pattern to the seed outlet and form a buffer area. The seeds in this area are discharged by vibration. Single-seed high-speed seeding can be achieved; the seeding head is detachable, and different seeding heads can be selected according to the shape and size of the seeds. The accessories are small, which simplifies the operation and reduces the cost of accessories manufacturing and maintenance. The head parameter selects a suitable seed head; the arch blockage detection system is located at the lower part of the seed head and the upper end of the acceleration tube, which can be a through-beam infrared sensor or other sensors that can detect the falling of seeds; the vibration motor components are: Arranged in line to produce a vibration motor unit and an arch breaking vibration motor unit, each of which contains at least one vibration motor.

Still further, the seed divider is rotatably connected to the spot shot seeding module for adjusting the installation angle of the spot shot seeding module; the upper end of the seed divider is a feed port, and the lower end is a discharge port; the seed divider A plurality of shunt pipes are installed at the discharge port, and the shunt pipes are in one-to-one correspondence with the spot shot seeding modules.

Still further, it also includes an angle adjustment mechanism, the angle adjustment mechanism is arranged below the guide tube, and is used to adjust the direction of the guide tube; the angle adjustment mechanism includes a pair of splints with both ends fixed together, and several a limit ring; the limit ring is installed between the clamping plates through a sliding fixing assembly, and the limiting ring is sleeved on the corresponding guide pipe; the sliding fixing assembly includes a sliding groove arranged on the clamping plate and a sliding groove along the sliding groove the bolts; the bolts are fixedly connected with the limit ring.

In the technical solution, the angle adjustment mechanism adjusts the seeding angle by adjusting the direction of the guide tube in the spot shot seeding module through the cooperation of the seed divider and the spot shot seeding module. When adjusting the angle, loosen the bolt, so that the bolt drives the limit ring to move on the chute, adjust to a suitable angle, and tighten the bolt.

Compared with the prior art, the beneficial effects of the present invention are:

(1) According to the technical solution provided by the present invention, the seeds stored in the seed box are discharged into the seed separator through the seed meter, and the seed separator divides the seeds into multiple parts and transports them to the corresponding spot shot seeding modules. The seeding module can accelerate the seeds and then shoot them out, so that the seeds have a high speed and reduce the influence of external wind such as the rotor wind field. Lack of seedlings due to feeding by species or scouring by rainwater.

(2) In the technical method provided by the present invention, a plurality of spot shot seeding modules are distributed side by side in a fan shape. This method of distributing and scattering seeds can effectively reduce the space occupation and is more suitable for drone mounting. The shape of the seedlings is scattered side by side according to the predetermined row spacing and plant spacing to the surface; in addition, the seeding device is hinged with the spot shooting seeding module, and the angle adjustment mechanism is used to adjust the seeding angle of the spot shooting seeding module and the adjustment of the rotational speed of the friction wheel, and the landing point is controllable. It can realize precise planting in rows and holes with different row spacing and plant spacing, which improves the quality of sowing, and the crops have good ventilation and ventilation, thereby reducing the breeding of diseases and insect pests.

(3) In agricultural production, there are many kinds of crops, there are differences in the external dimensions of seeds of different varieties of the same crop, and it is difficult to achieve the same size and shape of seeds of the same variety. When the size of the seed is larger than the gap between the friction wheels on both sides of the accelerating tube, the seeds will expand the gap between the friction wheels during the acceleration process. After the accelerated injection, the gap between the friction wheels will return to its original state under the action of the elastic components, so as to achieve the effect of adaptively adjusting the distance between the friction wheels. , which can better solve the problems of seed jam, seed damage and easy wear of friction wheels due to different seed sizes, and improve sowing efficiency and sowing accuracy.

(4) The method provided by the present invention adopts vibration queuing for seeding, which can better solve the problems of pulsation, high-speed seeding difficulty and seed damage existing in traditional wheel-type rotating parts, and high-speed queuing for seeding, improving sowing efficiency and ensuring Real-time and efficient operation, and improve the continuity and uniformity of seeding.

(5) The spot-type seed metering device provided by the present invention includes an arch blocking detection system and an arch breaking vibration motor unit, so that the device has the functions of arch blocking monitoring and self-breaking arch, and can better solve the problem of seeds in the seed box or pipe. The problem of road jams.

