WO2022141667A1 - Procédé d'ensemencement de type à éjection et véhicule aérien sans pilote d'ensemencement de type à éjection appliquant le procédé - Google Patents

Procédé d'ensemencement de type à éjection et véhicule aérien sans pilote d'ensemencement de type à éjection appliquant le procédé Download PDF

Info

Publication number
WO2022141667A1
WO2022141667A1 PCT/CN2021/071474 CN2021071474W WO2022141667A1 WO 2022141667 A1 WO2022141667 A1 WO 2022141667A1 CN 2021071474 W CN2021071474 W CN 2021071474W WO 2022141667 A1 WO2022141667 A1 WO 2022141667A1
Authority
WO
WIPO (PCT)
Prior art keywords
seeding
seeds
seed
vibration
cone
Prior art date
Application number
PCT/CN2021/071474
Other languages
English (en)
Chinese (zh)
Inventor
周志艳
刘威
徐学浪
邹帅帅
罗锡文
顾庆宇
何伟灼
黄俊浩
林键沁
周子滨
Original Assignee
华南农业大学
广州五山农业服务有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华南农业大学, 广州五山农业服务有限责任公司 filed Critical 华南农业大学
Publication of WO2022141667A1 publication Critical patent/WO2022141667A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/18—Machines for depositing quantities of seed at intervals
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/20—Parts of seeders for conducting and depositing seed

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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:
  • 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;
  • 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.
  • 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;
  • 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;
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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 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.
  • the arching blockage detection is continued.
  • the seed filling is stopped, and the vibration arch breaking procedure is started.
  • step A1 the vibration exciting force is:
  • F--vibration exciting force N
  • the control parameters are: A-external interference coefficient; m-eccentric block mass, kg; e-eccentricity of eccentric block, m; ⁇ -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.
  • 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
  • the arch vibration force may be provided by at least one vibration motor.
  • 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.
  • 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.
  • the arching blockage detection is continued.
  • 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.
  • 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
  • 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.
  • 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.
  • the spot shot seeding module includes:
  • 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;
  • 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.
  • 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.
  • 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;
  • 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.
  • 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.
  • 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.
  • the self-adaptive adjustment component comprises:
  • 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.
  • 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.
  • the upper part of the acceleration tube is a square tube
  • the lower part of the acceleration tube is a circular tube
  • 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.
  • 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.
  • the vibrating queuing seeding device includes:
  • a seed head is installed at the bottom of 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;
  • the vibration isolation component is arranged in the fixed seat, and is used for buffering the vibration of the cone to the body.
  • the seed filling port makes seed filling more convenient
  • the seeds filled through the seed feeding port are placed in the cone
  • 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.
  • 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.
  • the top of the cone has a large diameter
  • the bottom is a small diameter
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 is 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.
  • 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.
  • a seeding method of a discharge-type seeding drone includes the following steps:
  • 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 is 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 is 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
  • 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;
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • the outer surface of the friction wheel 522 is a rubber layer.
  • the rubber layer causes less damage to the seed friction, which is beneficial to the subsequent survival of the seeds.
  • 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;
  • 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 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.
  • 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.
  • 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.
  • the angle of each spot shot seeding module 5 can be adjusted according to the actual situation, so as to meet the seeding demand.
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Sowing (AREA)

