Sowing operation method, device and equipment and storage medium

Abstract

The invention discloses a sowing operation method, device and equipment and a storage medium, and relates to the technical field of unmanned aerial vehicles. The technical scheme provided by the invention is applied to the unmanned aerial vehicle, the unmanned aerial vehicle is provided with a sowing device, the sowing device comprises a throwing disc, when the unmanned aerial vehicle performs sowing operation, the throwing disc rotates on a vertical plane or a plane close to the vertical plane so as to scatter and sow materials, and the technical scheme comprises the following steps: the unmanned aerial vehicle flies based on a flight route of an operation task; when the unmanned aerial vehicle flies to the operation flight segment or the operation flight point of the flight route, the sowing device is controlled to discharge materials, and the throwing disc is controlled to enter a flapping forbidding mode, so that the materials fall in a concentrated mode. Through the technical means, the throwing disc can be controlled to enter the flapping forbidding mode, so that materials conveyed by the scattering device are not scattered by the throwing disc and fall into a working area below in a concentrated mode, concentrated scattering of the materials can be achieved on the premise that the throwing disc is not disassembled, preparation operation before operation of the unmanned aerial vehicle is simplified, and the working efficiency of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a spreading operation method, device, equipment and storage medium. Background Art

[0002] With the rapid development of drones, drones are increasingly used in industries such as industry, logistics and agriculture. Especially in the agricultural field, drones can carry various agricultural equipment, such as sowing devices and spraying mechanisms, to sow or spray farmland. In the sowing scenario, drones are generally required to spread materials over a certain range to form a sowing width, such as common field sowing. The larger the sowing width, the higher the operating efficiency. However, some crops require materials to fall precisely and concentratedly into their specific locations. For example, when fertilizing trees, a large amount of fertilizer needs to be accurately applied to the heart of the tree.

[0003] In the prior art, the spreading device carried by the drone is equipped with a horizontal spinner. After the material falls into the horizontal spinner, the horizontal spinner throws the material horizontally through centrifugal force. The material is scattered under the action of centrifugal force and cannot fall together. Therefore, the horizontal spinner is not suitable for the application scenario of centralized spreading. If the drone realizes centralized spreading operation, the horizontal spinner of the spreading device needs to be removed before the operation. The preparation operation before the operation is relatively troublesome, which affects the operation efficiency of the drone. Summary of the invention

[0004] The present application provides a spreading operation method, device, equipment and storage medium to control the spinner to enter a prohibited beating mode, so that the material transported by the spreading device is not scattered by the spinner but falls into the working area below. The concentrated spreading of the material can be achieved without removing the spinner, which solves the problem in the prior art that the spinner of the drone needs to be removed before operation, simplifies the preparation operation before the drone operation, and is conducive to improving the operation efficiency of the drone.

[0005] In a first aspect, the present application provides a spreading method, which is applied to a drone, wherein the drone is equipped with a spreading device, wherein the spreading device includes a spinning disc, and when the drone performs a spreading operation, the spinning disc rotates on a vertical plane or a plane close to a vertical plane to scatter and spread the material, and the method includes:

[0006] The UAV flies based on the flight route of the operation mission;

[0007] When the UAV flies to the operating section or operating waypoint of the flight route, the spreading device is controlled to discharge the material, and the spinning disc is controlled to enter a prohibited flapping mode, so that the material falls in a concentrated manner.

[0008] In a second aspect, the present application provides a spreading device, which is applied to a drone, wherein the drone is equipped with a spreading device, wherein the spreading device includes a spinning disc, and when the drone performs a spreading operation, the spinning disc rotates on a vertical plane or a plane close to a vertical plane to scatter and spread the material, wherein the device includes:

[0009] A flight module, configured to fly the UAV based on a flight route of an operation mission;

[0010] The first spreading module is configured to control the spreading device to discharge materials and control the spinning disc to enter a prohibited flapping mode when the UAV flies to an operating section or an operating waypoint of the flight route, so that the materials fall in a concentrated manner.

[0011] In a third aspect, the present application provides a spreading operation equipment, comprising:

[0012] One or more processors; a memory storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the sowing operation method as described in the first aspect.

[0013] In a fourth aspect, the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to perform the spreading method as described in the first aspect.