(6) The method provided by the present invention has simple steps, modular structure, small disassembly and maintenance workload, and can be used not only for sowing operations, but also for other granular materials such as fertilizers, herbicidal granules, snail-killing granules, and insecticidal granules. The single-grain fast discharge operation.

Description of drawings

FIG. 1 is an overall structural diagram of the discharge-type seeding unmanned aerial vehicle of the present invention.

FIG. 2 is a schematic diagram of the calibration parameters of the ejection seeding according to the present invention.

FIG. 3 is a schematic structural diagram of a spot shot seeding module of the present invention.

FIG. 4 is a partial cross-sectional view of the spot shot seeding module of the present invention.

FIG. 5 is a schematic structural diagram of the mounting plate of the spot shot seeding module of the present invention.

FIG. 6 is a top view of the spiral structure of the inner wall of the conical cylinder of the present invention.

FIG. 7 is a schematic diagram of the structure of the sorter of the present invention.

FIG. 8 is a schematic structural diagram of the angle adjustment mechanism of the present invention.

FIG. 9 is a schematic flowchart of the ejection seeding method of the present invention.

The reference numbers are:

1 UAV body, 2 kinds of boxes, 3 seed metering devices, 4 kinds of seed dividers, 41 kinds of seed mouths, 42 kinds of seed pipes, 5 point shot seeding modules, 51 installation plates, 511 guide grooves, 512 hinge shafts, 52 friction wheels Acceleration device, 521 acceleration tube, 5211 through hole, 522 friction wheel, 523 drive mechanism, 524 adaptive adjustment component, 525 elastic component, 5241 first adjustment frame, 5242 second adjustment frame, 5231 first motor, 5232 second motor , 53 Vibration queuing and seeding device, 531 Conical cylinder, 532 Seed head, 533 Vibration motor unit, 534 Fixed seat, 535 Vibration isolation component, 536 Arch detection system, 54 Guide tube, 6 Angle adjustment mechanism, 61 Plywood, 62 Limit ring, 63 sliding fixed components, 64 chute.

Detailed ways

The accompanying drawings of the present invention are only used for exemplary illustration, and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, which do not represent the size of the actual product; for those skilled in the art, some well-known structures and their descriptions in the drawings may be omitted. understandable.

Example 1

A seeding method of a discharge-type seeding drone, as shown in Figure 9, includes the following steps:

S1: Calibration parameters: calibrate and store the ejection seeding control parameters;

The control parameters of discharge seeding are determined by the following relational models: the relational model between working height, seeding angle and row spacing, the relational model between seeding frequency, sowing operation speed and plant spacing of the spot shot seeding module, the rotational speed of the friction wheel, the working height The relationship model with the depth of seed penetration;

S2: centralized seed supply: when sowing, the seeds enter the seed meter from the seed box, and the seed discharge is controlled by the seed meter;

S3: Sorting by the seed divider: The seeds discharged by the seed meter are divided into multiple parts, and are guided and dispersed to each spot shot seeding module through the seed divider;

S4: Ejection seeding: The seeds enter into each spot seeding module, and the spot seeding method is used to queue up and accelerate the single seed respectively. According to the preset ejection seeding control parameters, the seeds in each spot seeding module are accelerated after being accelerated. It was shot at the expected location on the ground at high speed.

In step S4, the steps of the spot seeding method include:

A1: Point shot seeding parameter calibration: According to the size and fluidity of the seeds to be filled, the appropriate seed filling flow, the diameter of the seed head and the vibration excitation force are calibrated to form the control parameters of the vibration queuing seed and the arch breaking vibration motor. and store.

A2: Vibration queuing for seeding: Fill the cone with seeds, control the vibration of the cone, and the seeds are discharged from the seeding head one by one due to the vibration and the restriction of the cone; The control parameters of the arch-breaking vibration motor vibrate until the arching blockage is cleared; the criterion for determining the arching blockage is: if no seed pulse is detected within the specified time, it is determined as the arching blockage.

A3: Friction acceleration: The falling seeds pass through the gap between two friction wheels with opposite running directions. The size of the gap is adaptively adjusted according to the size of the seeds. The friction wheel squeezes the falling seeds on both sides, and passes the friction of the friction wheel Rotate to generate the same frictional force as the preset ejection direction on both sides of the falling seeds, so that the seeds can be ejected at high speed with an acceleration corresponding to the frictional force, and guide the movement direction of the seeds ejected at high speed, so that the seeds can be accurately ejected to the expected ground. drop location.

