Aircraft sowing operation method and device, storage medium and equipment

Abstract

The invention provides an aircraft sowing operation method and device, a storage medium and equipment, and the method comprises the steps: controlling an aircraft to fly along a back-and-forth route in a back-and-forth operation stage, and carrying out the sowing operation according to a first sowing width; after the operation of the round-trip route is completed, the aircraft is controlled to cut into the edge sweeping route from the round-trip route, and an edge sweeping operation stage is entered; in the edge sweeping operation stage, the aircraft is controlled to fly along the edge sweeping route, and sowing operation is conducted according to the second sowing width; wherein when the aircraft works in a first sowing width, the projecting disc swings in a first angle range, and when the aircraft works in a second sowing width, the projecting disc swings in a second angle range. By adjusting the angle range of the throwing disc, the sowing width in the edge sweeping operation stage is different from the sowing width in the back-and-forth operation stage, and the sowing width in the edge sweeping operation stage is flexibly adjusted.

Description

Technical Field

[0001] The present invention relates to the field of aircraft technology, and in particular to an aircraft seeding operation method, device, storage medium and equipment. Background Art

[0002] Agricultural drones are developing rapidly, and their payload is constantly increasing. They are being applied to more and more links in field agricultural production. In the field management of field crops, drones are not only used to spray liquid pesticides, but also to spread particles such as seeds, powders, and solid fertilizers.

[0003] Drones are equipped with spreaders to enable the dispersal of seeds, powders, solid fertilizers, and other granules. Drones typically operate along a predetermined flight path or are controlled by a remote operator. Because field boundaries don't always perfectly match flight paths, drones operating along predetermined routes can experience missed or duplicated seeds. Summary of the Invention

[0004] The object of the present invention is to provide an aircraft seeding operation method, device, storage medium and equipment to improve the above-mentioned problems.

[0005] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0006] In a first aspect, an embodiment of the present invention provides an aircraft sowing operation method, the method comprising: in a round-trip operation stage, controlling the aircraft to fly along a round-trip route and performing sowing operations according to a first sowing width; after completing the operation on the round-trip route, controlling the aircraft to cut from the round-trip route into a sweeping route to enter a sweeping operation stage; in the sweeping operation stage, controlling the aircraft to fly along the sweeping route and performing sowing operations according to a second sowing width; wherein, when the aircraft operates with the first sowing width, the spinning disc therein swings within a first angle range, and when the aircraft operates with the second sowing width, the spinning disc swings within a second angle range.

[0007] By adjusting the angle range of the spinner, the sowing width during the sweeping phase can be made different from the sowing width during the round-trip phase, allowing for flexible adjustment of the sowing width during the sweeping phase. This flexible adjustment of the sowing width during the sweeping phase allows the sweeping coverage area to coincide with the leftover area from the round-trip phase, making them identical. This ensures that the sweeping coverage area completely covers the leftover area while not exceeding it. This ensures efficient sowing, avoids omissions, and prevents excess seed from exceeding the boundaries of the plot, thus minimizing seed waste.

[0008] Optionally, the method further includes: when the aircraft cuts into the sweeping route from the round-trip route, determining the swing angle range of the spinner corresponding to the second sowing width, and controlling the spinner to swing back and forth within the determined second angle range, so that the sowing width of the sowing operation is switched to the second sowing width.

[0009] By completing the sowing width adjustment during the route switching process, the time of sowing operation can be avoided from being occupied by the sowing width switching, and the operation efficiency can be further improved.

[0010] Optionally, controlling the aircraft to cut into the side-sweeping route from the round-trip route and enter the side-sweeping operation stage includes: determining the side-sweeping route entry point corresponding to the operation end point of the round-trip route based on the principle of closest distance; controlling the aircraft to fly from the operation end point of the round-trip route to the side-sweeping route entry point, so that the aircraft cuts into the side-sweeping route.

