Spreading control method and device, control equipment and readable storage medium

Abstract

Embodiments of the present application provide a sowing control method and device, a control device and a readable storage medium, and relate to the technical field of unmanned aerial vehicles. The method is applied to an unmanned aerial vehicle provided with a sowing mechanism, the sowing mechanism comprising a flail plate and a swing driving assembly, the swing driving assembly being connected with the flail plate, the swing driving assembly being used to drive the flail plate to swing back and forth on the left and right sides in the vertical direction, and the flail plate being used to sowing materials outward in the swing process. The method comprises the following steps: obtaining environmental wind information; determining whether the environmental wind will cause the sowing width of the sowing mechanism to be asymmetric according to the environmental wind information; and when yes, adjusting the forward speed and the return speed of the flail plate according to the environmental wind information to restore the symmetry of the sowing width. In this way, the influence of the environmental wind can be offset, the symmetry of the sowing width can be restored, and the missed sowing or the repeated sowing caused by the asymmetric sowing width can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a spreading control method and device, a control equipment and a readable storage medium. BACKGROUND

[0002] With the continuous development of unmanned aerial vehicle technology, unmanned aerial vehicles have been widely used in the plant protection industry. When the plant protection unmanned aerial vehicle is working, it generally flies based on a predetermined route and spreads materials to a specific area using a spreading mechanism. However, the spreading effect will be affected by the environmental wind, causing missed spreading or over-spreading. SUMMARY

[0003] The embodiments of the present application provide a spreading control method, device, control equipment and readable storage medium, which can control the forward speed and return speed of the spreading mechanism when it swings back and forth left and right according to the environmental wind, thereby offsetting the influence of the environmental wind and restoring the symmetry of the spreading width to reduce missed spreading or over-spreading caused by the asymmetry of the spreading width due to the influence of the environmental wind.

[0004] The embodiments of the present application can be implemented as follows:

[0005] In a first aspect, the embodiments of the present application provide a spreading control method applied to an unmanned aerial vehicle provided with a spreading mechanism, the spreading mechanism comprising a flail disc and a swing driving assembly, the swing driving assembly being connected with the flail disc, the swing driving assembly being used to drive the flail disc to swing back and forth on the left and right sides in the vertical direction, the flail disc being used to spread materials outward during the swinging process, the method comprising:

[0006] obtaining environmental wind information, wherein the environmental wind information comprises wind speed and wind direction;

[0007] judging whether the environmental wind will cause the spreading width of the spreading mechanism to be asymmetrical according to the environmental wind information;

[0008] in a case where it is determined that the environmental wind will cause the spreading width to be asymmetrical, adjusting the forward speed and return speed of the flail disc according to the environmental wind information to restore the symmetry of the spreading width, wherein the forward speed represents the speed of the flail disc from left to right, and the return speed represents the speed of the flail disc from right to left.

[0009] In a second aspect, the embodiments of the present application provide a spreading control device applied to an unmanned aerial vehicle provided with a spreading mechanism, the spreading mechanism comprising a flail disc and a swing driving assembly, the swing driving assembly being connected with the flail disc, the swing driving assembly being used to drive the flail disc to swing back and forth on the left and right sides in the vertical direction, the flail disc being used to spread materials outward during the swinging process, the device comprising:

[0010] obtain environment wind information, wherein the environment wind information comprises a wind speed and a wind direction;

[0011] determine whether the environment wind will cause the swath of the spreading mechanism to be asymmetric according to the environment wind information;

[0012] adjust the forward speed and the return speed of the flail according to the environment wind information to restore the symmetry of the swath when it is determined that the environment wind will cause the swath of the spreading mechanism to be asymmetric, wherein the forward speed represents the speed of the flail from left to right, and the return speed represents the speed of the flail from right to left.

[0013] In a third aspect, an embodiment of the present application provides a control device, comprising a processor and a memory, the memory storing machine executable instructions capable of being executed by the processor, and the processor is capable of executing the machine executable instructions to implement the spreading control method in the foregoing embodiments.

[0014] In a fourth aspect, an embodiment of the present application provides a readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the spreading control method in the foregoing embodiments.

[0015] The spreading control method, device, control device and readable storage medium provided by the embodiments of the present application, the spreading mechanism of the unmanned aerial vehicle comprises a flail and a swing driving assembly, the swing driving assembly is connected with the flail to drive the flail to swing back and forth on the left and right sides in the vertical direction, and the flail spreads the material outward in the swing process; during the spreading operation, the environment wind information can be obtained, and then according to the wind speed and the wind direction in the environment wind information, it is determined whether the environment wind will cause the swath of the spreading mechanism to be asymmetric, and when it is determined that the environment wind will cause the swath of the spreading mechanism to be asymmetric, the forward speed and the return speed of the flail are adjusted according to the environment wind information to restore the symmetry of the swath of the spreading mechanism. The forward speed represents the speed of the flail from left to right, and the return speed represents the speed of the flail from right to left. In this way, by controlling the forward speed and the return speed of the flail when swinging back and forth on the left and right according to the environment wind, the influence of the environment wind is offset, the symmetry of the swath is restored, and the missing or over-sowing caused by the asymmetric swath due to the influence of the environment wind is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0017] Figure 1 Structure diagram of a spreading system;

[0018] Figure 2 Structure diagram of a spreading mechanism in the spreading system; Figure 1 Structure diagram of a spreading mechanism in the spreading system;