As shown in Figure 2, in this example, taking 3 times pelletized rice seeds in 5 rows as an example, the 3 times pelletized seeds are spindle-shaped, about 10 mm in length and 5 mm in diameter, and each pellet is The average mass of chemical seeds is 0.1g, the sowing row spacing L=25cm, and the ground mechanical planting spacing is 10cm, and the average plant spacing is 3.33cm.

Parameter calibration of the spot shot seeding module: According to the parameter calibration method of the spot shot seeding module, the diameter of the seed head for vibrating queuing out seeds is 10.5mm, and the filling flow rate of each spot shot seeding module is 4g/s. It is 40 grains/s; the vibration queuing excitation force has a good seeding effect when the motor speed is about 2000rpm, and the vibration arch breaking excitation force can achieve the arch breaking effect when the motor speed is 2500rpm.

Calibration of ejector seeding control parameters: According to the relationship model of ejector seeding control parameters and agronomic requirements parameters, the calibration parameters can be obtained: select the working height as H=2m, and the seeding angle as α ₁ =5.7°, α ₂ =11.5° ; According to the seeding frequency of 40 grains/s and the average plant spacing of 3.33 cm, the working speed can be obtained as 1.33 m/s; according to the working height of 2 m and the depth of 1 to 2 cm, the rotational speed of the friction wheel is set to 9000 rpm.

Example 2

As shown in Figure 1, a discharge-type seeding unmanned aerial vehicle applied to the discharge-type seeding method comprises a drone body 1, a seed box 2, a seed metering device 3, and a seed separator arranged on the drone body 1 4 and a number of spot shot sowing modules 5; the seed metering device 3 is used to discharge the seeds to the seed divider 4; the seed divider 4 is used to disperse and transmit the seeds to the corresponding spot shot sowing modules 5; The seeding modules 5 are distributed side by side in a fan shape, and the spot shot seeding modules 5 are used for queuing and accelerating the seeds.

In this embodiment, the ejection-type seeding drones are, from top to bottom, a seed box 2, a drone body 1, a seed metering device 3, a seed divider 4, and five spot-shooting seeding modules 5; The seeds in the box 2 are discharged into the seed divider 4 through the seed metering device 3. The seed divider 4 divides the seeds into five parts and transmits them to the corresponding burst seeding module 5. The burst seeding module 5 can accelerate the seeds. Then shoot it out, so that the seeds have a faster initial speed, reduce the influence of external wind such as the rotor wind field, and can enter the soil surface to a certain depth in the mud to prevent the seeds from falling on the surface and being eaten by birds, rodents and other animals. In addition, the five spot shot seeding modules 5 are distributed side by side in a fan shape, which can effectively reduce the space occupation and is more suitable for drones to mount seeds. After injection, five seed streams are scattered side by side according to the predetermined row spacing and plant spacing to the surface; through the adjustment of the injection angle of the point injection seeding module 5 and the adjustment of the rotational speed of the friction wheel, the precise seeding in rows and holes with different row spacing and plant spacing can be realized. . The seed metering device 3 is a seed metering or discharging device with a large displacement, which can meet the seed filling flow required by each spot shot seeding module.

As shown in FIGS. 1 and 7 , the upper and lower ends of the seed divider 4 are respectively connected to the seed meter 3 and several spot shot seeding modules 5 , and the seed separation port 41 connected to the seed meter 3 is divided into four partitions Five parts, the seeds are guided into the spot shot seeding module 5 through the seeding pipe 42 .

As shown in FIGS. 3 , 4 and 5 , the spot shot seeding module includes a mounting plate 51 , a friction wheel accelerating device 52 , a vibrating queuing seeding device 53 and a guide tube 54 . The seeds enter the vibration queuing seeding device 53 of the spot shot seeding module from the seed separator. The vibrating queuing seeding device 53 can control the seeds to be queued and discharged one by one, so as to facilitate the subsequent acceleration of the seeds by the friction wheel acceleration device 52, so as to avoid multiple seeds at the same time. Entry causes card jams.

