An aerial vehicle spreading operation method, device, storage medium and equipment

Abstract

The application provides an aircraft spreading operation method and device, a storage medium and equipment. In the round trip operation stage, the aircraft is controlled to fly along a round trip route and perform spreading operation according to a first spreading width. After the operation of the round trip route is completed, the aircraft is controlled to cut into a sweeping edge route from the round trip route and enter a sweeping edge operation stage. In the sweeping edge operation stage, the aircraft is controlled to fly along the sweeping edge route and perform spreading operation according to a second spreading width. When the aircraft operates at the first spreading width, the flail plate swings in a first angle range. When the aircraft operates at the second spreading width, the flail plate swings in a second angle range. The angle range of the flail plate is adjusted, so that the spreading width in the sweeping edge operation stage is different from the spreading width in the round trip operation stage, and the spreading width in the sweeping edge operation stage is flexibly adjusted.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and more specifically, to an aircraft-based seeding operation method, apparatus, storage medium, and equipment. Background Technology

[0002] Agricultural drones are developing rapidly, and their payload capacity is constantly increasing, enabling them to be applied to more and more aspects of field agricultural production. In the field management of field crops, drones are not only used for spraying liquid pesticides, but also for sowing seeds, powders, solid fertilizers and other granules.

[0003] To enable drones to spread seeds, powders, and solid fertilizers, a spreading device is mounted on the drone. During spreading operations, drones typically follow a predetermined flight path or are controlled by an operator via remote control. Because the boundaries of the land plots do not perfectly align with the flight path, missed or repeated spreading may occur when drones operate according to a predetermined flight path. Summary of the Invention

[0004] The purpose of this invention is to provide an aircraft-based seeding operation method, apparatus, storage medium, and device to improve the above-mentioned problems.

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

[0006] In a first aspect, embodiments of the present invention provide a method for aerial seeding operations, the method comprising: in a round-trip operation phase, controlling an aerial vehicle to fly along a round-trip route and performing seeding operations according to a first seeding width; after completing the operation along the round-trip route, controlling the aerial vehicle to switch from the round-trip route to a sweeping route and enter a sweeping operation phase; in the sweeping operation phase, controlling the aerial vehicle to fly along the sweeping route and performing seeding operations according to a second seeding width; wherein, when the aerial vehicle operates with the first seeding width, the swivel disc swings within a first angle range, and when the aerial vehicle operates with the second seeding width, the swivel disc swings within a second angle range.

[0007] By adjusting the angle range of the seeding disc, the seeding width during the edge-sweeping phase differs from that during the reciprocating phase, allowing for flexible adjustment of the seeding width during the edge-sweeping phase. Based on this flexible adjustment, the area covered by the edge-sweeping phase can overlap with the area left over from the reciprocating phase, meaning they are identical. This ensures that the edge-sweeping coverage area completely covers the remaining area without exceeding it, thus guaranteeing seeding efficiency and preventing omissions, while also preventing waste by staying within the plot boundaries.

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

[0009] By adjusting the broadcast width during the route switching process, the time spent on broadcasting operations due to the broadcast width switching is avoided, further improving operational efficiency.

[0010] Optionally, controlling the aircraft to switch from the round-trip route to the edge-sweeping route and enter the edge-sweeping operation phase includes: determining the edge-sweeping route entry point corresponding to the operation endpoint of the round-trip route based on the principle of closest distance; controlling the aircraft to fly from the operation endpoint of the round-trip route to the edge-sweeping route entry point, thereby enabling the aircraft to switch into the edge-sweeping route.

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

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

[0013] The sowing width may be the same or different for different sweeping sections. In order to ensure the sowing effect and reduce missed sowing and repeated sowing, the sowing width needs to be flexibly adjusted during the sweeping operation.

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

[0015] Optionally, the method further includes: planning edge-sweeping operation parameters based on the 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, 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 seeding width corresponding to each edge-sweeping segment. Through accurate and reasonable route planning, the seeding effect is ensured, and duplicate seeding or missed seeding is avoided.