[0019] Figure 3 Structure diagram of a crank slider mechanism;

[0020] Figure 4 Schematic diagram of the spreading width provided by the embodiment of the present application in the case of no environmental wind;

[0021] Figure 5 Schematic diagram of the spreading width provided by the embodiment of the present application in the case of environmental wind;

[0022] Figure 6 Block diagram of the control device provided by the embodiment of the present application;

[0023] Figure 7 One of the flow diagrams of the spreading control method provided by the embodiment of the present application;

[0024] Figure 8 Top view of the unmanned aerial vehicle provided by the embodiment of the present application;

[0025] Figure 9 Schematic diagram of the falling area provided by the embodiment of the present application in the case of no environmental wind;

[0026] Figure 10 One of the schematic diagrams of the falling area provided by the embodiment of the present application in the case of environmental wind;

[0027] Figure 11 The second of the schematic diagrams of the falling area provided by the embodiment of the present application in the case of environmental wind;

[0028] Figure 12 The second of the flow diagrams of the spreading control method provided by the embodiment of the present application;

[0029] Figure 13 Block diagram of the spreading control device provided by the embodiment of the present application.

[0030] Icon: 100-spreading system; 110-spreading mechanism; 111-mounting housing; 113-flail; 1131-flail body; 1133-blade; 1151-first motor; 1153-rotating mechanism; 120-feeding mechanism; 121-main frame; 123-auger; 300-control device; 310-memory; 320-processor; 330-communication unit; 400-spreading control device; 410-information obtaining module; 420-judging module; 430-controlling module. DETAILED DESCRIPTION

[0031] The technical solutions and advantages of the embodiments of the present application will be more clearly understood from the following description of the embodiments of the present application with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0033] It should be noted that the relational terms such as "first" and "second" and the like are used only to distinguish one entity or operation from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0034] The present embodiment provides a UAV. The UAV includes a spreading system 100 for spreading material. As shown in Figure 1 and Figure 2 The spreading system 100 includes a spreading mechanism. The spreading mechanism includes a flail 113 and a swing driving assembly connected with the flail 113, the swing driving assembly being configured to drive the flail 113 to swing back and forth on both sides of a vertical direction, and the flail 113 being configured to spread the material outward during the swinging. In this way, the material spreading can be achieved by using a vertical swinging spreading scheme. It should be noted that the vertical direction indicated above does not necessarily mean a complete vertical direction, and can be inclined as long as there is a vertical component.

[0035] Optionally, in the embodiment, the spreading mechanism can further comprise a mounting housing 111. The mounting housing 111 comprises a feeding port and a discharging port, and a swinging disc 113 is rotatably arranged in the mounting housing 111. When used for spreading, the material entering the mounting housing 111 from the feeding port can be thrown out from the discharging port through the swinging of the swinging disc 113.

[0036] Optionally, in the embodiment, the swinging disc 113 can comprise a swinging disc body 1131 and a plurality of blades 1133 arranged at the edge of the swinging disc body 1131. After the material falls on the blades 1133 from the feeding port into the mounting housing 111, the blades 1133 beat the material and throw the material out during the swinging of the swinging disc 113. Optionally, the swinging disc body 1131 can be, but is not limited to, a fan-shaped structure. When the swinging disc body 1131 is a fan-shaped structure, the plurality of blades 1133 can be arranged at the arc edge of the swinging disc body 1131.

[0037] Optionally, in the embodiment, the swinging driving assembly can comprise a first motor 1151 and a rotating mechanism 1153. The rotating mechanism 1153 is connected with the first motor 1151 and the swinging disc 113, and is used for driving the swinging disc 113 to swing left and right in the vertical direction when the first motor 1151 rotates. It can be understood that the rotating mechanism 1153 is a rotation-swinging conversion mechanism, which is used for converting the one-way rotation of the motor into the left and right swinging of the swinging disc 113, and the specific structure can be set according to the actual needs, which is not limited here.

[0038] As a possible implementation manner, the rotating mechanism 1153 can be a crank rocker structure as shown in Figure 2 , or a crank slider structure as shown in Figure 3 .

[0039] Please refer again to Figure 1 , in the embodiment, the spreading system can further comprise a feeding mechanism 120. The feeding mechanism 120 is connected with the spreading mechanism 110, and is used for providing the material to the spreading mechanism 110.

[0040] In the embodiment, the feeding mechanism 120 can comprise a main frame 121 with a feeding inlet and a material guiding assembly arranged on the main frame 121. The main frame 121 is arranged below a material box, and the material in the material box falls into the main frame 121 through the feeding inlet, and the material guiding assembly conveys the material falling into the main frame 121 to the feeding port of the mounting housing 111.

[0041] The material guiding assembly can be set according to actual requirements, and the material is only required to be delivered to the sowing mechanism. As a possible implementation, the material guiding assembly can include a second motor and an auger 123. The material in the material box falls into the auger 123 in the main frame 121 through the feeding inlet, and the auger 123 rotates to deliver the material to the sowing mechanism under the drive of the second motor. The flinger 113 in the sowing mechanism swings left and right to fling out the material.