The friction wheel acceleration device 52 is provided at the lower part of the installation plate 51 for accelerating the seeds, and includes: a friction wheel 522 , an acceleration tube 521 , a driving mechanism 523 and an adaptive adjustment component 524 . The acceleration tube 521 is arranged at the position of the central axis of the mounting plate 51. As shown in the figure, the upper part of the acceleration tube 521 is a square tube, the section and the mouth of the tube are square, and the lower part of the acceleration tube 521 is a circular tube, and the section and the mouth It is circular, and its left and right sides are provided with through holes 5211 into which friction wheels 522 can be embedded; the driving mechanism 523 includes a first motor 5231 and a second motor 5232, which rotate in opposite directions; the number of friction wheels 522 is two, which are annular The self-adaptive adjustment assembly 524 includes a first adjustment frame 5241, a second adjustment frame 5242 and an elastic member 525. The first adjustment frame 5241 and the second adjusting frame 5242 are provided with a hinge hole at one end, a buckle and a slider at the other end, and a mounting hole for fixing the driving mechanism 523 in the middle, and the driving mechanism 523 drives the friction wheel 522 to be fixed on the first adjusting frame respectively. 5241 and the second adjustment frame 5242; the two adjustment frames are symmetrically arranged relative to the acceleration tube 521, one end is hinged on the mounting plates 51 on the left and right sides of the acceleration tube 521, and the other end passes through the elastic member 525 It is connected with the buckle, and the sliding block is matched with the guide groove 511 of the mounting plate 51 .

The acceleration process of the seeds is: enter the gap between the two friction wheels 522 from the square nozzle on the upper part of the acceleration tube 521. Since the size of the seeds is larger than the gap between the friction wheels, the friction wheels 522 will also receive the reaction force of the seeds while accelerating the seeds, thereby The first adjusting frame 5241 and the second adjusting frame 5242 are rotated around the hinge shaft 512, and the gap of the friction wheel 522 is adaptively changed. After the seeds are accelerated and ejected, the two adjusting frames return to their original positions under the drive of the elastic member 525, and the cycle is repeated. Complete Seed Acceleration.

In this embodiment, the outer surface of the friction wheel 522 is a rubber layer. When the seeds are accelerated, the rubber layer causes less damage to the seed friction, which is beneficial to the subsequent survival of the seeds.

As shown in FIG. 3 , the vibrating seeding device 53 is arranged on the upper part of the mounting plate 51 , and the lower opening thereof is opposite to the upper opening of the friction wheel accelerating device 52 , and there is a gap between the accelerating tube 521 . , used to successively provide single seeds to the friction wheel acceleration device 52, which includes: a cone 531, a seed head 532, a vibration motor group 533, a fixed seat 534, a vibration isolation component 535, and a knot detection system 536;

4 and 6, the cone 531 is an inverted cone, and its top cross-sectional area is larger than its bottom cross-sectional area, which is used to provide seeds to the friction wheel acceleration device 52, and the inner wall of the cone 531 is smooth. Spiral pattern, so that the seeds can move along the spiral pattern in the cone 531 to the seed head 532. The seed head 532 is detachably installed at the bottom of the cone 531, and the opening above the cone 531 is set upward. The seed feeding port reduces the difficulty of seed filling and is easy to operate; the vibration motor group 533 is fixed on the outer wall of the cone 531, and the vibration motor group 533 includes a queuing out seed vibration motor and an arch breaking vibration motor, which are respectively Realize the functions of vibrating seeding and vibrating arch breaking; the vibration isolation member 535 is fixed on the cone 531, and the fixing seat 534 cooperates with the vibration isolation member 535 to fix the cone 531 on the mounting plate 51 to buffer the cone 531. The impact of the vibration of the cylinder 531 on the body; the arching detection system 536 is arranged below the seed head 532 and fixed on the top of the acceleration tube 521 to continuously detect whether the seeds enter the friction wheel acceleration device 52 smoothly.

When the seeds move in the vibrating queuing and seeding device 53, since the shape of the seeds is not regular, when the cone 531 vibrates to line up the seeds, the special-shaped seeds may be more difficult to move around in the cone 531, so in this technical solution There are several spiral patterns, which can form several seeding channels with the inner wall of the cone 531. When the seeds enter the cone 531 and are thrown onto the inner wall by its vibration, they enter the seeding channel and are placed there. The seeding channel is arranged in an orderly manner, and under the action of vibration, the seeds can spirally fall around the inner wall, thereby assisting the movement of the seeds in the seeding tube and realizing the orderly and evenly discharging the seeds one by one.