[0014] In the present application, when the UAV is flying on the flight route based on the operation task, if the UAV flies to the operation section or operation waypoint of the flight route, the spreading device is controlled to discharge the material and the swinging disc is controlled to enter the prohibited flapping mode, so that the material is concentrated and falls into the operation area below the operation section or operation waypoint, thereby realizing the concentrated spreading of the material. Through the above-mentioned technical means, when the UAV needs to spread the material in a concentrated manner, the swinging disc can be controlled to enter the prohibited flapping mode, so that the material transported by the spreading device is not scattered by the swinging disc but falls into the operation area below in a concentrated manner, and the concentrated spreading of the material can be realized without removing the swinging disc, which solves the problem of the prior art that the swinging disc of the UAV needs to be removed before the operation, simplifies the preparation operation before the UAV operation, and is conducive to improving the operation efficiency of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is one of the structural schematic diagrams of the spreading device provided in the embodiment of the present application;

[0016] Figure 2 This is the second structural schematic diagram of the spreading device provided in the embodiment of the present application;

[0017] Figure 3 is a flow chart of a spreading method provided in an embodiment of the present application;

[0018] Figure 4 It is a schematic diagram of the flow process of materials from a material box to being spread out provided in an embodiment of the present application;

[0019] Figure 5 It is a structural schematic diagram of the spinning disc component of the drone provided in the embodiment of the present application;

[0020] Figure 6 is a schematic diagram of a swinging disk provided in an embodiment of the present application in an initial position;

[0021] Figure 7 It is a schematic diagram of the swinging disk provided in the embodiment of the present application swinging to the left;

[0022] Figure 8 It is a schematic diagram of the spinning disc provided in the embodiment of the present application being swung upward;

[0023] Fig. 9 This is one of the structural schematic diagrams of the rotating disk provided in the embodiment of the present application;

[0024] Fig.10 This is the second structural schematic diagram of the rotating disk provided in the embodiment of the present application;

[0025] Fig.11 is a schematic diagram of a drone provided in an embodiment of the present application performing a fixed-point seeding task;

[0026] Fig.12 is a schematic diagram of a drone provided in an embodiment of the present application performing a flight seeding task;

[0027] Fig.13 is a schematic diagram of a spreading control interface provided in an embodiment of the present application;

[0028] Fig.14 It is a structural schematic diagram of a spreading operation device provided in an embodiment of the present application;

[0029] Fig.15 It is a structural schematic diagram of a drone provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0031] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0032] In the relevant implementation methods, in some sowing scenarios, crops require that materials can fall into their specific locations accurately and concentratedly. For example, when fertilizing oil palm trees, a large amount of fertilizer needs to be accurately applied to the heart of the oil palm tree, or when fertilizing fruit trees, the fertilizer needs to be accurately spread on the trunk of the fruit tree to avoid damaging the fruit of the fruit tree. If the operation task performed by the drone is to carry out centralized sowing of plants in the operation area, then before the drone operation, the staff needs to manually remove the spinner of the sowing device carried by the drone to avoid the material from being scattered and falling into the operation area under the beating action of the spinner when sowing the material. However, the removal operation of the spinner increases the preparation work before the drone operation, thereby increasing the complexity of the preparation work and affecting the execution efficiency of the operation task. Moreover, some work tasks may require drones to be compatible with centralized sowing and large-scale sowing. For example, some work areas are mixed with multiple plants. Some plants require large-scale sowing of materials, and some plants require centralized sowing of materials. However, drones are not compatible with both centralized sowing and large-scale sowing modes when loading or removing spinners, resulting in the drone being unable to complete the corresponding work tasks in one flight, and the drone's operating efficiency is low.

[0033] In order to solve the problems existing in the above implementation, this embodiment provides a sowing operation method, so that when the drone concentrates on sowing materials on the plants in the working area, the spinner is controlled to enter the prohibited flapping mode, so that the materials transported by the sowing device are not scattered by the spinner but fall into the working area below. The concentrated sowing of materials can be achieved without removing the spinner, which simplifies the preparation work before the drone operation and improves the execution efficiency of the operation task. The drone without disassembling the spinner can be compatible with both concentrated sowing and large-scale sowing modes. When performing operations that require concentrated sowing and large-scale sowing of plants, the drone can complete the corresponding operation tasks through one flight, which improves the operation efficiency and operation capacity of the drone.