[0042] The inventors of the present application have found that, under normal environmental wind conditions, the above unmanned aerial vehicle is asymmetric when performing sowing operations, as shown in FIG. 1B. However, if affected by environmental wind, the sowing width of the unmanned aerial vehicle will be asymmetric. As shown in FIG. 1C, affected by the left environmental wind, the sowing width of the unmanned aerial vehicle changes from P1P2 to P1'P2', and P1'P2' does not completely overlap P1P2. In the case that the sowing width of the unmanned aerial vehicle is asymmetric due to environmental wind, if the unmanned aerial vehicle continues to operate along the welding line, it will cause missed sowing or repeated sowing. Figure 4 Figure 5

[0043] In view of the above, the embodiments of the present application provide a sowing control method and device, a control device and a readable storage medium, which can control the forward speed and return speed of the sowing mechanism when swinging left and right by the environmental wind, so as to offset the influence of the environmental wind, restore the symmetry of the sowing width, and reduce missed sowing or repeated sowing caused by the asymmetric sowing width due to the environmental wind.

[0044] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the case of no conflict, the embodiments described below and the features in the embodiments can be combined with each other.

[0045] Please refer to Figure 6 , Figure 6 The block schematic diagram of the control device 300 provided by the embodiments of the present application is shown in FIG. 3. The control device 300 can be, but is not limited to, an unmanned aerial vehicle, a control unit in the unmanned aerial vehicle, or a device for controlling the unmanned aerial vehicle, etc. The control device 300 can include a memory 310, a processor 320 and a communication unit 330. The memory 310, the processor 320 and the communication unit 330 are directly or indirectly electrically connected to each other to realize the transmission or interaction of data. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines.

[0046] ​​The memory 310 is configured to store data or a program. The memory 310 can be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electric Erasable Programmable Read-Only Memory (EEPROM), etc.

[0047] The processor 320 is configured to read / write the data or program stored in the memory 310, and perform corresponding functions. For example, the memory 310 stores the spreading control device 400, which includes at least one software function module stored in the memory 310 in the form of software or firmware. The processor 320 performs various function applications and data processing by running the software program and module stored in the memory 310, i.e., implements the spreading control method in the embodiments of the present application.

[0048] The communication unit 330 is configured to establish a communication connection between the control device 300 and other communication terminals through a network, and configured to transceive data through the network.

[0049] It should be understood that, Figure 6 The structure shown is only a structural schematic diagram of the control device 300, and the control device 300 can further include more or less components than those shown in the Figure 6 embodiments, or have a different configuration from that shown in the Figure 6 embodiments. Figure 6 The components shown in the embodiments can be implemented in hardware, software, or a combination thereof.

[0050] Figure 7 Please refer to Figure 7 ,One of the flowcharts of the spreading control method provided by the embodiments of the present application. The method is applied to the unmanned aerial vehicle provided with the spreading mechanism as described above, the spreading mechanism comprising a flail and a swing driving assembly, the swing driving assembly being connected with the flail, the swing driving assembly being configured to drive the flail to swing back and forth on the left and right sides of a vertical direction, and the flail being configured to spread the material outward during the swing. The vertical direction as described above does not necessarily indicate a completely vertical direction, and can be inclined as long as it has a vertical component. The specific flow of the spreading control method is described in detail below. In this embodiment, the method can include steps S110-S130.

[0051] In step S110, environmental wind information is obtained.

[0052] In this embodiment, the information of the environment where the unmanned aerial vehicle is located can be collected as the environmental information during the spreading operation of the unmanned aerial vehicle. The environmental information can include environmental wind information, and can also include other information, which can be determined according to actual needs. The environmental wind information includes wind speed and wind direction, and is used to vectorize the environmental wind.

[0053] The environmental wind information can be obtained in any way, which can be determined according to actual needs and is not limited here. For example, the wind speed and wind direction can be obtained according to the change of the motor output of the unmanned aerial vehicle and the IMU (Inertial Measurement Unit) information. Alternatively, a wind direction and speed sensor can be arranged on the unmanned aerial vehicle, and the wind speed and wind direction can be obtained based on the wind direction and speed sensor. Alternatively, the environmental wind information of the weather forecast can also be obtained through the network.

[0054] In step S120, it is determined whether the environmental wind will cause the spreading width of the spreading mechanism to be asymmetric according to the environmental wind information.

[0055] After obtaining the environmental wind information, the environmental wind information can be analyzed to determine whether the environmental wind will cause the spreading width of the spreading mechanism to be asymmetric, i.e., whether the environmental wind will cause the spreading width of the spreading mechanism to be asymmetric around the center of the unmanned aerial vehicle. The specific analysis method of whether the environmental wind will cause the spreading width to be asymmetric can be set according to actual needs, for example, a pre-trained symmetry analysis model can be used for determination, and the data used for training of the symmetry analysis model includes the forward direction of the unmanned aerial vehicle, a label, wind speed and wind direction, wherein the label is used to indicate symmetry or asymmetry.

[0056] In a case where it is determined that the environmental wind will not cause the swath of the spreading mechanism to be asymmetric, it is determined that the speed of the disc in the to-and-fro movement does not need to be adjusted based on the environmental wind information, and thus step S130 can not be performed. The speed of the disc in the to-and-fro movement refers to two speeds, one of which is used to indicate the speed of the disc moving from one side to the other side, and the other of which is used to indicate the speed of the disc moving from the other side to the one side. For ease of description, in the present embodiment, one of the speeds of the disc in the to-and-fro movement is denoted as a forward speed, and the other is denoted as a return speed, the forward speed indicating the speed of the disc moving from left to right, and the return speed indicating the speed of the disc moving from right to left.