The guide tube 54 is arranged at the lower part of the mounting plate 51 . The guide tube 54 can be a hollow straight tube with a smooth inner wall. Removable butt, or fixed connection with the outlet below the acceleration tube 521 through bolts, is used to guide the movement direction of the accelerated seeds.

As shown in FIG. 1 , in this embodiment, the seed divider 4 is hinged with the spot shot seeding module 5 , so that the spot shot seeding module 5 can be rotated at a certain angle, which is convenient for adjusting the seeding angle. In actual operation, the angle of each spot shot seeding module 5 can be adjusted according to the actual situation, so as to meet the seeding demand.

As shown in FIG. 8 , in this embodiment, an angle adjustment mechanism 6 is further included for adjusting the seeding angle of the spot shot seeding module 5 ; the angle adjustment mechanism 6 is arranged below the spot shot seeding module 5 and is fixed on the The tripod of the man-machine body 1 includes: a splint 61, a limit ring 62, a sliding and fixed component 63, and a chute 64. Both ends of the splint 61 are fixedly connected to the tripod of the drone body 1, and several limit rings 62 is set in the two clamp plates 61; the limit ring 62 is connected between the clamp plates 61 through the sliding fixing assembly 63, and the limit ring 62 is sleeved on the corresponding guide tube 54; and when the angle is adjusted, the guide tube 54 can be The limit ring 62 slides inside; the splint 61 is provided with a chute 64, the sliding fixing assembly 63 can be composed of several bolts, the bolts are connected with the side of the limit ring 62, and the bolts can limit the limit ring 62 slides along the chute 64.

Before preparing for sowing, it is necessary to adjust the seeding angle. The hinged adjustment between the seed divider 4 and the spot seeding module 5 cooperates with the angle adjustment mechanism 6; first loosen the bolts, and turn the spot seeding module 5 one by one to connect with it. The guide tube 54 drives the limit ring 62 to move along the chute 64. After confirming that the angle is appropriate, tighten the bolts to complete the angle adjustment.

In this embodiment, the seeds are pellet-coated seeds, and the pellet-coated seeds use the seeds as a carrier and a seed coating agent as a raw material. Irregular seeds are made into pellet-like seeds with no big difference in size and shape. When the pellet-coated seeds are sown into the soil, they will be dissolved by soil moisture, etc., to realize the soil planting of the seeds.

Working process: Before sowing, determine the seed filling flow of the spot shot seeding module, the aperture of the seed head 532 and the vibration excitation force according to the characteristics of the seeds (size and fluidity), and set the working height, seeding angle, and operation according to the agronomic requirements of the sowing operation. Speed and friction wheel rotation speed; after all preparations are ready, control the drone to start and start planting. When sowing, the seeds are collected from the seed box 2 through the seed metering device 3, and then enter the seed divider 4. The seeds are equally divided into five parts, and enter the corresponding vibrating queuing and seeding device 53 from each seeding pipe. Under the action of the excitation force for queuing the seeds, the seeds are uniformly discharged into the seed friction wheel acceleration device 52, and the adaptive adjustment component 524 adaptively adjusts the gap between the two friction wheels 522 according to the size change of the seeds to accelerate the seeds. , the seeds are sprayed to the expected drop point position on the ground surface by the seed flow, and the precision seeding in rows and holes is realized.

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principle of the claims of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (16)

1. An ejection-type seeding method, comprising the steps of:

   S1: Calibration parameters: calibrate and store the ejection seeding control parameters;

   S2: centralized seed supply: when sowing, the seeds enter the seed meter from the seed box, and the seed discharge is controlled by the seed meter;

   S3: Sorting by the seed divider: The seeds discharged by the seed meter are divided into multiple parts, and are guided and dispersed to each spot shot seeding module through the seed divider;

   S4: Ejection seeding: The seeds enter into each spot seeding module, and the spot seeding method is used to queue up and accelerate the single seed respectively. According to the preset ejection seeding control parameters, the seeds in each spot seeding module are accelerated after being accelerated. It was shot at the expected location on the ground at high speed.
2. The ejection seeding method according to claim 1, characterized in that, in step S1, the ejection seeding calibration parameter is determined by the following relational model: the relationship model between the working height, the seeding angle and the row spacing, The relationship model between the seeding frequency, sowing speed and plant spacing of the spot shot seeding module, and the relationship model between the friction wheel speed, the working height and the depth of the seeds into the soil.
3. The ejection seeding method according to claim 1, wherein in step S4, the step of the spot ejection seeding method comprises:

   A1: Point shot seeding parameter calibration: According to the size and fluidity of the seeds to be filled, the appropriate seed filling flow, the diameter of the seed head and the vibration excitation force are calibrated to form the control parameters of the vibration queuing seed and the arch breaking vibration motor. and store.