[0011] By determining the nearest entry point for the sweeping route, the efficiency of the aircraft's switching between the round-trip route and the sweeping route is guaranteed.

[0012] Optionally, the sweeping route includes multiple sweeping segments, wherein each of the sweeping segments is set with a corresponding sowing width, and the sowing width corresponding to the first sweeping segment after entering the sweeping route is the second sowing width. After controlling the aircraft to fly along the sweeping route and performing sowing operations according to the second sowing width, the aircraft sowing operation method further includes: when entering the target segment, performing sowing operations according to the target sowing width, wherein the target segment is any sweeping segment after the first sweeping segment in the sweeping route, and the target sowing width is the sowing width corresponding to the target segment.

[0013] The sowing width of different sweeping sections may be the same or different. In order to ensure the sowing effect and reduce missed and repeated sowing, it is necessary to flexibly adjust the sowing width during the sweeping operation stage.

[0014] Optionally, before performing the operation, the method further includes: determining a safety margin based on a plot boundary and an inward retraction distance of the target plot; and planning the round-trip route based on the safety margin and the first sowing width.

[0015] Optionally, the method further includes planning sweeping operation parameters based on a round-trip operation coverage area and the plot boundary, wherein the round-trip operation coverage area is the area covered by the seeding operation along the round-trip route according to the first seeding width, and the sweeping operation parameters include a sweeping route, the sweeping route includes multiple sweeping segments, and the sweeping operation parameters also include the seeding width corresponding to each sweeping segment. Through accurate and reasonable route planning, seeding effectiveness is guaranteed and duplicate seeding or missed seeding is avoided.

[0016] Optionally, the planning of sweeping operation parameters based on the round-trip operation coverage area and the plot boundary includes: determining a legacy area based on the round-trip operation coverage area boundary and the plot boundary; dividing the interval segments with the same width and continuity in the legacy area into a legacy segment; and determining the sweeping flight segment and sowing width within the legacy segment based on the width of the legacy segment.

[0017] Optionally, the spreader deployed on the aircraft includes a motor and a spinning disc, the motor directly drives the spinning disc, and when the motor is working, the spinning disc can swing back and forth following the forward and reverse rotation of the motor.

[0018] In a second aspect, an embodiment of the present invention provides an aircraft seeding operation device, the device comprising:

[0019] The first processing unit is used to control the aircraft to fly along the round-trip route and perform the sowing operation according to the first sowing width during the round-trip operation phase;

[0020] A second processing unit is configured to control the aircraft to switch from the round-trip route to a sweeping route after completing the round-trip route operation, thereby entering a sweeping operation phase;

[0021] The second processing unit is further configured to control the aircraft to fly along the sweeping route and perform sowing operations according to a second sowing width during the sweeping operation phase;

[0022] When the aircraft operates at the first sowing width, the spinning disc therein swings at a first angle range; when the aircraft operates at the second sowing width, the spinning disc swings at a second angle range.

[0023] In a third aspect, an embodiment of the present invention provides a storage medium having a computer program stored thereon, which implements the above method when executed by a processor.

[0024] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising: a processor and a memory, wherein the memory is used to store one or more programs; when the one or more programs are executed by the processor, the above method is implemented.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 This is one of the route diagrams provided in an embodiment of the present invention.

[0028] Figure 2 A schematic structural diagram of a spreading system provided in an embodiment of the present invention.

[0029] Figure 3 A schematic structural diagram of an electronic device provided by an embodiment of the present invention.

[0030] Figure 4 This is one of the flow charts of the aircraft seeding operation method provided in an embodiment of the present invention.

[0031] Figure 5 The second flowchart of the aircraft seeding operation method provided in the embodiment of the present invention.

[0032] Figure 6 The third flowchart of the aircraft seeding operation method provided in an embodiment of the present invention.

[0033] Figure 7 This is a fourth flow chart of the aircraft seeding operation method provided in an embodiment of the present invention.