[0057] In a case where it is determined that the environmental wind will cause the swath to be asymmetric, the forward speed and the return speed of the disc are adjusted based on the environmental wind information to restore the symmetry of the swath.

[0058] In a case where it is determined that the environmental wind will cause the swath to be asymmetric, the forward speed and the return speed of the disc are adjusted based on the environmental wind information to restore the symmetry of the swath. Figure 8 The specific adjustment of the forward speed and the return speed can be determined based on actual needs, as long as the degree of overlap between the swath after the speed adjustment and the normal swath is increased, that is, the difference between the left swath and the right swath before and after the adjustment is reduced. As shown in FIG. 6, based on the center of the unmanned aerial vehicle, the swath of the unmanned aerial vehicle is divided into a left swath and a right swath, the left swath being located on the left side of the center of the unmanned aerial vehicle, and the right swath being located on the right side of the center of the unmanned aerial vehicle.

[0059] In the present embodiment, the speed of the disc in the to-and-fro movement can be controlled based on the environmental wind to offset the influence of the environmental wind, restore the symmetry of the swath, and reduce the missed sowing or re-sowing caused by the asymmetry of the swath due to the influence of the environmental wind.

[0060] As a possible implementation, whether the environmental wind will cause the swath of the spreading mechanism to be asymmetric can be determined quickly in the following manner. A first speed component of the environmental wind can be obtained according to the environmental wind information. The first speed component is a speed component of the environmental wind on a first coordinate axis, the first coordinate axis is in a horizontal plane and perpendicular to the advancing direction of the UAV, and the first speed component is greater than or equal to 0. Then, it can be determined whether the first speed component is greater than a first preset speed. If the first speed component is greater than the first preset speed, it can be determined that the environmental wind will cause the swath of the spreading mechanism to be asymmetric. If the first speed component is less than or equal to the first preset speed, it can be determined that the environmental wind will not cause the swath of the spreading mechanism to be asymmetric. The first preset speed can be determined in combination with actual needs, for example, set to 0. When the first preset speed is 0, if the environmental wind has a non-zero component on the first coordinate axis, it can be determined that the environmental wind will cause the swath to be asymmetric.

[0061] The following describes how to determine whether the environmental wind will cause the swath of the spreading mechanism to be asymmetric, with the first preset speed being 0 as an example. Figure 8

[0062] The first coordinate axis is the X axis in the top-down view, and the Y axis perpendicular to the X axis represents the advancing and retreating direction of the UAV. Based on the environmental wind information, the first speed component of the environmental wind on the X axis can be obtained, and it can be determined whether the first speed component is greater than the first preset speed. Figure 8 The XY axes shown in FIG. 1 decompose the environmental wind, that is, decompose the environmental wind into a component in the advancing and retreating direction of the UAV (i.e., the Y axis) and a component in the left and right direction (i.e., the X axis). If the environmental wind has no non-zero component in the left and right direction, it means that the wind direction of the environmental wind is parallel to the advancing and retreating direction of the UAV, and at this time, it will not affect the symmetry of the swath. If there is a non-zero component in the left and right direction, the component will affect the symmetry of the swath.

[0063] Optionally, to ensure the accuracy of the first speed component, the environmental wind can be decomposed in an XYZ coordinate system, and the symmetry of the swath is determined based on the first speed component on the X axis. The X axis and the Y axis in the XYZ coordinate system can be as shown in FIG. 1, and the Z axis represents the vertical direction. Figure 8

[0064] ​​In the case that the environmental wind causes the swath of the spreading mechanism to be asymmetric, if the direction of the first speed component is the same as the direction of the forward speed, the forward speed can be reduced and the return speed can be increased to restore the symmetry of the swath. If the direction of the first speed component is opposite to the direction of the forward speed, the forward speed can be increased and the return speed can be reduced to restore the symmetry of the swath. In this way, the forward speed and the return speed of the spreading mechanism when swinging left and right can be controlled according to the component of the environmental wind in the left-right direction to offset the influence of the environmental wind and restore the symmetry of the swath.

[0065] Suppose the environmental wind is as shown in Figure 8 The environmental wind is blowing from the left front of the unmanned aerial vehicle to the unmanned aerial vehicle, and the component in the left-right direction (i.e. the X-axis) is obtained after decomposition of the environmental wind as the first speed component. The first speed component will make the left swath of the unmanned aerial vehicle smaller and the right swath larger. In this case, the forward speed of the flail plate can be controlled to be reduced to reduce the right swath, and the return speed of the flail plate can be controlled to be increased to increase the left swath, so as to offset the influence of the environmental wind and maintain the symmetry of the swath relative to the left and right of the unmanned aerial vehicle.

[0066] The adjustment information corresponding to the forward speed and the return speed can be the same or different, which can be determined in combination with specific settings. In one possible implementation, the adjustment information of the forward speed and the return speed is the same. The above adjustment information is used to indicate the adjusted speed.

[0067] Since the flight height affects the size of the left and right swath, in order to ensure the adjustment effect, in the embodiment, the adjustment information corresponding to the forward speed and the return speed can be determined according to the current flight height of the unmanned aerial vehicle, the direction of the first speed component and the first speed component, that is, the target forward speed adjustment information and the target return speed adjustment information are determined. The specific way of determining the adjustment information according to the flight height, the direction of the first speed component and the first speed component can be determined in combination with actual requirements, which is not limited here.