[0034] The sowing operation method provided in this embodiment can be performed by a sowing operation device, and the sowing operation device can be implemented by software and / or hardware. The sowing operation device can be composed of two or more physical entities, or it can be composed of one physical entity. For example, the sowing operation device can be a drone, or it can be a processor of the drone. In this embodiment, the drone is equipped with a sowing device, and the sowing device includes a spinning disc. When the drone performs a sowing operation, the spinning disc rotates on a vertical plane or a plane close to a vertical plane to scatter the material and spread it out. Exemplarily, Figure 1 and Figure 2 Schematic diagram of the structure of the spreading device provided in the embodiment of the present application. Figure 1 and Figure 2 As shown, the spreading device includes a material box 11, an auger 12 and a swinging plate 13. The material box 11 is used to store materials. The auger 12 is a transmission structural component, which transports the materials in the material box 11 to the swinging plate 13 by rotating. When the swinging plate 13 rotates on a vertical plane or a plane close to a vertical plane, the materials transported by the auger 12 can be beaten outward so that the materials are spread out with a larger broadcast width. In the working mode, the swinging plate 13 rotates at a higher speed, thereby beating the materials transported by the auger 12, so that the materials generate centrifugal force under the beating action of the swinging plate 13, and then scatter and fall into the working area under the action of the centrifugal force, that is, the swinging plate 13 can achieve a large-scale broadcast of the materials in the working mode. In order to achieve the concentrated broadcast of the materials, this embodiment provides a prohibited beating mode of the swinging plate 13, that is, the swinging plate 13 will not beat the materials transported by the auger 12 in the prohibited beating mode, and the materials will not be scattered and fall into the working area under the action of gravity, that is, the swinging plate 13 can achieve the concentrated broadcast of the materials in the prohibited beating mode. This embodiment will describe in detail how to use the prohibited flapping mode of the spinner to achieve the spreading operation of the drone through the process of the spreading operation method.

[0035] The sowing operation device is installed with at least one type of operating system, and the sowing operation device can install at least one application based on the operating system, and the application can be an application that comes with the operating system, or an application downloaded from a third-party device or server. In this embodiment, the sowing operation device has at least an application that can execute the sowing operation method.

[0036] For ease of understanding, this embodiment is described by taking a drone as the main body for performing the spreading operation method as an example.

[0037] Figure 3 A flow chart of a sowing method provided in an embodiment of the present application is given. Figure 3 , the sowing operation method specifically includes:

[0038] S110. The UAV flies based on the flight route of the operation mission.

[0039] Among them, the operation task is the task of spreading materials on the plants in the operation area. Exemplarily, the user can configure the task information of the operation task on the remote control device, and the task information may include the operation area, flight route, material type, spreading flow, plant type, operation mode and / or flight parameters, etc. The remote control device uploads the task information to the drone, and the drone creates a corresponding operation task according to the task information. After receiving the task execution instruction sent by the remote control device, the drone can start to execute the operation task. When executing the operation task, the flight controller of the drone can control the drone to fly along the flight route based on the flight route and flight parameters in the operation task.

[0040] In this embodiment, the flight route is the route that the drone flies when performing an operation task. It can be generated by the remote control device and then uploaded to the flight route, or it can be generated by the drone according to the operation area uploaded by the remote control device. Exemplarily, before the drone flies based on the flight route of the operation task, it receives the flight route transmitted by the remote control device. The flight route is obtained by the remote control device planning the operation area or generated by the remote control device based on the connection operation triggered by the operation area. For example, when the user configures the task information on the remote control device, the operation area can be manually circled in the plot map displayed by the remote control device or one of the multiple plots provided by the remote control device can be selected as the operation area. The remote control device determines the operation area according to the operation input by the user. After that, the remote control device can plan the corresponding flight route according to the operation area, or display the operation area, and the user connects in the operation area to trigger the connection operation. The remote control device draws the flight route of the operation area according to the continuous operation. After the remote control device generates the flight route, it uploads the flight route together with other task information to the drone, and the drone parses the task information to obtain the flight route.

[0041] In addition, before the drone flies based on the flight route of the work task, it receives the work area transmitted by the remote control device and plans the flight route according to the work area. For example, when configuring the task information on the remote control device, you can manually circle the work area in the plot map displayed by the remote control device or select one of the multiple plots provided by the remote control device as the work area. After the remote control device determines the work area, it displays the work area, and the user can manually mark the plant position in the work area. After that, the remote control device uploads the work area and the corresponding plant position together with other task information to the drone, and the drone parses the task information to obtain the work area and the corresponding plant position. The drone plans the flight route according to the work area and the corresponding plant position. Of course, in addition to the user manually marking the plant position in the work area, the plant position in the work area can also be automatically identified by the remote control device or the drone.