[0034] Figure 8 This is the second route schematic diagram provided for an embodiment of the present invention.

[0035] Figure 9 A schematic diagram of a legacy segment provided by an embodiment of the present invention.

[0036] Figure 10 A schematic diagram of a unit of an aircraft spreading operation device provided in an embodiment of the present invention.

[0037] In the figure: 10 - processor; 11 - memory; 12 - bus; 13 - communication interface; 501 - storage box; 502 - auger feeder; 503 - spreader; 601 - first processing unit; 602 - second processing unit. DETAILED DESCRIPTION

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0040] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are used only to distinguish the description and should not be understood as indicating or implying relative importance.

[0041] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0042] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0043] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, or electrical connections; direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0044] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0045] In the Round Trip + Sweep mode, when planning a route, both a round trip route (which can be, but is not limited to, a parallel route) and a sweep route are planned. After starting the spreading operation, the aircraft will first execute the round trip route and then the sweep route. Sweeping in the spreading mode involves spreading along the boundary of the field. However, since sweeping operations are close to the field boundary, a small seeding width is required during sweeping to prevent over-seeding.

[0046] Please refer to Figure 1 , Figure 1 This is one of the route diagrams provided by an embodiment of the present invention. When performing a spreading operation, the aircraft enters a round-trip route from the operation starting point, operates along the round-trip route to a connection point, and then switches to a sweeping route to continue the sweeping operation.

[0047] Figure 1 The safety boundary formed by the indentation of the land boundary is used as the edge sweeping route. For example, the safety boundary can be obtained by indenting the land boundary by 3m, which is the edge sweeping route. Figure 1 The round trip route is planned within the safety boundary, and the round trip route operation can only cover Figure 1 The shadow area in the figure has limited coverage of the boundary area of ​​the plot, so it is necessary to sweep the edge.

[0048] In order to improve the efficiency of the round trip route, a larger seeding width is generally set, for example, 8m. When the round trip operation and the edge sweeping operation are planned in the same task, the aircraft will enter the edge sweeping route without stopping after completing the round trip route and start the edge sweeping directly. If the round trip operation and the edge sweeping operation use the same seeding width, the seeding width of the round trip operation will be too large for the edge sweeping operation, and there will be an over-boundary problem. Figure 1 For example, if the retraction distance is 3m, the distance from the safety boundary to the plot boundary is 3m. If the sowing width of the sweeping operation is 8m, it will exceed the plot boundary by 1m.

[0049] The spreading system is deployed on the aircraft provided in the embodiment of the present invention, wherein the aircraft can be but is not limited to a drone. Figure 2 , Figure 2 A schematic structural diagram of a spreading system provided in an embodiment of the present invention. The spreading system includes a material storage box 501, an auger feeder 502, and a spreader 503, wherein the spreader 503 includes a motor and a spinner, and the motor directly drives the spinner. When the motor is working, the spinner can swing back and forth following the forward and reverse rotation of the motor. The spreading material in the material storage box 501 is transported to the top of the spinner in the spreader 503 by the auger feeder 502 and falls. Under the direct drive of the motor, the spinner performs the spreading operation in a reciprocating swinging manner. The spinner directly driven by the motor means that the motor drives the reducer, and the output shaft of the reducer is directly connected to the spinner, and by controlling the motor to make forward and reverse movements, the spinner drives the spinner to swing back and forth in a sweeping vibration manner. Since the spinner is directly driven by the motor, the swing angle range of the spinner can be changed at any time by controlling the rotation angle of the motor, which gives the spreading system the ability to adjust the sowing width in real time during operation.

[0050] Compared to using a motor as the power source to drive a planetary reducer, which in turn drives a crank-and-rocker mechanism, converting the original circular motion of the motor into the reciprocating oscillation of the spinner, this embodiment of the present invention simplifies the structure of the spreader, with the spinner directly driven by the motor. This overcomes the problem of the crank-and-rocker mechanism limiting the spinner to a fixed swing amplitude, allowing the spreader system to meet the needs of some scenarios where the spread width needs to be varied during flight.