[0016] Optionally, the step of planning the edge-sweeping operation parameters based on the round-trip operation coverage area and the plot boundary includes: determining the remaining area according to the boundary of the round-trip operation coverage area and the plot boundary; dividing the consecutive intervals of the same width in the remaining area into a remaining segment; and determining the edge-sweeping flight segment and broadcast width within the remaining segment according to the width of the remaining segment.

[0017] Optionally, the seeder 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 reciprocate in accordance with the forward and reverse rotation of the motor.

[0018] Secondly, embodiments of the present invention provide an aircraft-based 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 carry out the seeding operation according to the first seeding width during the round-trip operation phase.

[0020] The second processing unit is used to control the aircraft to switch from the round-trip route to the edge-sweeping route and enter the edge-sweeping operation stage after completing the operation of the round-trip route.

[0021] The second processing unit is also used to control the aircraft to fly along the sweeping route and perform seeding operations according to the second seeding width during the sweeping operation phase.

[0022] When the aircraft operates with the first broadcast width, the swivel disc swings within a first angle range; when the aircraft operates with the second broadcast width, the swivel disc swings within a second angle range.

[0023] Thirdly, embodiments of the present invention provide a storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method.

[0024] Fourthly, embodiments of the present invention provide an electronic device, the electronic device comprising: 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 above-described method is implemented.

[0025] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

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

[0028] Figure 2 This is a schematic diagram of the dissemination system provided in an embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0030] Figure 4 This is one of the flowcharts illustrating the aircraft seeding operation method provided in this embodiment of the invention.

[0031] Figure 5 This is the second flowchart illustrating the aircraft seeding operation method provided in this embodiment of the invention.

[0032] Figure 6 This is the third flowchart illustrating the aircraft seeding operation method provided in this embodiment of the invention.

[0033] Figure 7 This is the fourth flowchart illustrating the aircraft seeding operation method provided in this embodiment of the invention.

[0034] Figure 8 This is the second schematic diagram of the flight path provided in the embodiment of the present invention.

[0035] Figure 9 This is a schematic diagram of the legacy segment provided in an embodiment of the present invention.

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

[0037] In the diagram: 10-Processor; 11-Memory; 12-Bus; 13-Communication interface; 501-Storage bin; 502-Auger feeder; 503-Spreader; 601-First processing unit; 602-Second processing unit. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0040] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

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

[0043] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0045] In the round-trip + edge-sweeping seeding operation mode, both a round-trip route (which can be, but is not limited to, a parallel route) and an edge-sweeping route are planned simultaneously during route planning. After the seeding operation begins, the aircraft can first follow the round-trip route and then execute the edge-sweeping route. Edge-sweeping in the seeding operation mode refers to seeding operations on the boundary areas of the land parcels. However, since the edge-sweeping operation location is close to the land parcel boundary, a small seeding width is required during edge-sweeping operations to prevent seeding beyond the boundary.

[0046] Please refer to Figure 1 , Figure 1 This is one of the flight path diagrams provided in the embodiments of the present invention. When the aircraft is carrying out a seeding operation, it enters the round-trip flight path from the starting point of the operation, operates along the round-trip flight path to the junction point, and then switches to the edge sweeping flight path to continue the edge sweeping operation.

[0047] Figure 1 The safe boundary formed by the inward reduction of the land parcel boundary is used as the sweeping route. For example, a safe boundary can be obtained by reducing the land parcel boundary by 3 meters, which is also the sweeping route. Figure 1 (The dotted line in the diagram). Round-trip routes are planned within the safety boundary, and operations along these routes can only cover [the area]. Figure 1 The shaded areas in the map have limited coverage of the plot boundary areas, so edge sweeping is necessary.

[0048] To improve operational efficiency, round-trip routes are typically set with a large sweep width, such as 8 meters. When round-trip and edge-sweeping operations are planned into the same task, the aircraft will seamlessly transition to the edge-sweeping route after completing the round-trip operation and begin edge-sweeping immediately. If the round-trip and edge-sweeping operations use the same sweep width, the sweep width for the round-trip operation is too large for the edge-sweeping operation, resulting in an over-boundary issue. Figure 1 For example, if the inward distance is 3m, then the distance from the safety boundary to the plot boundary is 3m. If the sweeping operation width is 8m, it will exceed the plot boundary by 1m.