[0042] This embodiment is described by taking the example of a drone identifying the position of plants in an operation area and planning a flight trajectory. After receiving the operation area transmitted by the remote control device, the drone identifies the plants in the operation area to determine the plant area; determines the operation waypoints according to the plant area; and plans the flight route according to the operation waypoints. Exemplarily, the drone identifies the plants in the operation area through a pre-trained plant recognition model to obtain the plant area. The operation waypoint is determined in the plant area. Generally speaking, the center point of the plant area is the center point of the plant. The center point of the plant area can be determined as the operation waypoint, and then the flight route passing through each operation waypoint is planned according to each operation waypoint, so that when the drone flies based on the flight route, the material can be concentratedly spread above the operation waypoint to the center point of the corresponding plant below. In this embodiment, the drone automatically identifies the plant area in the operation area, and there is no need for the user to manually mark the plant area in the operation area, which simplifies the operation of the user to configure the operation task, simplifies the preparation work before the drone operation, and is conducive to improving the execution efficiency of the operation task. The UAV determines the operation waypoints according to the plant area, and then plans the flight route according to the operation waypoints, so that the UAV can concentrate the plants in the operation area above the operation waypoints when flying based on the flight route, ensuring the sowing accuracy of the UAV.

[0043] Furthermore, different plants require different concentrated spreading positions. For example, the concentrated spreading position required by oil palm trees is the tree core, while the concentrated spreading position required by fruit trees is a position other than the fruit, such as the trunk. Therefore, the operation waypoint can be determined in the plant area according to the plant type of the operation task. For example, when the plant in the operation area is an oil palm tree or other plant that requires concentrated spreading of materials in the tree core, the center position of the plant is determined in the plant area, and the center position of the plant is determined as the operation waypoint. When the plant in the operation area is a fruit tree or other plant that requires concentrated spreading of materials avoiding the fruit, the fruit position is determined in the plant area, the fruit neighborhood is determined in the plant area according to the fruit position, and the operation waypoint is determined in the area of ​​the plant area other than the fruit neighborhood.

[0044] S120, when the UAV flies to the operation section or operation waypoint of the flight route, the spreading device is controlled to discharge the material, and the spinning disc is controlled to enter the prohibited flapping mode, so that the material falls in a concentrated manner.

[0045] Among them, the operation waypoint is the waypoint used to instruct the drone to concentrate on spreading materials, that is, when the drone flies to the operation waypoint, the drone will concentrate the materials to the working area below the operation waypoint. The operation segment is the segment where the user instructs the drone to concentrate on spreading materials, that is, when the drone flies to the operation segment, the drone will concentrate the materials to the working area below the operation segment.

[0046] When the drone flies to the operation section or operation waypoint, the drone controls the auger to rotate to transport materials to the spinner, and controls the spinner to enter the no-flapping mode. The spinner in the no-flapping mode will not flap the materials transported by the auger, and the materials will not be scattered outward due to the centrifugal force generated by flapping. Instead, they will be concentrated and spread to the operation area below under the action of gravity. In order to more clearly understand the principle of concentrated material spreading of the spinner in the no-flapping mode, this embodiment is as follows: Figure 4 The schematic diagram of the material flow process from the material box to the spreading is described. Figure 4 As shown, the material 15 in the material box 11 falls from top to bottom onto the auger 12 under the action of gravity, and the auger 12 transports the material 15 to the right to the discharge port 14 when it rotates. After the material passes through the discharge port 11, the swing plate 13 is in the prohibited beating mode and does not beat the material 16. The material 16 does not generate centrifugal force for outward spreading. Instead, the material 16 falls from the bottom of the swing plate 13 to the working area under the action of gravity, thereby realizing concentrated spreading of the material without disassembling the swing plate.

[0047] In this embodiment, controlling the spinning plate to enter the prohibited beating mode includes: controlling the spinning plate to stop rotating or controlling the spinning plate to enter the avoidance mode, and the spinning plate in the avoidance mode does not interfere with the falling of the materials.

[0048] For example, when the spinning disc stops rotating, the spinning disc will not slap the materials transported by the auger, so the materials will not be scattered and will fall directly into the working area below the working waypoint or working section. The concentrated spreading of materials can be achieved without disassembling the spinning disc, eliminating the operation of disassembling the spinning disc before the operation, thereby improving the execution efficiency of the operation task. Moreover, when the drone controls the spinning disc to stop rotating, it only needs to control the motor used to drive the spinning disc to stop rotating, that is, turning off the power of the motor can stop the spinning disc from rotating, so that the spinning disc enters the prohibited beating mode. The control operation of concentrated spreading of materials is simple and does not affect the working efficiency of the drone. It should be noted that a plurality of blades are provided on the spinning disc. Although some blades will be on the falling path of the materials when the spinning disc stops rotating, there are gaps between the blades, that is, the materials can still fall to the working area sent by the drone through the gaps between the blades.