[0051] An embodiment of the present invention provides an electronic device, which may be a server device, a computer device, a mobile phone device, a remote control terminal device, or a central control unit on an aircraft. When the electronic device is a server device, a computer device, a mobile phone device, a remote control terminal device, etc., the electronic device can communicate with the central control unit on the aircraft in a direct or indirect manner, thereby transmitting information such as the planned route to the central control unit and / or transmitting control instructions to the central control unit.

[0052] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected via the bus 12. The processor 10 is used to execute executable modules stored in the memory 11, such as computer programs.

[0053] The processor 10 can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the aircraft seeding operation method can be completed by the hardware integrated logic circuit in the processor 10 or the instructions in the form of software. The above-mentioned processor 10 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0054] The memory 11 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0055] The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. Figure 3 Only one bidirectional arrow is used in the figure, but it does not mean that there is only one bus 12 or one type of bus 12.

[0056] The memory 11 is used to store programs, such as a program for an aircraft seeding device. The aircraft seeding device includes at least one software module, which can be stored in the memory 11 in the form of software or firmware, or embedded in the operating system (OS) of the electronic device. Upon receiving an execution instruction, the processor 10 executes the program to implement the aircraft seeding method.

[0057] Possibly, the electronic device provided by the embodiment of the present invention further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.

[0058] It should be understood that Figure 3 The structure shown is only a schematic diagram of a portion of the electronic device. The electronic device may also include Figure 3 More or fewer components than shown, or with Figure 3 Different configurations shown. Figure 3 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0059] The invention provides an aircraft seeding method, which can be applied to but is not limited to Figure 3 For detailed procedures, please refer to the electronic equipment shown in Figure 4 The aircraft seeding operation method includes: S110, S120 and S140, which are described in detail as follows.

[0060] S110 , in the round-trip operation phase, the aircraft is controlled to fly along a round-trip route and perform a sowing operation according to a first sowing width.

[0061] The round-trip route and the first broadcast width may be manually set or generated during route planning, which is not limited here.

[0062] Optionally, at the end of the round-trip route, the operation can be directly transferred from the end point of the round-trip route to the sweeping route based on the principle of the shortest distance.

[0063] S120, after completing the round-trip route operation, controlling the aircraft to switch from the round-trip route to the side-sweeping route, and entering the side-sweeping operation phase.

[0064] S140 , in the sweeping operation phase, the aircraft is controlled to fly along the sweeping route and perform sowing operations according to the second sowing width.

[0065] When the aircraft operates at a first sowing width, the spinning disc swings at a first angle range; when the aircraft operates at a second sowing width, the spinning disc swings at a second angle range.

[0066] In the aircraft spreading operation method provided in the embodiment of the present invention, by adjusting the angle range of the spinning disc, the sowing width in the sweeping operation stage is different from that in the round-trip operation stage, and the sowing width in the sweeping operation stage is flexibly adjusted.

[0067] On the basis of flexibly adjusting the sowing width during the sweeping operation stage, the coverage area of ​​the sweeping operation can be made to coincide with the left-over area of ​​the round-trip operation, that is, the two are the same, so that the coverage area of ​​the sweeping operation completely covers the left-over area, and the coverage area of ​​the sweeping operation will not exceed the left-over area, which ensures the sowing efficiency and avoids omissions, and will not exceed the boundaries of the plot to avoid waste.

[0068] It should be noted that after obtaining the round trip route and the edge sweeping route, the round trip operation can be performed first and then the edge sweeping operation. In some optional embodiments, the edge sweeping operation can also be performed first and then the round trip operation.

[0069] exist Figure 4 On the basis of how to further improve the working efficiency and avoid taking up the time of sowing operation due to the switching of sowing width, the embodiment of the present invention also provides an optional implementation method, please refer to Figure 5 When the aircraft switches from the round-trip route to the sweeping route, the aircraft seeding operation method further includes: S130, which is described in detail as follows.

