Design and experiment of an ordered rice seedling throwing device based on UAV platform

doi:10.13733/j.jcam.issn.2095-5553.2025.03.004

Abstract

Abstract:

To further exploit the production advantages of rice seedling throwing, an ordered seedling-throwing device based on a UAV platform is designed according to the characteristics of rice seedling throwing and transplanting. The overall structure and operational process of the device are described. The key components, such as the seedling carrier, pushing device, and guiding tube, are designed. Through motion analysis of the pushing component, the functional requirements for ordered sequential pushing of seedlings are verified. The floating seedling rate and plant spacing qualification rate are selected as the evaluation indicators for the ordered seedling throwing. The seedling throwing height, pushing component rotation speed, and the diameter of the guiding tube's bottom are chosen as experimental factors for bench-scale testing. The experimental results are analyzed using Design—Expert 10 software to establish a response surface mathematical model, assess the influence of various factors on operational quality, and optimize the influencing factors. The results show that when the seedling throwing height is 143 cm, the pushing component rotation speed is 55 r/min, and the diameter of the guiding tube's outlet is 44 mm, the floating rate is 2.6% and the plant spacing qualification rate is 87.2%, meeting the design requirements.

Key words: rice, bowl-type seedlings, UAV, seedling throwing device, orthogonal test

摘要：

为进一步发挥水稻抛秧的生产优势，根据水稻抛秧移栽特点，设计一种基于无人机平台的有序抛秧装置。阐述装置的总体结构与作业流程，对载苗、推秧、导苗等关键部件进行设计。通过对推秧部件的运动分析，验证有序渐次推秧的功能需求。选取漂秧率、株距合格率作为有序抛秧的作业评价指标，以抛秧高度、推秧机构转速、导苗管底口直径作为试验因素进行台架试验。利用Design—Expert 10软件对试验结果进行分析，建立响应面数学模型，分析各因素对作业质量的影响，并对影响因素进行优化求解。试验结果表明，当抛秧高度为143cm、推秧机构转速为55r/min、导苗管底口直径为44mm时，漂秧率为2.6%、株距合格率为87.2%，满足设计要求。

关键词: 水稻, 钵体苗, 无人机, 抛秧装置, 正交试验

CLC Number:

S223.9

Yuan Peichao, Ji Yao, Zhang Wenyi. Design and experiment of an ordered rice seedling throwing device based on UAV platform[J]. Journal of Chinese Agricultural Mechanization, 2025, 46(3): 19-24.

原培超, 纪要, 张文毅. 基于无人机平台的有序抛秧装置设计与试验[J]. 中国农机化学报, 2025, 46(3): 19-24.

References

［1］　白人朴. 加快解决水稻种植机械化瓶颈制约的思考［J］. 中国农机化学报, 2016, 37（12）: 1-5, 47.
Bai Renpu. Thinking of accelerating solutions to bottleneck restrictions of rice planting mechanization ［J］. Journal of Chinese Agricultural Mechanization, 2016, 37（12）: 1-5,47.
［2］　夏倩倩, 张文毅, 纪要, 等. 我国机械抛秧技术与装备的研究现状及趋势［J］. 中国农机化学报, 2019, 40（6）: 201-208.
Xia Qianqian, Zhang Wenyi, Ji Yao, et al. Research status and trend of mechanical throwing seedling technology and equipment in China ［J］. Journal of Chinese Agricultural Mechanization, 2019, 40（6）: 201－208.
［3］　李泽华, 马旭, 李秀昊，等.水稻栽植机械化技术研究进展［J］. 农业机械学报, 2018, 49（5）: 1-20.

Li Zehua, Ma Xu, Li Xiuhao, et al. Research progress of rice transplanting mechanization ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2018, 49（5）: 1-20.

［4］　王玉兴, 罗锡文, 唐艳芹, 等. 气力有序抛秧机输秧机构动态模拟研究［J］. 农业工程学报, 2004, 20（2）: 109-112.

Wang Yuxing, Luo Xiwen,Tang Yanqin, et al. Dynamic simulation of the riceseedling feeding mechanism of paddy seedling pneumatic throwing transplanter ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2004, 20（2）: 109-112.
［5］　王立臣, 王苹, 李益民, 等. 2ZPY-H530型水稻钵苗行栽机试验研究［J］. 中国农业大学学报, 2002, 7（4）: 21-24.