[0068] Optionally, as one possible implementation, the target forward speed adjustment information corresponding to the forward speed and the target return speed adjustment information corresponding to the return speed can be calculated according to a first preset calculation formula, the current flight height of the unmanned aerial vehicle, the first speed component and the direction of the first speed component.

[0069] Optionally, as another possible implementation, a plurality of sets of data can be obtained in advance through testing, and then a plurality of round trip speed adjustment tables can be obtained according to the plurality of sets of data. The plurality of round trip speed adjustment tables correspond to different first table information, the first table information includes a flight height range, a first direction same as a direction of the first speed component, or a second direction opposite to the direction of the first speed component, and the round trip speed adjustment table includes a corresponding relationship between a first speed component range and round trip speed adjustment information, and the round trip speed adjustment information includes forward speed adjustment information and return speed adjustment information. The forward speed adjustment information and the return speed adjustment information can be an adjustment ratio, a speed adjustment amount, or an adjusted speed, used to indicate the speed after adjustment.

[0070] For example, it is determined that, in the flight height range of H1-H2, when the left wind speed is S, the corresponding forward speed is reduced by 10% and the return speed is increased by 10%, and then the swath recovery symmetry is restored. After the determination is completed for different heights and different left wind speeds, a plurality of sets of data can be obtained, and then a plurality of round trip speed adjustment tables corresponding to the left wind speed can be obtained. Optionally, the right wind can be tested based on the same determination method, so as to obtain a plurality of round trip speed adjustment tables corresponding to the right wind speed. The plurality of round trip speed adjustment tables corresponding to the right wind speed can also be obtained based on the plurality of round trip speed adjustment tables corresponding to the left wind speed. Wherein, the forward speed adjustment information and the return speed adjustment information in the round trip speed adjustment table corresponding to the left wind speed are exchanged, and then the round trip speed adjustment table corresponding to the left wind speed can be used as a round trip speed adjustment table corresponding to the right wind speed. For example, in the round trip speed adjustment table corresponding to the left wind speed, the forward speed adjustment information of a certain first speed component range is A, and the return speed adjustment information is B, and then in the round trip speed adjustment table corresponding to the right wind speed, the forward speed adjustment information of the first speed component range is B, and the return speed adjustment information is A.

[0071] The flight height range in which the current flight height of the unmanned aerial vehicle is located can be determined, and then a round trip speed adjustment table can be determined from the plurality of round trip speed adjustment tables according to the flight height range and the direction of the first speed component. The flight height range and the direction in the first table information of the determined round trip speed adjustment table are the same as the flight height range in which the current flight height is located and the direction of the first speed component. Then, the forward speed adjustment information and the return speed adjustment information corresponding to the first speed component range in which the first speed component is located can be determined from the determined round trip speed adjustment table as target forward speed adjustment information and target return speed adjustment information. Then, the forward speed can be adjusted according to the target forward speed adjustment information, and the return speed can be adjusted according to the return speed adjustment information, so as to restore the symmetry of the swath. In this way, the round trip speed adjustment can be quickly completed according to the round trip speed adjustment table obtained in advance through testing.

[0072] It is worth noting that, in the case of the round-trip speed adjustment information being represented by a proportion, as the wind speed range becomes larger, the round-trip speed adjustment information represented by the proportion also becomes larger. A wind speed range is larger than another wind speed range means that the minimum value of the one wind speed range is larger than the maximum value of the other wind speed range.

[0073] The present inventors have also found through research that the environmental wind has a component in the front-rear direction in addition to the left-right direction, and the component in the front-rear direction also affects the spreading effect. At the moment when the environmental wind arrives, if the component in the front-rear direction of the environmental wind is opposite to the advancing direction of the aircraft, as shown in the case of FIG. 6, the falling area of the material will lag, resulting in repeated spreading in some areas; conversely, if the component in the front-rear direction of the environmental wind is the same as the advancing direction of the aircraft, then at the moment when the environmental wind occurs, the falling area of the material will be ahead, resulting in missed spreading in some areas. Figure 8

[0074] The missed spreading and repeated spreading will be described below in combination with the drawings.

[0075] As shown in FIG. 5, in the case of no environmental wind, the falling area of the material during spreading is P3P4, and the aircraft spreads all the way to P4, and all the areas before P4 have been spread. As shown in FIG. 6, when the component in the front-rear direction of the environmental wind is the same as the advancing direction of the aircraft, the falling area of the material is P3'P4', P3'P4' is ahead relative to P3P4, and at this time, there is a missed spreading area P4'P3. As shown in FIG. 7, when the component in the front-rear direction of the environmental wind is opposite to the advancing direction of the aircraft, the falling area of the material is P3'P4', P3'P4' is offset backward relative to P3P4, and at this time, there is a repeated spreading area P4P4'. Figure 9 Figure 10 Figure 11

[0076] To reduce the missed spreading area and the repeated spreading area, the steps S140-S150 shown in FIG. 4 can be used for control. Please refer to Figure 12 Figure 12 Figure 12 The flowchart of the spreading control method provided by the embodiment of the present application is shown in FIG. 4. In this embodiment, the method can further include steps S140-S150.

[0077] In step S140, it is judged according to the environmental wind information whether the environmental wind will cause the falling area of the material to drift in the advancing direction or the retreating direction of the unmanned aerial vehicle.