[0070] S130, when the aircraft switches from the round-trip route to the sweeping route, determining the swing angle range of the spinner corresponding to the second sowing width, and controlling the spinner to swing back and forth within the determined second angle range, so that the sowing width of the sowing operation is switched to the second sowing width.

[0071] exist Figure 4 Based on the above, regarding the contents of S120, how to ensure the efficiency of the aircraft switching between the round-trip route and the side-sweeping route, the embodiment of the present invention also provides an optional implementation method, please refer to the following. Controlling the aircraft to switch from the round-trip route to the side-sweeping route and enter the side-sweeping operation phase includes: S121 and S122, which are described in detail below.

[0072] S121, determining the entry point of the sweeping route corresponding to the end point of the round-trip route according to the principle of the shortest distance.

[0073] Among them, the entry point of the sweeping route is the point on the sweeping route closest to the end point of the operation.

[0074] S122 , controlling the aircraft to fly from the operation end point of the round-trip route to the entry point of the side-sweeping route, so that the aircraft enters the side-sweeping route.

[0075] It should be understood that if only round trip operations are performed, there will be a residual area in the target plot. This residual area is the target plot area minus the round trip coverage area. The round trip coverage area is the area covered by the first seeding width along the round trip route. To avoid missed seeding, a sweeping operation is required after the round trip operation.

[0076] In an optional embodiment, the side-sweeping route includes multiple side-sweeping segments, wherein each side-sweeping segment is set with a corresponding sowing width, and the sowing width corresponding to the first side-sweeping segment after entering the side-sweeping route is the second sowing width. Optionally, one side of the side-sweeping segment is the boundary of the target plot, and the other side of the side-sweeping segment is the boundary of the round-trip operation coverage area, and the horizontal distance from the side-sweeping segment to the boundary of the target plot is equal to the horizontal distance from the side-sweeping segment to the boundary of the round-trip operation coverage area. The sowing width corresponding to the side-sweeping segment is the horizontal distance from the side-sweeping segment to the boundary of the target plot.

[0077] The sowing width of different sweeping sections may be the same or different. In order to ensure the sowing effect and reduce missed and repeated sowing, the sowing width needs to be flexibly adjusted during the sweeping operation. Figure 6 After controlling the aircraft to fly along the sweeping route and performing the sowing operation according to the second sowing width, the aircraft sowing operation method further includes: S150, which is described in detail as follows.

[0078] S150: When entering the target section, sowing is performed according to the target sowing width.

[0079] The target segment is any sweeping segment after the first sweeping segment in the sweeping route, and the target broadcast width is the broadcast width corresponding to the target segment.

[0080] Optionally, when entering the target section, the swing angle range of the spinning disc corresponding to the target sowing width is determined, and the spinning disc is controlled to swing back and forth within the determined target angle range, so that the sowing width of the sowing operation is switched to the target sowing width.

[0081] It should be noted that the sowing width of the sowing system is related to the flight altitude of the aircraft, the swing angle range of the spinning disc, and the swing speed of the spinning disc. During sowing operations, the swing speed of the spinning disc can be adjusted in theory, but the swing speed is closely related to the material particle type, sowing uniformity, etc., and is subject to many restrictions. The adjustment of the flight altitude also has many restrictions. If the altitude is too low, the crop lodging phenomenon is more serious. If the altitude is too high, the sowing uniformity cannot be guaranteed. If the sowing width needs to be adjusted in real time, the adjustment of the flight altitude takes time and has hysteresis. Moreover, the altitude change also increases safety hazards, making it difficult to ensure that there are no obstacles above and below the route. In order to reduce the impact on sowing and ensure the safety of sowing uniformity, crop growth, and operation as much as possible, in an embodiment of the present invention, the swing angle range of the spinning disc is adjusted to adjust the sowing width, reduce the impact on sowing, and ensure the safety of sowing uniformity, crop growth, and operation as much as possible.