Wang Lichen, Wang Ping, Li Yimin, et al. Experiment study on 2ZPY-H530 rice pottedseedling transplant ［J］. Journal of China Agricultural University, 2002, 7（4）: 21-24.
［6］　汪友祥, 彭洪巽. 2ZP-13型水稻有序抛秧机的研发与推广［J］. 农业机械, 2018（11）: 87-90.
［7］　蒋俞, 孙泽宇, 汪若尘, 等. 丘陵山区履带式作业机全向调平系统设计与性能试验［J］. 农业工程学报, 2023, 39（18）: 64-73.
Jiang Yu, Sun Zeyu, Wang Ruochen, et al. Design and performance test of the omnidirectional leveling system for crawler work machine in hilly areas ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2023, 39（18）: 64-73.
［8］　Liu W, Zhou Z, Xu X, et al. Evaluation method of rowing performance and its optimization for UAVbased shot seeding device on rice sowing ［J］. Computers and Electronics in Agriculture, 2023, 207: 107718.
［9］　张青松, 张恺, 廖庆喜, 等.油菜无人机飞播装置设计与试验［J］.农业工程学报, 2020, 36（14）: 138-147.
Zhang Qingsong, Zhang Kai, Liao Qingxi, et al. Design and experiment of rapeseed aerial seeding device used for UAV ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2020, 36（14）: 138-147.
［10］　张海艳, 兰玉彬, 文晟, 等.无人机旋翼风场作用下雾滴在水稻植株上的黏附量模型构建［J］.农业工程学报, 2022, 38（18）: 40-50.
Zhang Haiyan, Lan Yubin, Wen Sheng, et al. Modelling approach of spray retention on rice in plant protection using unmanned aerial vehicle ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2022, 38（18）: 40-50.
［11］　Tang Y, Fu Y, Guo Q, et al. Numerical simulation of the spatial and temporal distributions of the downwash airflow and spray field of a coaxial eightrotor plant protection UAV in hover ［J］. Computers and Electronics in Agriculture, 2023, 206: 107634.
［12］　Song C, Liu L, Wang G, et al. Particle deposition distribution of multirotor UAVbased fertilizer spreader under different height and speed parameters ［J］. Drones, 2023, 7（7）: 425.
［13］　Song C, Zhou Z, Zang Y, et al. Variablerate control system for UAVbased granular fertilizer spreader ［J］. Computers and Electronics in Agriculture,2021, 180: 105832.
［14］　肖汉祥, 李燕芳, 袁龙宇, 等. 我国农用无人机在水稻生产中的应用现状与展望［J］.广东农业科学, 2021, 48（8）: 139-147.

Xiao Hanxiang, Li Yanfang, Yuan Longyu, et al. Application and prospect of China agricultural unmanned aerial vehicle in rice production ［J］. Guangdong Agricultural Sciences, 2021, 48（8）: 139-147.

[1]	Wu Haifeng, Zhang Xuejun, Shi Zenglu, Cheng Jinpeng, Yu Yongliang. Design and experiment of a top bar clamping-type maize precision seed-metering device [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(3): 11-18.
[2]	Yang Fan, , Teng Li, Shen Jingxin, , Zhu Jinghong, , Sun Yongjia, , Sun Yitian, . Design and experiment of a pneumatic seed metering device for soybean breeding in small plots [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(3): 33-39.
[3]	Ma Tian, Wang Huiqiang, Zhang Yong, Li Wenxiang, Sun Yulin, Sun Guangjun. Design and test of hanging yam seeding machine [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(3): 40-48.
[4]	Tang Hu, Xu Yan, , Yang Bingbing, Zhou Jianping, . Effects of operational parameters of plant protection UAVs on droplet deposition distribution in cotton canopy in Xinjiang [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(3): 64-70.
[5]	Dang Fengkui, Zhao Zhenpeng, Du Zhe, Liu Yihao, Zhang Liyuan, Xie Menghao. Design and experiment of mechanized picking device for oil peony pod [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(2): 8-13.
[6]	Wang Yingjie, Zhu Jingjian, Liu Guowen. Design and experiment of double‑disk rotary precision hill‑drop seeding device for rice [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(2): 27-34.
[7]	Dong Wenxue, Wu Yingsi, Hu Hengtong, Zhao Jun, Liu Fei, Yan Jianguo. Design and test of self‑propelled wide and narrow row corn harvester [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(2): 70-74.
[8]	Shen Chaoping, Zhang Hua, Cai Peng. Three‑dimensional trajectory planning of UAVs for plant protection based on improved ant colony algorithm [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(2): 113-119.
[9]	Liu Minji, Wang Jiannan, Wang Ni, You Zhaoyan, Xie Huanxiong. Design and test of small peanut sheller [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(2): 139-146.
[10]	Cheng Chen, Luo Yi, Zheng Shenghong, Wang Jiayi, Zhang Hanyu, Ding Fenghua. Simulation of agricultural output value and tea commodity price in major tea producing provinces based on Elman Neural Network [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(2): 264-270.
[11]	Dai Yizheng, Cheng Wenbin, Wang Junjun, Zhang Feibin, Xiong Huilan, Chen Huazhai. Orthogonal experiment study on uniformity of rice air-blowing centralized distributor [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(1): 1-7.
[12]	Liu Minji, Wang Jiannan, Wang Ni, You Zhaoyan, Xie Huanxiong. Experiments and key parameters optimization of chain-plate huller for ginkgo nuts [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(1): 105-111.
[13]	Zhang Xinhai, Shi Suchuan, Zhai Zhiping, Lan Yuezheng. Experimental study on the performance of multifunctional forage kneading machine [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(1): 120-124.
[14]	Qu Tianqi, Wan Lin, , Che Gang, , Zhang Zhi, Zhang Qilin, Zhong Guoliang. Experiment on optimization of key parameters of tempering drying process of rice [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(1): 125-130.
[15]	Liu Bingjie, Yuan Donghao, Ding Li, Li Yuqi, Xu Yigao, Wang Wanzhang. Estimation of SPAD and nitrogen values of winter wheat based on unmanned aerial vehicle multispectral images#br# [J]. Journal of Chinese Agricultural Mechanization, 2025, 46(1): 144-150.