[0049] A seeding system is deployed on the aircraft provided in this embodiment of the invention, wherein the aircraft may be, but is not limited to, a drone. Please refer to... Figure 2 , Figure 2 This is a schematic diagram of the spreading system provided in an embodiment of the present invention. The spreading system includes a storage bin 501, an auger feeder 502, and a spreader 503. The spreader 503 includes a motor and a spinning disc, with the motor directly driving the spinning disc. When the motor is working, the spinning disc can reciprocate in accordance with the forward and reverse rotation of the motor. The spreading material in the storage bin 501 is conveyed to the spinning disc in the spreader 503 by the auger feeder 502 and falls down. Under the direct drive of the motor, the spinning disc performs the spreading operation in a reciprocating horizontal swinging manner. The motor directly drives the spinning disc, meaning that the motor drives the reducer, and the output shaft of the reducer is directly connected to the spinning disc. By controlling the forward and reverse rotation of the motor, the spinning disc is driven to perform a back-and-forth sweeping oscillation. Because the motor directly drives the spinning disc, the swing angle range of the spinning disc can be changed at any time by controlling the rotation angle of the motor, which gives the spreading system the ability to adjust the spreading width in real time during operation.

[0050] Compared to using an electric motor to drive a planetary reducer, which in turn drives a crank-rocker mechanism to convert the original circular motion of the motor into the reciprocating horizontal motion of the dispersing disc, this invention simplifies the structure of the disperser by directly driving the dispersing disc with an electric motor. This solves the problem that the crank-rocker mechanism limits the dispersing disc to a fixed swing amplitude, allowing the dispersing system to meet scenarios where the dispersing amplitude needs to be varied during flight.

[0051] This invention 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, or a remote control terminal device, the electronic device can communicate with the central control unit on the aircraft directly or indirectly, thereby transmitting its planned flight path and other information to the central control unit, and / or transmitting control commands 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 in 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, such as computer programs, stored in the memory 11.

[0053] Processor 10 can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the aircraft-based seeding operation method can be completed through integrated logic circuits in the hardware or software instructions within processor 10. The aforementioned 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, or discrete hardware components.

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

[0055] Bus 12 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. Figure 3 The symbol is represented by a single double-headed arrow, but this 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 programs corresponding to the aircraft seeding operation device. The aircraft seeding operation device includes at least one software functional module that 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. After receiving an execution instruction, the processor 10 executes the program to implement the aircraft seeding operation method.

[0057] The electronic device provided in this embodiment of the invention may further include 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 partial schematic diagram of the electronic device; the electronic device may also include components that are larger than... Figure 3 The more or fewer components shown, or having the same Figure 3 The different configurations shown. Figure 3 The components shown can be implemented using hardware, software, or a combination thereof.

[0059] The aircraft-based seeding method provided in this embodiment of the invention can be applied to, but is not limited to, [various applications]. Figure 3 For the specific process of the electronic devices shown, please refer to [link / reference]. Figure 4 The methods for aerial seeding operations include S110, S120, and S140, which are described in detail below.

[0060] S110, during the round-trip operation phase, controls the aircraft to fly along the round-trip route and performs the seeding operation according to the first seeding width.

[0061] The round-trip route and the first broadcast frame can be set manually or generated during route planning; there are no restrictions here.

[0062] Optionally, at the end of the round trip route, the operator can directly switch from the end point of the round trip route to the edge sweeping route based on the principle of shortest distance.

[0063] After completing the round-trip route, the S120 controls the aircraft to switch from the round-trip route to the edge-sweeping route and enter the edge-sweeping operation phase.

[0064] S140, during the edge sweeping operation phase, controls the aircraft to fly along the edge sweeping route and performs seeding operations according to the second seeding width.

[0065] When the aircraft operates with the first span, the spinning disc swings within a first angle range; when the aircraft operates with the second span, the spinning disc swings within a second angle range.

[0066] In the aircraft seeding operation method provided in the embodiments of the present invention, by adjusting the angle range of the spinning disc, the seeding width during the edge sweeping operation phase is different from that during the reciprocating operation phase, thus flexibly adjusting the seeding width during the edge sweeping operation phase.