Abstract

La présente invention concerne un procédé d'ensemencement de type à éjection et un véhicule aérien sans pilote (UAV) d'ensemencement de type à éjection appliquant ledit procédé, le procédé d'ensemencement de type à éjection comprenant les étapes suivantes : étalonnage de paramètre, apport de graines centralisé, distribution de graines par un distributeur de graines et ensemencement de type à éjection. L'UAV d'ensemencement de type à éjection comprend un corps d'UAV (1), une boîte de graines (2), un dispositif de dosage de graines (3), un diviseur de graines (4) et une pluralité de modules d'ensemencement à éjection (5) qui sont prévus sur le corps d'UAV (1). Le procédé d'ensemencement de type à éjection et l'UAV d'ensemencement de type à éjection appliquant ledit procédé sont utilisés pour résoudre des problèmes dans la technologie existante, selon lesquels l'utilisation d'un UAV pour l'ensemencement implique que l'ensemencement est soumis à des interférences par un flux d'air externe tel qu'un vent de rotor, l'ensemencement est inexact et les exigences d'ensemencement de formation de ligne et de formation de trous ne peuvent pas être correctement réalisées.
PCT/CN2021/071474 2020-12-30 2021-01-13 Procédé d'ensemencement de type à éjection et véhicule aérien sans pilote d'ensemencement de type à éjection appliquant le procédé WO2022141667A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011643036.3 2020-12-30
CN202011643036.3A CN112789976B (zh) 2020-12-30 2020-12-30 一种排射式播种方法及应用该方法的排射式播种无人机

Publications (1)

Publication Number Publication Date
WO2022141667A1 true WO2022141667A1 (fr) 2022-07-07

Family

ID=75809280

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/071474 WO2022141667A1 (fr) 2020-12-30 2021-01-13 Procédé d'ensemencement de type à éjection et véhicule aérien sans pilote d'ensemencement de type à éjection appliquant le procédé

Country Status (2)

Country Link
CN (1) CN112789976B (fr)
WO (1) WO2022141667A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024073858A1 (fr) * 2022-10-07 2024-04-11 Flash Forest Inc. Dispositif de déploiement de gousse de graines
CN117963141A (zh) * 2024-03-29 2024-05-03 无锡葫芦科技有限公司 一种播种无人机

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11079760B2 (en) * 2018-11-28 2021-08-03 The Boeing Company Methods for maintaining difficult-to-access structures using unmanned aerial vehicles
CN113647229A (zh) * 2021-08-30 2021-11-16 四川云禾御农业科技有限责任公司 一种播种成行无人机
CN113812239A (zh) * 2021-10-15 2021-12-21 广东省农业科学院植物保护研究所 一种用于丸粒化种子的无人机播种系统
CN114731807B (zh) * 2022-05-19 2023-01-31 宿州学院 一种适用不同粒径的可调式丸粒化播种用无人机

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104255137A (zh) * 2014-09-09 2015-01-07 湖南农业大学 一种基于无人机平台的精量播种作业系统及方法
DE102014007995A1 (de) * 2014-06-05 2015-12-17 Hanseatic Aviation Solutions Gmbh Fluggerät mit Speicher zur Aufnahme von körnigem Schüttgut
CN206611749U (zh) * 2016-12-30 2017-11-07 西安智道科技有限责任公司 一种播种无人机
CN108715225A (zh) * 2018-05-10 2018-10-30 珠海羽人农业航空有限公司 机载吹射式种子直播设备及播种无人机
US20190071177A1 (en) * 2017-09-02 2019-03-07 Precision Drone Services Intellectual Property, Llc Distribution assembly for an aerial vehicle
CN110077598A (zh) * 2019-04-22 2019-08-02 四川省农业科学院作物研究所 一种播种水稻型无人机及其控制系统
CN211123767U (zh) * 2020-01-11 2020-07-28 西北农林科技大学 一种精准播种无人机
CN111674550A (zh) * 2020-06-22 2020-09-18 四川飞防农业科技有限公司 一种基于无人机的精量点穴直播系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB315998A (en) * 1928-05-01 1929-08-01 Robert Lindsay Scarlett Improvements in seed-sowing implements
KR101865462B1 (ko) * 2016-05-09 2018-06-07 김성진 농약 살포용 드론
CN106416530B (zh) * 2016-08-11 2019-08-16 华南农业大学 一种农用无人机挂载的物料撒播装置和方法
CN207631497U (zh) * 2017-12-27 2018-07-20 江西农业大学 一种离心摆管式播种无人机
CN210338297U (zh) * 2019-07-31 2020-04-17 华南农业大学 一种农用无人机挂载的生物防治物料投放装置
CN110754177B (zh) * 2019-12-04 2023-11-07 东北农业大学 适配于气吸式排种器防吸尘装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014007995A1 (de) * 2014-06-05 2015-12-17 Hanseatic Aviation Solutions Gmbh Fluggerät mit Speicher zur Aufnahme von körnigem Schüttgut
CN104255137A (zh) * 2014-09-09 2015-01-07 湖南农业大学 一种基于无人机平台的精量播种作业系统及方法
CN206611749U (zh) * 2016-12-30 2017-11-07 西安智道科技有限责任公司 一种播种无人机
US20190071177A1 (en) * 2017-09-02 2019-03-07 Precision Drone Services Intellectual Property, Llc Distribution assembly for an aerial vehicle
CN108715225A (zh) * 2018-05-10 2018-10-30 珠海羽人农业航空有限公司 机载吹射式种子直播设备及播种无人机
CN110077598A (zh) * 2019-04-22 2019-08-02 四川省农业科学院作物研究所 一种播种水稻型无人机及其控制系统
CN211123767U (zh) * 2020-01-11 2020-07-28 西北农林科技大学 一种精准播种无人机
CN111674550A (zh) * 2020-06-22 2020-09-18 四川飞防农业科技有限公司 一种基于无人机的精量点穴直播系统