   A2: Vibration queuing for seeding: Fill the cone with seeds, control the vibration of the cone, and the seeds are discharged from the seeding head one by one due to the vibration and the restriction of the cone; The control parameters of the arch-breaking vibration motor vibrate until the arching blockage is cleared; the criterion for determining the arching blockage is: if no seed pulse is detected within the specified time, it is determined as the arching blockage.

   A3: Friction acceleration: The falling seeds pass through the gap between two friction wheels with opposite running directions. The size of the gap is adaptively adjusted according to the size of the seeds. The friction wheel squeezes the falling seeds on both sides, and passes the friction of the friction wheel Rotate to generate the same frictional force as the preset ejection direction on both sides of the falling seeds, so that the seeds can be ejected at high speed with an acceleration corresponding to the frictional force, and guide the movement direction of the seeds ejected at high speed, so that the seeds can be accurately ejected to the expected ground. drop location.
4. The ejection-type seeding method according to claim 3, wherein in step A1, the vibration exciting force is:

   F=Ameω ²

   Among them, F--vibration exciting force, N; the control parameters are: A-external interference coefficient; m-eccentric block mass, kg; e-eccentricity of eccentric block, m; ω-vibration motor rotational angular velocity, rad/ s.

   The vibration excitation force is a combination of vibration excitation forces generated by more than one vibration motor, the size is F, and the direction changes periodically, which drives the buffered seeds in the cone to vibrate.
5. A kind of shot-type seed metering method according to claim 3, is characterized in that, in step A2,

   A21 generates vibration excitation force according to the control parameters of the vibrating motor for queuing out seeds determined in step A1 to control the vibration of the cone, so as to realize high-speed queuing out seeds;

   A22 Detecting the blocking of arching, to detect whether the seeds in the cone are blocked by arching. If the blocking of arching occurs, it is handled according to A23. The criteria for determining the blocking of arching are: if the seed pulse is not detected within the specified time, it is judged as blocked by the arching; If there is an arch blockage, repeat A21 and A22;

   A23 Vibration arch breaking: When the arching blocking detection system shows that the arching is blocked, stop seeding, and start the arch breaking vibration motor according to the control parameters of the arch breaking vibration motor determined in step A1; Continue to process according to A23; check that the blockage of the arch has been cleared, turn off the arch breaking vibration motor, and repeat A21 and A22.
6. An ejection-type seeding unmanned aerial vehicle applied to the ejection-type seeding method according to any one of the above claims 1-5, characterized in that it comprises an unmanned aerial vehicle body, a seed box, A seed meter, a seed divider, and a number of spot shot sowing modules; the seed meter is used to discharge the seeds from the seed box to the seed divider according to a predetermined displacement; the seed divider is used to distribute and transmit the seeds to the corresponding spot shot sowing In the module; the multiple shot seeding modules are distributed in a fan shape, and the shot seeding modules are used to accelerate the seeds and shoot them out.
7. A discharge-type seeding unmanned aerial vehicle according to claim 6, wherein the spot-shooting seeding module comprises:

   mounting plate;

   A friction wheel acceleration device, located at the lower part of the mounting plate, is used to accelerate the seeds;

   A vibrating queuing seed ejecting device is arranged on the upper part of the mounting plate, and the lower seed ejecting head is opposite to the upper opening of the friction wheel accelerating device, and is used to provide single seeds to the friction wheel accelerating device one by one; and

   The guide tube is arranged at the lower part of the mounting plate, which is opposite to the opening below the friction wheel acceleration device, and is used for guiding the accelerated seeds to accurately shoot to the target position.
8. A discharge-type seeding unmanned aerial vehicle according to claim 7, wherein the friction wheel acceleration device comprises:

   The acceleration tube is arranged on the mounting plate, and the left and right sides of the acceleration tube are provided with through holes;

   a friction wheel, installed on both sides of the acceleration tube, and at least a part of the friction wheel is embedded in the through hole, so that the friction wheel rotates in the acceleration tube;

   a driving mechanism, the power output end of which is connected with the friction wheel, and is used for driving the friction wheel to rotate;

   an adaptive adjustment component, arranged on the mounting plate, for adaptively adjusting the distance between the friction wheels on both sides; and