[0049] However, when the material particles are large, the discharge volume is large, or there may be impurities such as stems and branches inside the material, there is a risk that the material will be blocked by the blades of the spinner, that is, the blades will intercept part of the material and thus affect the amount of material spread, reducing the spreading accuracy of the drone. For example, the drone needs to spread 1000g of material at the operating waypoint, but due to the presence of the blades, 200g of the material is accumulated on the blades, and only 800g is actually spread, which is not conducive to the precise spreading of the drone. In this regard, the present embodiment also provides an avoidance mode for the spinner. In the avoidance mode, the spinner does not interfere with the falling of the material, that is, the blades of the spinner will not block the falling of the material. The material transported by the auger is all concentrated under the action of gravity and falls into the operating area below the operating waypoint or the operating section. The concentrated spreading of the material is achieved without disassembling the spinner, and the material is prevented from being stuck on the blades, thereby improving the spreading accuracy of the drone.

[0050] In this embodiment, the swinging plate includes two swinging plate structures, one is a swinging swinging plate and the other is a rotating swinging plate. The swinging swinging plate beats out the material conveyed by the auger by reciprocating swinging, and the rotating swinging plate beats out the material conveyed by the auger by rotating in the same direction. For the two swinging plate structures, this embodiment provides corresponding avoidance modes, so that no matter which type of swinging plate is installed on the spreading device, the material can be centrally spread on the premise of removing the swinging plate, thereby improving the applicability of the spreading operation.

[0051] In the case where the spinning tray is a swinging spinning tray, controlling the spinning tray to enter the avoidance mode includes: controlling the swinging spinning tray to swing to a preset avoidance position. The avoidance position is the upper side or the two sides. For example, Figure 5 Schematic diagram of the structure of the spinning disc component of the drone provided in the embodiment of the present application. Figure 5 As shown, the spinner components include a swing spinner, a spinner housing 17, a motor 19 and a reducer 20. The spinner housing 17 is used to protect the swing spinner and limit the spreading direction of the material, and the motor 19 and the reducer 20 are used to drive the swing spinner. Figure 2 and Figure 3 The swinging disk is installed in the disk housing 17, and the disk housing 17 half surrounds the disk, that is, the upper end of the disk housing 17 is provided with a baffle 18 to protect the disk and limit the sowing direction of the material, and the lower end, left end and right end of the disk housing 17 are not provided with baffles, so that the material can be sown from the lower end, left end and right end of the disk housing 17 respectively. When the swinging disk is in the normal mode, that is, when the material is sown in a large range, the swinging disk reciprocates left and right at the lower end of the disk housing 17, so that the material is sown from the left end, lower end and right end of the disk housing 17 to form a larger sowing width. When the swinging disk enters the avoidance mode, the drone controls the motor 19 and the reducer 20 to drive the swinging disk to swing the swinging disk to the avoidance position, which is above or on both sides of the swing position in the normal mode, that is, the swinging disk will swing to the upper end or both ends of the disk housing 17. Since the swinging disc is in the avoidance position, few or no blades are in the falling path of the material, which prevents the blades from blocking the falling of the material and reduces the amount of material stuck on the blades. This allows most or all of the material transported by the auger to fall into the working area below the drone, thereby improving the drone's sowing accuracy.

[0052] Figure 6 Schematic diagram of the swinging plate provided in the embodiment of the present application in the initial position. Figure 6 As shown, when the UAV controls the swinging disk to stop rotating, the swinging disk is in the initial position, and the initial position of the swinging disk is the lower end of the disk housing 17. When the swinging disk remains in the initial position, although the swinging disk will not beat the falling materials out, the blades 132 on the swinging disk are in the falling path of the materials. When the particles of the materials are large, the amount of sowing is large, or there are impurities such as stems and branches inside the materials, the materials are easily stuck by the blades 132. Therefore, when there are certain requirements for sowing accuracy, the swinging disk can be controlled to enter the avoidance mode to swing the swinging disk from the initial position to the avoidance position to prevent the blades of the swinging disk from excessively resisting the falling of the materials.

[0053] Figure 7 Schematic diagram of the swinging plate provided in the embodiment of the present application swinging to the left. Figure 7 As shown, when the swinging plate swings to the avoidance position on the left side, only one or two blades 132 will block the falling path of the material, so not too much material will be stuck on the blades 132, ensuring that most of the material transported by the auger can be concentrated and spread in the working area below the drone, thereby improving the spreading accuracy of the drone. The same is true when the swinging plate swings to the right side. Figure 8 Schematic diagram of the spinning tray provided in the embodiment of the present application swinging upward. Figure 8As shown, when the swinging disc swings to the upper avoidance position, no blade 132 will block the falling path of the material, so no material will be stuck on the blade 132, ensuring that all the materials transported by the auger can be concentrated and spread in the working area below the drone, further improving the spreading accuracy of the drone.