[0067] By flexibly adjusting the sowing width during the edge-sweeping operation, the area covered by the edge-sweeping operation can overlap with the area left over from the round trip operation, meaning they are the same. This ensures that the area covered by the edge-sweeping operation completely covers the area left over, while the area covered by the edge-sweeping operation does not exceed the area left over. This guarantees sowing efficiency and avoids omissions, while also preventing the area from exceeding the plot boundary and avoiding 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, followed by the edge-sweeping operation. In some optional implementations, the edge-sweeping operation can also be performed first, followed by the round-trip operation.

[0069] exist Figure 4 Based on this, regarding how to further improve operational efficiency and avoid the time spent on seeding operations due to seeding width switching, this embodiment of the invention also provides an optional implementation method, please refer to... Figure 5 When the aircraft cuts into the sweeping route from the round-trip route, the aircraft seeding operation method also includes: S130, which is described in detail below.

[0070] S130: When the aircraft switches from the round-trip route to the edge-sweeping route, the swing angle range of the swivel disc corresponding to the second seeding width is determined, and the swivel disc is controlled to swing back and forth within the determined second angle range so that the seeding width of the seeding operation is switched to the second seeding width.

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

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

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

[0074] S122 controls the aircraft to fly from the end of the round-trip route to the entry point of the edge-sweeping route, thereby enabling the aircraft to enter the edge-sweeping route.

[0075] It should be understood that if only round-trip operations are performed, there will be residual areas in the target plot. These residual areas are the areas of the target plot after deducting the areas covered by the round-trip operations. The areas covered by the round-trip operations are the areas covered by the seeding operation along the round-trip route according to the first seeding width. To avoid missed seeding, edge sweeping operations are also required after the round-trip operations.

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

[0077] The seeding width may be the same or different for different sweeping sections. To ensure seeding effectiveness and reduce missed or duplicate seeding, the seeding width needs to be flexibly adjusted during the sweeping operation. Please refer to [reference needed]. Figure 6 After controlling the aircraft to fly along the sweeping route and carrying out the seeding operation according to the second seeding width, the aircraft seeding operation method also includes: S150, which is described in detail below.

[0078] S150, upon entering the target flight segment, conducts seeding operations according to the target seeding 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, upon entering the target flight segment, the swing angle range of the swivel disc corresponding to the target seeding width is determined, and the swivel disc is controlled to swing back and forth within the determined target angle range so that the seeding width of the seeding operation is switched to the target seeding width.

[0081] It should be noted that the spreading width of the spreading 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. Theoretically, the swing speed of the spinning disc can be adjusted during spreading operations, but it is closely related to the type of material particles and the uniformity of spreading, and is subject to many limitations. Adjusting the flight altitude also has many limitations; if the altitude is too low, crop lodging is more severe; if the altitude is too high, spreading uniformity cannot be guaranteed. If real-time adjustment of the spreading width is required, the flight altitude adjustment takes time, resulting in a lag, and altitude changes also increase safety hazards, making it difficult to ensure that there are no obstacles above or below the flight path. To minimize the impact on spreading and ensure spreading uniformity, crop growth, and operational safety as much as possible, this embodiment of the invention uses the swing angle range of the spinning disc to adjust the spreading width, thereby minimizing the impact on spreading and ensuring spreading uniformity, crop growth, and operational safety as much as possible.

[0082] It should be noted that the aircraft needs to fly along a planned route during the seeding operation. The accuracy and rationality of the route planning directly affect the seeding effect, influencing whether there is duplicate seeding or missed seeding. Based on this, this invention also provides an optional implementation method for route planning. Please refer to... Figure 7 Before commencing operations, aircraft-based seeding methods also include S210 and S220, which are described in detail below.

[0083] S210, determine the safety boundary based on the target plot's boundary and inward distance.

[0084] S220 plans round-trip routes based on safety boundaries and the first broadcast frame.

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

[0086] S230 is based on the sweeping operation parameters planned according to the coverage area of ​​the round-trip operation and the boundary of the plot.