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024073858A1 (fr) * 2022-10-07 2024-04-11 Flash Forest Inc. Dispositif de déploiement de gousse de graines
CN117963141A (zh) * 2024-03-29 2024-05-03 无锡葫芦科技有限公司 一种播种无人机
CN117963141B (zh) * 2024-03-29 2024-06-07 无锡葫芦科技有限公司 一种播种无人机

Also Published As

Publication number Publication date
CN112789976B (zh) 2022-04-12
CN112789976A (zh) 2021-05-14

Similar Documents

Publication Publication Date Title
WO2022141667A1 (fr) Procédé d'ensemencement de type à éjection et véhicule aérien sans pilote d'ensemencement de type à éjection appliquant le procédé
US7490565B2 (en) Seed distribution method and apparatus
US8752490B2 (en) Singulating seed
US4646941A (en) Mechanism for discharging granular material
EP2480063B1 (fr) Doseur de semences pour machine agricole
CN214356685U (zh) 一种多行排射播种无人机
AU2012201380A1 (en) Seed Distribution Method and Apparatus
US4533066A (en) Seed planter, planter assembly and method of picking up and discharging single seeds
CN209535476U (zh) 一种用于投放赤眼蜂蜂巢的投放系统
CN111674550A (zh) 一种基于无人机的精量点穴直播系统
CN113812239A (zh) 一种用于丸粒化种子的无人机播种系统
WO2022141666A1 (fr) Procédé et appareil de distribution de graines par pulvérisation localisée
US5974988A (en) Seed metering apparatus seed tube
CN117002734A (zh) 播撒装置及其无人机
CN209366462U (zh) 机载吹射式种子精量直播装置及无人机
CN216232984U (zh) 一种用于水稻颗粒播种无人机
CN112956469B (zh) 一种无人飞机颗粒均匀撒播作业方法及系统
CN214338597U (zh) 一种点射式排种装置
WO2022061771A1 (fr) Véhicule aérien sans pilote de protection de plantes agricoles, procédé de commande de semis et support de stockage
WO2019213793A1 (fr) Dispositif de plantation directe et précise de graines à éjection par soufflage embarqué et véhicule aérien sans pilote
RU2347343C2 (ru) Пневматический высеваюший аппарат
CN206866007U (zh) 一种双送螺旋式飞播装置
CN216684860U (zh) 一种植保无人机抛秧的装置
WO2021181515A1 (fr) Machine de semis de graines de riz
US20240114821A1 (en) Seed Pod Deployer

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21912450

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE112(1) EPC DATED 08.12.2023 (EPO FORM 1205A)