[0054] It should be noted that when the swinging spinner plate swings to the avoidance position on the left or right side, it can be regarded as the swinging spinner plate entering the semi-avoidance mode, that is, the number of blades blocking the material falling path is reduced. When the swinging spinner plate swings to the avoidance position above, it can be regarded as the swinging spinner plate entering the full avoidance mode, that is, no blades block the material falling path. Among them, the upper avoidance position is not necessarily directly above, but can also be obliquely above, as long as the blades of the swinging spinner plate are not on the material falling path. In this embodiment, the drone can be controlled to enter the semi-avoidance mode or the full avoidance mode according to the sowing accuracy of the operation task. For example, when the sowing accuracy requirement of the operation task is high, the drone can be controlled to enter the full avoidance mode, and when the sowing accuracy requirement of the operation task is low, the drone can be controlled to enter the semi-avoidance mode.

[0055] refer to Figure 7 The swinging plate body 131 of the swinging plate is a fan-shaped structure, and a plurality of blades 132 are arranged at intervals along the edge of the swinging plate body 131 of the swinging plate, and the swinging plate spreads the material by reciprocating swinging. When the swinging plate is in the working mode, the motor 19 and the reducer 20 drive the swinging plate to swing back and forth. When the swinging plate swings, the blades 132 beat the material conveyed by the auger. Under the beating effect of the blades 132 and the blocking of the swinging plate housing 17, the material is spread from the left end, the lower end and the right end of the swinging plate housing 17 to form a certain sowing width. Of course, in addition to being a fan-shaped structure, the swinging plate body can also be a circular structure or other shape structures, as long as the blades are arranged on one side of the swinging plate body. Further, the upper end of the swinging plate housing 17 is reserved with a swinging space so that when the swinging plate swings to the upper avoidance position, it does not interfere with the swinging plate of the baffle 18. Specifically, when the swinging spinner swings to the upper avoidance position, a safe distance is maintained between the edge of the swinging spinner and the baffle 18, so that the baffle does not affect the swinging spinner swinging to the upper avoidance position, thereby ensuring the feasibility and safety of the swinging spinner swinging to the upper avoidance position.

[0056] In the case where the spinning disk is a rotating spinning disk, controlling the spinning disk to enter the avoidance mode includes: controlling the rotating spinning disk to rotate at a low speed. Exemplarily, Fig. 9 This is one of the structural schematic diagrams of the rotating disk provided in the embodiment of the present application. Fig. 9 As shown, the rotating disk body 131 of the rotating disk is a circular structure, and a plurality of blades 132 are arranged at intervals along the edge of the rotating disk body 131 of the rotating disk. The rotating disk spreads the material by rotating in the same direction. Figure 2 and Figure 3The rotating disk is installed in the disk housing 17, and the disk housing 17 half surrounds the disk, that is, a baffle 18 is provided at the upper end of the disk housing 17 to protect the disk and limit the sowing direction of the material, and the lower end, left end and right end of the disk housing 17 are not provided with baffles, so that the material can be sown from the lower end, left end and right end of the disk housing 17 respectively. In the normal mode, that is, when the rotating disk is sown with a large amplitude, the rotating disk rotates at a high speed. When the rotating disk rotates at a high speed, the blades 132 beat the material conveyed by the auger 12 through the sowing feed port 14, and the material is sown from the lower end, left end and right end of the disk housing under the beating action of the blades 132 to form a larger sowing width.