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

[0088] Please refer to Figure 8 , Figure 8 This is a second schematic diagram of the flight route provided in an embodiment of the present invention. After the round-trip flight route is planned, the coverage area of ​​the round-trip route, i.e., the estimated round-trip operation coverage area, can be estimated based on the width of the round-trip route. The center lines of each plot boundary of the target land and the boundary of the round-trip operation coverage area are determined, i.e. Figure 8 Each dashed line segment connects to the centerline to form a closed flight path, which is the edge-sweeping flight path. The span of the edge-sweeping flight path may differ for segments at different boundaries, such as... Figure 8 The top, left, and bottom sweep paths all have a 3m spread width, while the right sweep path has a 7m spread width. This ensures that there is no duplicate spreading, no missed spreading, and no exceeding the boundary.

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

[0090] S231, determine the remaining area based on the boundaries of the round-trip operation coverage area and the plot boundaries.

[0091] The remaining area is the area corresponding to the target plot area at the plot boundary, minus the round-trip operation coverage area corresponding to the boundary of the operation coverage area.

[0092] S232, divide consecutive intervals of equal width in the legacy region into one legacy segment.

[0093] The width refers to the distance from the boundary of the plot within the interval to the boundary of the area covered by the round-trip operation. Please refer to [reference needed]. Figure 9 , Figure 9 This is a schematic diagram of the residual section provided in an embodiment of the present invention. Optionally, the round-trip routes during the round-trip operation are parallel and equally spaced, and the seeding operation is continuously carried out according to the first seeding width during the round-trip operation. The coverage area of ​​the round-trip operation is as follows: Figure 9 The area shown is a planned rectangular area. However, the boundaries of the plot may not necessarily be a planned rectangle, for example... Figure 9 The widths of the plot boundaries, specifically the A and B segments, are not the same.

[0094] S233, based on the width of the remaining segment, determine the sweeping section and broadcast width within the remaining segment.

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

[0096] Please see Figure 10 , Figure 10 An aircraft seeding operation device is provided as an embodiment of the present invention. Optionally, the aircraft seeding operation device is applied to the electronic equipment 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 the round-trip route and to carry out the seeding operation according to the first seeding 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 edge-sweeping route and enter the edge-sweeping operation stage after completing the operation of the round-trip route.

[0100] The second processing unit 602 is also used to control the aircraft to fly along the sweeping route and to carry out the seeding operation according to the second seeding width during the sweeping operation phase.

[0101] When the aircraft operates with the first span, the spinning disc swings within a first angle range; when the aircraft operates with the second span, the spinning disc swings within a second angle range.

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

[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 parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments.

[0104] This invention also provides a storage medium storing computer instructions and programs, which, when read and executed, perform the aircraft seeding operation method described above. The storage medium may include memory, flash memory, registers, or a combination thereof.

[0105] The following describes an electronic device, which can be a server device, computer device, mobile phone device, or remote control terminal device, or a central control unit on an aircraft. When the electronic device is a server device, computer device, mobile phone device, or remote control terminal device, it can communicate with the central control unit on the aircraft directly or indirectly, thereby transmitting its planned flight path and other information to the central control unit, and / or transmitting control commands to the central control unit. This electronic device... Figure 3 As shown, the above-described 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, which, when executed by the processor 10, execute the aircraft seeding operation method of the above embodiment.

[0106] In summary, the aerial seeding method, apparatus, storage medium, and equipment provided by this invention, in the reciprocating flight phase, control the aircraft to fly along the reciprocating flight path and perform seeding operations according to a first seeding width; after completing the reciprocating flight path operations, control the aircraft to switch from the reciprocating flight path to the edge-sweeping path, entering the edge-sweeping operation phase; in the edge-sweeping operation phase, control the aircraft to fly along the edge-sweeping path and perform seeding operations according to a second seeding width; wherein, when the aircraft operates with the first seeding width, the seeding disc swings within a first angle range, and when the aircraft operates with the second seeding width, the seeding disc swings within a second angle range. By adjusting the angle range of the seeding disc, the seeding width in the edge-sweeping operation phase is different from that in the reciprocating flight phase, allowing for flexible adjustment of the seeding width in the edge-sweeping operation phase.