[0078] ​​​​​​In the embodiment, in the case that the environmental wind is obtained, analysis can be performed based on the environmental wind information to determine whether the environmental wind will cause the falling area of the material to drift in the advancing direction or retreating direction of the UAV, that is, to determine whether the environmental wind will cause the falling area of the material to drift ahead or fall behind. The specific analysis manner of whether the environmental wind will cause the falling area to drift in the front-rear direction of the UAV can be set in combination with actual requirements, for example, the drift analysis model trained in advance can be used for determination, and the data used for training of the symmetric analysis model includes the advancing direction of the UAV, a label, a wind speed, and a wind direction, wherein the label is used to indicate drifting or not drifting in the front-rear direction.

[0079] In the case that it is determined that the environmental wind will not cause the falling area to drift, it is determined that the flight speed of the UAV does not need to be adjusted based on the environmental wind information, and therefore step S150 can not be performed.

[0080] In the case that it is determined that the environmental wind will cause the falling area to drift, the flight speed of the UAV is adjusted according to the environmental wind information to make the falling area not drift.

[0081] In the case that it is determined that the environmental wind will cause the falling area to drift, the flight speed of the UAV is adjusted based on the environmental wind information to make the falling area not drift. The specific adjustment manner of the flight speed can be determined based on actual requirements, as long as the drift degree after speed adjustment is reduced.

[0082] As a possible implementation manner, the environmental wind can be quickly determined whether it will cause the falling area to drift in the front-rear direction of the UAV in the following manner. The second speed component of the environmental wind can be obtained according to the environmental wind information. The second speed component is the speed component of the environmental wind on the second coordinate axis, the second coordinate axis is located in the horizontal plane and parallel to the advancing direction of the UAV, and the second speed component is greater than or equal to 0. Then, it can be determined whether the second speed component is greater than a second preset speed. If the second speed component is greater than the second preset speed, it can be determined that the environmental wind will cause the falling area to drift in the front-rear direction of the UAV. If the second speed component is less than or equal to the second preset speed, it can be determined that the environmental wind will not cause the falling area to drift in the front-rear direction of the UAV. The second preset speed can be determined in combination with actual requirements, for example, set to 0. In the case that the second preset speed is 0, if the environmental wind has a non-0 component on the second coordinate axis, it can be determined that the environmental wind will cause the falling area to drift.

[0083] Optionally, to ensure the accuracy of the second speed component, the environmental wind can be decomposed in an XYZ coordinate system, and the swath symmetry is determined based on the first speed component on the Y axis. As shown in FIG. 21, the X axis and the Y axis of the XYZ coordinate system can be as shown in the figure, and the Z axis represents the vertical direction. Figure 8

[0084] In the case where the environmental wind causes the falling area to drift in the front-rear direction of the UAV, if the direction of the second speed component is the same as the advancing direction of the UAV, the flight speed of the UAV can be reduced, and the speed of the material in the advancing direction of the UAV is reduced so as not to drift; if the direction of the second speed component is opposite to the advancing direction of the UAV, the flight speed of the UAV can be increased, and the speed of the material in the advancing direction of the UAV is increased so as not to drift. In this way, the flight speed of the UAV can be controlled according to the front-rear direction component of the environmental wind, so as to offset the influence of the environmental wind, and the falling area of the material does not drift in the front-rear direction of the UAV compared with the falling area in the case of no wind.

[0085] Since the flight height affects the falling area of the material, in order to ensure the adjustment effect, in the embodiment, the target flight speed adjustment information corresponding to the flight speed can be determined according to the current flight height of the UAV, the direction of the second speed component and the second speed component. The specific way of determining the target flight speed adjustment information according to the flight height, the direction of the second speed component and the second speed component can be determined according to actual needs, and is not limited here.

[0086] Optionally, as one possible implementation, the target flight speed adjustment information corresponding to the flight speed can be calculated according to the second preset calculation formula, the current flight height of the UAV, the second speed component and the direction of the second speed component.

[0087] Optionally, as another possible implementation, a plurality of sets of data can be obtained by pre-test, and then a plurality of flight speed adjustment tables can be obtained according to the plurality of sets of data. The plurality of flight speed adjustment tables correspond to different second table information, the second table information includes a flight height range, a third direction same as the advancing direction or a fourth direction opposite to the advancing direction, and the flight speed adjustment table includes a corresponding relationship between the second speed component range and the flight speed adjustment information. The flight speed adjustment information can be an adjustment ratio, a speed adjustment amount or an adjusted speed, which is used to indicate the speed after adjustment. The obtaining method of the flight speed adjustment table can refer to the description of the obtaining method of the round-trip speed adjustment table, and will not be repeated here.

[0088] ​The flight height range in which the current flight height of the UAV is located can be determined, and then a flight speed adjustment table is determined from the plurality of flight speed adjustment tables according to the flight height range and the direction of the second speed component. The flight height range and the direction in the second table information of the determined flight speed adjustment table are the same as the flight height range in which the current flight height is located and the direction of the second speed component. Then, flight speed adjustment information corresponding to the second speed component range in which the second speed component is located can be determined from the determined flight speed adjustment table as target flight speed adjustment information. Then, the flight speed of the UAV can be adjusted according to the target flight speed adjustment information, so that the falling area of the material does not drift in the front-rear direction of the UAV. In this way, the flight speed adjustment can be quickly completed according to the flight speed adjustment table obtained by pre-testing.