[0057] refer to Fig. 9 When the rotating disk stops rotating, the blades of the rotating disk are in the falling path of the material 16, so that the material 16 is stuck on the blades, reducing the amount of material spread. Further, when the drone controls the rotating disk to enter the avoidance mode, the drone controls the rotating disk to rotate at a low speed through the motor. The speed of the rotating disk in the avoidance mode can be as low as one rotation in 5 seconds. For example, Fig.10 This is the second structural schematic diagram of the rotating spinning disk provided in the embodiment of the present application. Fig.10 yes Fig. 9 The schematic diagram of the rotating disk shown in FIG. Fig. 9 and Fig.10 As shown, during the sowing process, the material 16 transported by the auger will fall on the blades 132, and the low-speed rotating spinning disc is insufficient to generate centrifugal force on the material 16 transported by the auger, so the material will not be beaten by the blades 132 and sown from the left and right ends of the spinning disc housing, but will slowly rotate with the blades 132. As the rotating spinning disc rotates at a low speed, the position of the blades 132 slowly rises, and when the blades 132 rise to the top of the rotating spinning disc, the material on the blades 132 falls from top to bottom into the working area below the drone under the action of gravity. When the rotating spinning disc rotates at a low speed, the material is not easy to accumulate on the blades 132, but will be concentratedly sown from the lower end of the spinning disc housing as the blades 132 rotate slowly, so the blades will not block the falling of the material, and all the material can be concentratedly sown in the working area below the drone. This embodiment controls the rotating disc to rotate at a low speed during concentrated sowing, so that the materials dropped on the blades slowly rise to the top of the rotating disc with the blades and then fall naturally under the action of gravity, thereby indirectly achieving the goal that the rotating disc does not interfere with the falling of the materials, and that all the materials transported by the auger are concentratedly sown in the working area below the drone, thereby improving the sowing accuracy of the drone.

[0058] When the drone includes a motor 19 and a reducer 20, the drive shaft of the motor 19 is connected to the input end of the reducer 20, and the output end of the reducer 20 is connected to the rotation center 133 of the spinning disc 13. This embodiment is described by taking the spinning disc 13 as a swinging spinning disc as an example. Figure 5 When the drone controls the motor 19 to rotate, the drive shaft of the motor 19 drives the input end of the reducer 20 to rotate, and the output end of the reducer 20 also rotates accordingly, and the swing plate swings back and forth around the rotation center 133 driven by the output end of the reducer 20. In this embodiment, the swing plate can be controlled by the motor 19 and the reducer 20 to swing to any position and maintain it at a certain position, so that the swing plate can be controlled by the motor 19 and the reducer 20 to swing and maintain it at the avoidance position when the material is concentratedly spread.

[0059] It should be noted that in the related art, the driving components of the swinging disk include a motor, a reducer and a crank-connecting rod mechanism, the motor drives the reducer to rotate, the reducer drives the crank-connecting rod mechanism to rotate, and the swinging disk performs reciprocating horizontal swinging motion under the rotation of the crank-connecting rod mechanism, but the crank-connecting rod mechanism limits the swinging angle of the swinging disk, so that the swinging disk can only swing at the lower end of the disk shell and cannot swing to the upper end, that is, it cannot swing to the avoidance position. This embodiment improves the driving structure of the swinging disk from the reducer connected to the rotation center of the swinging disk through the crank-connecting rod mechanism to the reducer connected to the rotation center of the swinging disk, so that the motor and the reducer can control the swinging disk to swing and maintain it at any position.

[0060] When the types of plants in different operation areas are different, the types of tasks are also different, which makes the operation mode of the drone different. The operation mode of the operation task is also different. For example, when the plants in the operation area are oil palm trees, it is suitable for the fixed-point sowing operation mode, that is, the drone hovers above the heart of an oil palm tree to concentrate on sowing materials, and then flies to the heart of another oil palm tree to hover and concentrate on sowing materials. When the plants in the operation area are fruit trees, it only needs to avoid the fruits for concentrated sowing, so it is suitable for the flying sowing operation mode, that is, the drone concentrates on sowing materials while flying.

[0061] In this embodiment, when the operation task is a fixed-point spreading task, the drone is controlled to fly to each operation waypoint on the flight route, hover at the operation waypoint and spread the materials in a concentrated manner. Fig.11 Schematic diagram of a drone performing a fixed-point seeding task provided in an embodiment of the present application. Fig.11As shown, the drone 22 flies along the flight route 21. When it flies to the operation waypoint A, it hovers above the operation waypoint A and starts the auger to rotate and controls the spinning disc to enter the prohibited flapping mode. The material transported by the auger passes through the spinning disc and falls into the center of the plant below the operation waypoint A. The operation task stipulates the preset amount of material to be sown for each plant. When the amount of material transported by the auger reaches the preset amount of material, the drone 22 controls the auger to stop rotating and controls the spinning disc to exit the prohibited flapping mode, and then continues to fly along the flight route 21 to the next operation waypoint B. Similarly, when the drone 22 flies to the operation waypoint B, it hovers above the operation waypoint B and starts the auger to rotate and controls the spinning disc to enter the prohibited flapping mode. The material transported by the auger passes through the spinning disc and falls into the center of the plant below the operation waypoint B. Repeat this until the drone completes the centralized sowing of materials at all operation waypoints. This embodiment controls the drone to hover precisely above the plants through the operation waypoints in the flight route and scatter the seeds on the plants in a concentrated manner, thereby ensuring the sowing accuracy of the drone and realizing the autonomous sowing operation of the drone.