[0107] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included 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 implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A method for aerial seeding operations, characterized in that, The method includes: During the round-trip operation phase, the aircraft is controlled to fly along the round-trip route and to carry out the seeding operation according to the first seeding width; After completing the operation on the round-trip route, the aircraft is controlled to switch from the round-trip route to the edge-sweeping route and enter the edge-sweeping operation phase. During the edge sweeping operation phase, the aircraft is controlled to fly along the edge sweeping route and to carry out the seeding operation according to the second seeding width; When the aircraft operates with the first spreading width, the slinger swings within a first angle range; when the aircraft operates with the second spreading width, the slinger swings within a second angle range. The seeder deployed on the aircraft includes a motor and a slinger. The motor directly drives the slinger. When the motor is working, the slinger swings back and forth following the forward and reverse rotation of the motor. Before commencing the operation, the aircraft-based seeding method further includes: Determine the safety boundary based on the target plot's boundaries and inward distance; The round-trip route is planned based on the safety boundary and the first broadcast width; The edge-sweeping operation parameters are planned based on the round-trip operation coverage area and the land boundary. The round-trip operation coverage area is the area covered by the sowing operation along the round-trip route according to the first sowing width. The edge-sweeping operation parameters include the edge-sweeping route, which includes multiple edge-sweeping segments. The edge-sweeping operation parameters also include the sowing width corresponding to each edge-sweeping segment.

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

3. The aircraft-based seeding method as described in claim 1, characterized in that, The control of the aircraft to switch from the round-trip route to the edge-sweeping route and enter the edge-sweeping operation phase includes: The entry point of the sweeping route corresponding to the end point of the round-trip route is determined according to the principle of closest distance; Control the aircraft to fly from the end point of the round-trip route to the entry point of the edge-sweeping route, so that the aircraft enters the edge-sweeping route.

4. The aircraft-based seeding method as described in claim 1, characterized in that, The sweeping route includes multiple sweeping segments, each of which is equipped with a corresponding seeding width. The seeding width corresponding to the first sweeping segment after entering the sweeping route is the second seeding width. After controlling the aircraft to fly along the sweeping route and performing seeding operations according to the second seeding width, the aircraft seeding operation method further includes: Upon entering the target segment, seeding operations are carried out according to the target seeding width, wherein the target segment is any sweeping segment after the first sweeping segment in the sweeping route, and the target seeding width is the seeding width corresponding to the target segment.

5. The aircraft-based seeding method as described in claim 1, characterized in that, The parameters for edge sweeping operations planned based on the round-trip operation coverage area and the land parcel boundary include: The remaining area is determined based on the boundary of the area covered by the round-trip operation and the boundary of the plot. Divide the consecutive intervals of equal width in the remaining region into one remaining segment; Based on the width of the remaining segment, determine the sweeping section and broadcast width within the remaining segment.

6. An aircraft-based seeding device, characterized in that, The device includes: The first processing unit is used to control the aircraft to fly along the round-trip route and carry out the seeding operation according to the first seeding width during the round-trip operation phase. The second processing unit is used to control the aircraft to switch from the round-trip route to the edge-sweeping route and enter the edge-sweeping operation stage after completing the operation of the round-trip route. The second processing unit is also used to control the aircraft to fly along the sweeping route and perform seeding operations according to the second seeding width during the sweeping operation phase. When the aircraft operates with the first spreading width, the slinger swings within a first angle range; when the aircraft operates with the second spreading width, the slinger swings within a second angle range. The seeder deployed on the aircraft includes a motor and a slinger. The motor directly drives the slinger. When the motor is working, the slinger swings back and forth following the forward and reverse rotation of the motor. The third processing unit is used to determine a safety boundary based on the target plot's boundary and inward distance before carrying out the operation; plan the round-trip route based on the safety boundary and the first broadcast width; and plan the edge-sweeping operation parameters based on the round-trip operation coverage area and the plot boundary. The round-trip operation coverage area is the area covered by the broadcasting operation along the round-trip route according to the first broadcast width. The edge-sweeping operation parameters include the edge-sweeping route, which includes multiple edge-sweeping segments, and the edge-sweeping operation parameters also include the broadcast width corresponding to each edge-sweeping segment.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method as described in any one of claims 1-5.

8. An electronic device, characterized in that, include: Processor and memory, the memory being used to store one or more programs; When the one or more programs are executed by the processor, the method as described in any one of claims 1-5 is implemented.

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