[0089] In this way, by controlling the forward speed and the return speed when the disc swings back and forth to the left and right according to the environmental wind, the influence of the environmental wind can be offset, and the symmetry of the sowing width is restored. At the same time, by controlling the flight speed of the UAV according to the environmental wind, the influence of the environmental wind can be offset, and the falling area of the material does not drift in the front-rear direction of the UAV, thereby ensuring the sowing effect.

[0090] In order to perform the corresponding steps in the above-mentioned embodiments and various possible manners, an implementation of a sowing control device 400 is given below, which can optionally adopt the device structure of the control device 300 shown in Figure 6 . Further, please refer to Figure 13 , Figure 13 The block schematic diagram of the sowing control device 400 provided in the embodiments of the present application is shown. It should be noted that the basic principle and the technical effects generated by the sowing control device 400 provided in the embodiments are the same as those of the above-mentioned embodiments, and for brief description, the part not mentioned in the embodiments can refer to the corresponding content of the above-mentioned embodiments. In the embodiments, the sowing control device 400 is applied to a UAV provided with a sowing mechanism. The sowing mechanism includes a disc and a swing driving assembly, the swing driving assembly is connected with the disc, the swing driving assembly is used to drive the disc to swing back and forth on the left and right sides in the vertical direction, and the disc is used to sowing material outward during the swing process. The sowing control device 400 can include an information obtaining module 410, a judgment module 420, and a control module 430.

[0091] The information obtaining module is used to obtain environmental wind information. The environmental wind information includes wind speed and wind direction.

[0092] The judgment module 420 is used to determine whether the environmental wind will cause the sowing width of the sowing mechanism to be asymmetric according to the environmental wind information.

[0093] The control module 430 is configured to adjust the forward speed and the return speed of the flail according to the environmental wind information, so as to restore the symmetry of the spreading width, in the case that the environmental wind is determined to cause the asymmetry of the spreading width. The forward speed represents the speed of the flail from left to right, and the return speed represents the speed of the flail from right to left.

[0094] In this embodiment, the judging module 420 is further configured to determine, according to the environmental wind information, whether the environmental wind causes the falling area of the material to drift in the advancing direction or the retreating direction of the unmanned aerial vehicle. The control module 430 is further configured to adjust the flight speed of the unmanned aerial vehicle according to the environmental wind information, so as to make the falling area not drift, in the case that the environmental wind is determined to cause the falling area to drift.

[0095] Optionally, the above modules can be stored in the storage 310 in the form of software or firmware (Firmware) or solidified in the operating system (Operating System, OS) of the control device 300, and can be executed by the processor 320. Figure 6 The data, program code and the like required for executing the above modules can be stored in the storage 310. Figure 6

[0096] The embodiment of the present application further provides a readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the spreading control method.

[0097] In conclusion, the embodiment of the present application provides a spreading control method, device, control device and readable storage medium. The spreading mechanism of the unmanned aerial vehicle includes a flail and a swing driving assembly. The swing driving assembly is connected with the flail to drive the flail to swing back and forth on the left and right sides in the vertical direction, and the flail spreads the material outward in the swing process. In the spreading operation process, the environmental wind information can be obtained, and then the wind speed and the wind direction in the environmental wind information are used to determine whether the environmental wind causes the spreading width of the spreading mechanism to be asymmetric, and the forward speed and the return speed of the flail are adjusted according to the environmental wind information, so as to restore the symmetry of the spreading width, in the case that the environmental wind is determined to cause the spreading width of the spreading mechanism to be asymmetric. The forward speed represents the speed of the flail from left to right, and the return speed represents the speed of the flail from right to left. In this way, the forward speed and the return speed of the flail in the left-right swing are controlled according to the environmental wind, so as to offset the influence of the environmental wind, restore the symmetry of the spreading width, and reduce the missing or over-spraying caused by the asymmetry of the spreading width due to the influence of the environmental wind.

[0098] ​In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from those noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system for executing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0099] In addition, the functional modules in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0100] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0101] The above description is only optional embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of spread control, characterized by, The method is applied to a unmanned aerial vehicle provided with a sowing mechanism, the sowing mechanism comprises a flail plate and a swing driving assembly, the swing driving assembly is connected with the flail plate, the swing driving assembly is used for driving the flail plate to swing back and forth on the left and right sides in the vertical direction, and the flail plate is used for sowing materials outward in the swing process, and the method comprises the following steps: Obtaining environmental wind information, wherein the environmental wind information comprises wind speed and wind direction; According to the environmental wind information, it is judged whether the environmental wind will cause the sowing width of the sowing mechanism to be asymmetric; In the case that it is determined that the environmental wind will cause the sowing width to be asymmetric, the forward speed and the return speed of the flail plate are adjusted according to the environmental wind information to restore the symmetry of the sowing width, wherein the forward speed represents the speed of the flail plate from left to right, and the return speed represents the speed of the flail plate from right to left.

2. The method of claim 1, wherein, In the case that it is determined that the environmental wind will cause the sowing width to be asymmetric, the forward speed and the return speed of the flail plate are adjusted according to the environmental wind information to restore the symmetry of the sowing width, comprising: When the direction of the first speed component is the same as the direction of the forward speed, the forward speed is reduced and the return speed is increased, wherein the first speed component is the speed component of the environmental wind on the first coordinate axis, and the first coordinate axis is located in the horizontal plane and perpendicular to the advancing direction of the unmanned aerial vehicle; When the direction of the first speed component is opposite to the direction of the forward speed, the forward speed is increased and the return speed is reduced.