[0082] It should be noted that the aircraft needs to fly along the planned route when performing the sowing operation. The accuracy and rationality of the route planning directly affect the sowing effect and whether the sowing is repeated or missed. On this basis, the embodiment of the present invention also provides an optional implementation method for how to perform route planning. Please refer to Figure 7 Before the operation is performed, the aircraft seeding operation method further includes: S210 and S220, which are described in detail as follows.

[0083] S210: Determine a safety boundary based on the boundary of the target plot and the inward distance.

[0084] S220, planning a round trip route based on the safety boundary and the first broadcast width.

[0085] Please continue to refer to Figure 7Regarding how to plan the sweeping route, the embodiment of the present invention also provides an optional implementation method. After planning the round-trip route, the aircraft sowing operation method further includes: S230, which is specifically described as follows.

[0086] S230 , planning sweeping operation parameters based on the round-trip operation coverage area and the land boundary.

[0087] The round-trip operation coverage area is the area covered by seeding operations along the round-trip route according to the first seeding width. The sweeping operation parameters include the sweeping route, which includes multiple sweeping segments. The sweeping operation parameters also include the seeding width corresponding to each sweeping segment. One side of the sweeping segment is the boundary of the target plot, and the other side of the sweeping segment is the boundary of the round-trip operation coverage area. The horizontal distance from the sweeping segment to the boundary of the target plot is equal to the horizontal distance from the sweeping segment to the boundary of the round-trip operation coverage area. The seeding width corresponding to the sweeping segment is the horizontal distance from the sweeping segment to the boundary of the target plot.

[0088] Please refer to Figure 8 , Figure 8 This is the second route diagram provided by the embodiment of the present invention. After the round-trip route is planned, the coverage of the round-trip route can be estimated according to the sowing width of the round-trip route, that is, the estimated round-trip operation coverage area. Determine the center line of each plot boundary of the target plot and the boundary of the round-trip operation coverage area, that is, Figure 8 Each dotted line segment is connected to each center line to form a closed route, that is, a sweeping route. The sweeping route may have different widths corresponding to different boundary segments, such as Figure 8 The upper, left, and lower sweep routes all have a 3m sowing width, while the right sweep route has a 7m sowing width. This way, there will be no duplicate sowing, no missed sowing, and no over-boundary sowing.

[0089] exist Figure 7 On this basis, regarding how to accurately and quickly obtain the sweeping operation parameters, the embodiment of the present invention also provides an optional implementation method, please refer to the following. S230, planning the sweeping operation parameters based on the round-trip operation coverage area and the plot boundary, includes: S231, S232 and S233, which are specifically described as follows.

[0090] S231, determining the remaining area based on the boundary of the area covered by the round-trip operation and the boundary of the plot.

[0091] The leftover area is the area after deducting the round-trip operation coverage area corresponding to the operation coverage area boundary from the target plot area corresponding to the plot boundary.

[0092] S232: Classify the continuous intervals with the same width in the legacy area into a legacy segment.

[0093] The width is the distance from the boundary of the plot to the boundary of the round trip operation coverage area. Figure 9 , Figure 9 Schematic diagram of the residual section provided by the embodiment of the present invention. Optionally, the round trip routes during the round trip operation are parallel and equally spaced, and during the round trip operation, the sowing operation is always carried out according to the first sowing width. The area covered by the round trip operation is as follows Figure 9 The planned rectangular area is shown. However, the land parcel boundary is not necessarily a planned rectangle, for example Figure 9 In the plot boundary, the widths of intervals A and B are not the same.

[0094] S233: Determine the edge sweeping segment and sowing width within the remaining segment according to the width of the remaining segment.