   The guide groove is arranged on the mounting plate and has an arc shape, which is used to limit the rotation angle of the self-adaptive adjustment component and limit the axial movement of the friction wheel.
9. The discharge-type seeding unmanned aerial vehicle according to claim 8, wherein the self-adaptive adjustment component comprises:

   elastic parts; and

   The first adjustment frame and the second adjustment frame are respectively arranged on the mounting plates on both sides of the acceleration tube, and they are arranged symmetrically with respect to the acceleration tube; the first adjustment frame and the second adjustment frame are arranged at one end of the There is a hinge hole, and the other end is provided with a buckle and a slider;

   One end of the first adjusting frame and the second adjusting frame is hinged with the mounting plate through the hinge hole, and the other end is connected with the buckle through the elastic member, and the sliding block is matched with the guide groove of the mounting plate;

   The drive mechanism includes a first motor and a second motor, the first motor and the second motor are respectively connected with the first adjustment frame and the second adjustment frame, the first motor and the second motor The rotation directions of the motors are opposite, the friction wheels are respectively arranged on the outer rotors of the first motor and the second motor, and the friction wheels have no relative sliding with the first motor and the second motor.
10. The discharge-type seeding unmanned aerial vehicle according to claim 8, wherein the upper part of the acceleration tube is a square tube, the lower part of the acceleration tube is a circular tube, and the left and right sides of the upper part of the acceleration tube are provided with There is the through hole; the junction of the square tube at the upper part of the acceleration tube and the circular tube at the lower part is a smooth transition; Friction wheel clearance fit.
11. A discharge-type seeding unmanned aerial vehicle according to claim 7, characterized in that, the vibrating queuing and seeding device comprises:

    a cone for providing single seeds to the friction wheel acceleration device;

    A seed head is installed at the bottom of the cone;

    A seeding port with an upward opening, and the lower part is connected with the cone;

    The vibration motor unit is fixed on the outer wall of the cone to provide excitation force for the cone, which is used to line up seeds and vibrate to break the arch;

    a fixing seat, which is arranged at the connection between the cone and the seeding port, and the two ends are fixed on the mounting plate for fixing the cone; and

    The vibration isolation component is arranged in the fixed seat and is used for buffering the vibration of the cone to the body.
12. The discharge-type seeding unmanned aerial vehicle according to claim 11, wherein the top of the cone has a large diameter, the bottom is a small diameter, and the inner wall is a smooth spiral pattern for guiding the seeds along the spiral pattern. The seeding head moves; the seeding head is detachably fastened to the bottom of the cone, the diameter of the seeding head is consistent with the diameter of the seeding head calibrated in A1; the lower part of the seeding head is provided with an arch blockage detection system, When the seeds pass through the central area of the blocking detection system, a seed pulse is generated, which is used to detect the seed queuing and seeding; the vibration motor group includes more than one vibration motor, which is set as the queuing-out seeding vibration motor group and the arch-breaking vibration motor according to the function. unit.
13. The discharge-type seeding unmanned aerial vehicle according to claim 6, wherein the seed divider is rotatably connected with the spot shot seeding module, and is used to adjust the installation angle of the spot shot seeding module; the seed divider The upper end is a feeding port, and the lower end is a discharging port; a plurality of shunt pipes are installed at the discharge port of the seed divider, and the shunt pipes are in one-to-one correspondence with the spot shot seeding module.
14. The ejection-type seeding unmanned aerial vehicle according to claim 6, further comprising an angle adjustment mechanism, the angle adjustment mechanism is arranged below the guide tube, and is used to adjust the direction of the guide tube.
15. The discharge-type seeding unmanned aerial vehicle according to claim 14, wherein the angle adjustment mechanism comprises a pair of splints whose two ends are fixed together, and a plurality of limit rings arranged in the splint; The position ring is installed between the clamping plates through the sliding fixing assembly, and the position ring is sleeved on the corresponding guide tube.
16. The discharge-type seeding unmanned aerial vehicle according to claim 15, wherein the sliding fixing assembly comprises a chute provided on the splint and a bolt that can slide along the chute; the bolt and the limit ring Fixed connection.

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