3. The method of claim 2, wherein, In the case that it is determined that the environmental wind will cause the sowing width to be asymmetric, the forward speed and the return speed of the flail plate are adjusted according to the environmental wind information to restore the symmetry of the sowing width, comprising: According to the current flight height, the direction of the first speed component and the first speed component, target forward speed adjustment information and target return speed adjustment information are determined; According to the target forward speed adjustment information, the forward speed is adjusted, and according to the return speed adjustment information, the return speed is adjusted to restore the symmetry of the sowing width.

4. The method of claim 3, wherein, According to the current flight height, the direction of the first speed component and the first speed component, target forward speed adjustment information and target return speed adjustment information are determined, comprising: According to the current flight height, the direction of the first speed component and the first speed component, the target forward speed adjustment information and the target return speed adjustment information are obtained from a plurality of forward and return speed adjustment tables obtained by pre-test, wherein the plurality of forward and return speed adjustment tables correspond to different first table information, the first table information comprises flight height range, first direction same as the direction of the first speed component or second direction opposite to the direction of the first speed component, the forward and return speed adjustment table comprises the corresponding relationship between the first speed component range and the forward and return speed adjustment information, and the forward and return speed adjustment information comprises the forward speed adjustment information and the return speed adjustment information.

5. The method of claim 1, wherein, According to the environmental wind information, it is judged whether the environmental wind will cause the sowing width of the sowing mechanism to be asymmetric, comprising: According to the environmental wind information, a first speed component of the environmental wind is obtained, wherein the first speed component is a speed component of the environmental wind on a first coordinate axis, and the first coordinate axis is in a horizontal plane and perpendicular to a forward direction of the unmanned aerial vehicle; If the first speed component is greater than a first preset speed, it is determined that the environmental wind will cause the swath to be asymmetric.

6. The method according to any one of claims 1 to 5, characterized in that, The method further comprises: According to the environmental wind information, it is determined whether the environmental wind will cause a falling area of the material to drift in a forward direction or a backward direction of the unmanned aerial vehicle; In a case where it is determined that the environmental wind will cause the falling area to drift, the flight speed of the unmanned aerial vehicle is adjusted according to the environmental wind information, so that the falling area does not drift.

7. The method of claim 6, wherein, The flight speed of the unmanned aerial vehicle is adjusted according to the environmental wind information in a case where it is determined that the environmental wind will cause the falling area to drift, so that the falling area does not drift, and the method comprises: When a direction of a second speed component is the same as the forward direction of the unmanned aerial vehicle, the flight speed of the unmanned aerial vehicle is reduced, wherein the second speed component is a speed component of the environmental wind on a second coordinate axis, and the second coordinate axis is in the horizontal plane and parallel to the forward direction of the unmanned aerial vehicle; When the direction of the second speed component is opposite to the forward direction of the unmanned aerial vehicle, the flight speed of the unmanned aerial vehicle is increased.

8. The method of claim 7, wherein, The flight speed of the unmanned aerial vehicle is adjusted according to the environmental wind information in a case where it is determined that the environmental wind will cause the falling area to drift, so that the falling area does not drift, and the method comprises: According to the current flight height, the direction of the second speed component, and the second speed component, target flight speed adjustment information is determined; According to the target flight speed adjustment information, the flight speed of the unmanned aerial vehicle is adjusted, so that the falling area does not drift.

9. The method of claim 8, wherein, The target flight speed adjustment information is determined according to the current flight height, the direction of the second speed component, and the second speed component, and the method comprises: According to the current flight height, the direction of the second speed component, and the second speed component, the target flight speed adjustment information is obtained from a plurality of flight speed adjustment tables obtained through pre-test, wherein the plurality of flight speed adjustment tables correspond to different second table information, the second table information comprises a flight height range, a third direction which is the same as the forward direction, or a fourth direction which is opposite to the forward direction, and the flight speed adjustment table comprises a corresponding relationship between a second speed component range and flight speed adjustment information.

10. The method of claim 6, wherein, According to the environmental wind information, a second speed component of the environmental wind is obtained, wherein the second speed component is a speed component of the environmental wind on a second coordinate axis, and the second coordinate axis is in a horizontal plane and parallel to a forward direction of the unmanned aerial vehicle; If the second speed component is greater than a second preset speed, it is determined that the environmental wind will cause the falling area to drift. ​ 11. A spread control device, characterized by The device is applied to a unmanned aerial vehicle provided with a spreading mechanism, the spreading mechanism comprises a flail and a swing driving assembly, the swing driving assembly is connected with the flail, the swing driving assembly is used for driving the flail to swing back and forth on the left and right sides in the vertical direction, and the flail is used for spreading materials outward in the swing process. An information obtaining module is configured to obtain environmental wind information, wherein the environmental wind information comprises wind speed and wind direction. A judgment module is configured to judge whether the environmental wind will cause the spreading width of the spreading mechanism to be asymmetric according to the environmental wind information. A control module is configured to adjust the forward speed and the return speed of the flail according to the environmental wind information to restore the symmetry of the spreading width in a case where it is determined that the environmental wind will cause the spreading width to be asymmetric, wherein the forward speed represents the speed of the flail from left to right, and the return speed represents the speed of the flail from right to left.

12. A control device characterized by comprising: The computer program is executed by the processor to implement the spreading control method according to any one of claims 1-9.

13. A readable storage medium, having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the spreading control method according to any one of claims 1-9.

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