[0095] Optionally, the sweeping segment within the legacy segment is the centerline of the legacy segment, and the sowing width is half the width of the legacy segment. One side of the sweeping segment is the boundary of the target plot, and the other side of the sweeping segment is the boundary of the round-trip operation coverage area. The horizontal distance from the sweeping segment to the boundary of the target plot is equal to the horizontal distance from the sweeping segment to the boundary of the round-trip operation coverage area. The sowing width corresponding to the sweeping segment is the horizontal distance from the sweeping segment to the boundary of the target plot.

[0096] See also Figure 10 , Figure 10 An embodiment of the present invention provides an aircraft sowing operation device. Optionally, the aircraft sowing operation device is applied to the electronic device described above.

[0097] The aircraft seeding operation device includes: a first processing unit 601 and a second processing unit 602 .

[0098] The first processing unit 601 is used to control the aircraft to fly along a round-trip route and perform sowing operations according to a first sowing width during the round-trip operation phase.

[0099] The second processing unit 602 is used to control the aircraft to switch from the round-trip route to the sweeping route after completing the round-trip route operation, and enter the sweeping operation phase.

[0100] The second processing unit 602 is further configured to control the aircraft to fly along the sweeping route and perform sowing operations according to the second sowing width during the sweeping operation phase.

[0101] When the aircraft operates at a first sowing width, the spinning disc swings at a first angle range; when the aircraft operates at a second sowing width, the spinning disc swings at a second angle range.

[0102] Optionally, the first processing unit 601 may execute the above-mentioned S110 , and the second processing unit 602 may execute the above-mentioned S120 to S150 .

[0103] In an optional embodiment, the aircraft seeding device further includes a third processing unit, which can execute steps S210 to S230 described above. It should be noted that the aircraft seeding device provided in this embodiment can execute the method flow shown in the above method flow embodiment to achieve the corresponding technical effects. For the sake of brevity, any details not mentioned in this embodiment can be referred to the corresponding content in the above embodiment.

[0104] An embodiment of the present invention further provides a storage medium storing computer instructions or programs that, when read and executed, execute the aircraft seeding method of the above embodiment. The storage medium may include memory, flash memory, registers, or a combination thereof.

[0105] The following provides an electronic device, which can be a server device, a computer device, a mobile phone device, a remote control terminal device, or a central control unit on an aircraft. When the electronic device is a server device, a computer device, a mobile phone device, a remote control terminal device, etc., the electronic device can communicate with the central control unit on the aircraft in a direct or indirect manner, thereby transmitting information such as the planned route to the central control unit, and / or transmitting control instructions to the central control unit. The electronic device is as follows Figure 3 As shown, the above-mentioned aircraft seeding operation method can be implemented. Specifically, the electronic device includes: a processor 10, a memory 11, and a bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs. When the one or more programs are executed by the processor 10, the aircraft seeding operation method of the above-mentioned embodiment is performed.

[0106] In summary, embodiments of the present invention provide an aircraft sowing operation method, apparatus, storage medium, and device. During a round-trip operation phase, the aircraft is controlled to fly along a round-trip route and perform sowing operations according to a first sowing width. After completing the round-trip route, the aircraft is controlled to switch from the round-trip route to a sweeping route, entering the sweeping operation phase. During the sweeping operation phase, the aircraft is controlled to fly along the sweeping route and perform sowing operations according to a second sowing width. When the aircraft operates with the first sowing width, the spinner swings within a first angular range, and when the aircraft operates with the second sowing width, the spinner swings within a second angular range. By adjusting the spinner's angular range, the sowing width during the sweeping operation phase is different from that during the round-trip operation phase, allowing for flexible adjustment of the sowing width during the sweeping operation phase.

[0107] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0108] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An aircraft seeding method, characterized in that: The method comprises: In the round-trip operation stage, the aircraft is controlled to fly along the round-trip route and perform sowing operations according to the first sowing width; After completing the round-trip route operation, controlling the aircraft to cut into the edge sweeping route from the round-trip route to enter the edge sweeping operation phase; In the edge sweeping operation stage, the aircraft is controlled to fly along the edge sweeping route and perform sowing operations according to the second sowing width; When the aircraft operates with the first sowing width, the spinning disc therein swings within a first angle range; when the aircraft operates with the second sowing width, the spinning disc swings within a second angle range.

2. The aircraft seeding method according to claim 1, characterized in that: The method further comprises: When the aircraft cuts into the sweeping route from the round-trip route, the swing angle range of the spinning disc corresponding to the second sowing width is determined, and the spinning disc is controlled to swing back and forth within the determined second angle range, so that the sowing width of the sowing operation is switched to the second sowing width.

3. The aircraft seeding method according to claim 1, characterized in that: The step of controlling the aircraft to cut into a sweeping route from the round-trip route to enter a sweeping operation phase includes: Determine the entry point of the sweeping route corresponding to the operation end point of the round-trip route according to the principle of the shortest distance; The aircraft is controlled to fly from the operation end point of the round-trip route to the entry point of the sweeping route, so that the aircraft enters the sweeping route.

4. The aircraft seeding method according to claim 1, characterized in that: The sweeping route includes a plurality of sweeping segments, wherein each of the sweeping segments is provided with a corresponding sowing width, and the sowing width corresponding to the first sweeping segment after entering the sweeping route is the second sowing width. After controlling the aircraft to fly along the sweeping route and performing sowing operations according to the second sowing width, the aircraft sowing operation method further includes: When entering the target segment, the sowing operation is performed according to the target sowing width, wherein the target segment is any sweeping segment after the first sweeping segment in the sweeping route, and the target sowing width is the sowing width corresponding to the target segment.

5. The aircraft seeding method according to claim 1, characterized in that: Before performing the operation, the method further comprises: Determine the safety margin based on the plot boundary and setback distance of the target plot; The round-trip route is planned based on the safety boundary and the first sowing width.

6. The aircraft spreading method according to claim 5, characterized in that: The method further comprises: The edge sweeping operation parameters are planned based on the round-trip operation coverage area and the boundary of the plot, wherein the round-trip operation coverage area is the area covered by the sowing operation according to the first sowing width along the round-trip route, and the edge sweeping operation parameters include the edge sweeping route, the edge sweeping route includes multiple edge sweeping segments, and the edge sweeping operation parameters also include the sowing width corresponding to each of the edge sweeping segments.

7. The aircraft seeding method according to claim 6, characterized in that: The planning of the sweeping operation parameters based on the round-trip operation coverage area and the land plot boundary includes: Determine the remaining area based on the boundary of the area covered by the round trip operation and the boundary of the plot; Determine the interval segments with the same width and continuous in the legacy area as a legacy segment; According to the width of the remaining section, the edge sweeping section and the sowing width in the remaining section are determined.

8. The aircraft seeding method according to claim 1, characterized in that: The spreader deployed on the aircraft includes a motor and a spinning disc. The motor directly drives the spinning disc. When the motor is working, the spinning disc swings back and forth following the forward and reverse rotation of the motor.

9. An aircraft seeding operation device, characterized in that: The device comprises: The first processing unit is used to control the aircraft to fly along the round-trip route and perform the sowing operation according to the first sowing width during the round-trip operation stage; A second processing unit is used to control the aircraft to cut into a sweeping route from the round-trip route after completing the round-trip route operation, and enter a sweeping operation phase; The second processing unit is further used to control the aircraft to fly along the edge sweeping route and perform sowing operations according to the second sowing width during the edge sweeping operation stage; When the aircraft operates with the first sowing width, the spinning disc therein swings within a first angle range; when the aircraft operates with the second sowing width, the spinning disc swings within a second angle range.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

11. An electronic device, characterized in that: include: A processor and a memory, the memory being used to store one or more programs; When the one or more programs are executed by the processor, the method according to any one of claims 1 to 8 is implemented.

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