[0062] When the operation task is a flying spreading task, the drone is controlled to fly to each operation segment on the flight route, and flies on the operation segment and spreads the materials in a concentrated manner. Fig.12 Schematic diagram of a drone performing a flying seeding mission provided by an embodiment of the present application. Fig.12 As shown, the drone 22 flies along the flight route 21. When it flies to the starting point C of the operating section 23, the drone starts the auger to rotate and controls the spinning disc to enter the prohibited flapping mode. The materials transported by the auger are concentrated on the plants below the operating route 23 through the spinning disc. After that, the drone 22 keeps flying and controls the auger to rotate and controls the spinning disc to remain in the prohibited flapping mode. When the drone 22 flies to the end point D of the operating section 23, the drone turns off the auger and controls the spinning disc to exit the prohibited flapping mode. After that, the drone continues to fly to the next operating section along the flight route, and starts the auger again and controls the spinning disc to enter the prohibited flapping mode, while flying and centrally spreading materials on the plants below the corresponding operating section. This is repeated until the drone completes the centralized spreading of materials in all operating sections. This embodiment controls the drone to hover accurately above the plants and centrally spread the plants through the operating waypoints in the flight route, thereby improving the spreading efficiency of the drone and realizing the autonomous spreading operation of the drone.

[0063] It should be noted that the operation segment can be planned according to the operation waypoints. For fruit trees, the determination of the operation waypoints will avoid the fruits and the corresponding neighborhoods. Therefore, the waypoints on the operation segment are not located in the neighborhood of the fruits. Therefore, when the drone flies along the operation segment and spreads materials concentratedly, the materials will not hit the fruits.

[0064] In another embodiment, if the operation area simultaneously plants plants that require both fixed-point sowing and flying sowing, the UAV can implement flying sowing on the operation segment and hovering sowing at the operation waypoint according to the operation segment and operation waypoint in the flight route.

[0065] There is also a situation where plants that need to be sown in a concentrated manner and in a large area are planted in the operation area at the same time. The drone can perform concentrated sowing or large-scale sowing on the plants at the corresponding positions according to the sowing modes corresponding to different sections or waypoints on the flight route. For example, in the flight route, except for the operation route and the operation waypoint, all routes other than the operation route and the operation waypoint adopt the sowing mode of large-scale sowing. When the drone flies to the starting point of the flight route, the auger is started to rotate and the spinner is controlled to enter the working mode. The material transported by the auger is sown in a large area to the operation area below the drone under the beating operation of the spinner. When the drone flies to the operation route, the drone keeps flying, and controls the auger to keep rotating and controls the spinner to enter the prohibited beating mode. The material transported by the auger is not scattered by the spinner and is concentratedly sown in the operation area below the drone. When the drone flies to the operation waypoint, the drone hovers at the operation waypoint, and controls the auger to keep rotating and controls the spinner to enter the prohibited beating mode. The material transported by the auger is not scattered by the spinner and is concentratedly sown in the operation area below the drone.

[0066] In addition, the drone can also perform concentrated or large-scale spreading according to the instructions sent by the user through the remote control device. For example, after the drone flies based on the flight route, when the drone receives the concentrated spreading instruction sent by the remote control device, it controls the spreading device to discharge the material and controls the spinning disc to enter the prohibited flapping mode to make the material fall in a concentrated manner. Fig.13 Schematic diagram of the spreading control interface provided by the embodiment of the present application. Fig.13As shown, after the drone starts to perform the operation task, the remote control device switches to the sowing control interface 24, in which a centralized sowing control 25 and a large-scale sowing control 26 are displayed. When the user clicks the centralized sowing control 25, the remote control device generates a centralized sowing instruction, and sends the centralized sowing instruction to the drone. The drone responds to the centralized sowing instruction to control the auger to rotate and control the spinning disc to enter the prohibited beating mode, so that the materials transported by the auger are concentratedly sown in the working area below the drone. As for whether the drone performs hovering centralized sowing or flying centralized sowing based on the centralized sowing instruction, it can be set according to actual needs, and will not be repeated here. Furthermore, when the user clicks the large-scale sowing control 25, the remote control device generates a large-scale sowing, and sends the large-scale sowing instruction to the drone. The drone responds to the large-scale sowing instruction to control the auger to rotate and control the spinning disc to enter the working mode, so that the materials transported by the auger are scattered and sown in the working area below the drone under the beating action of the spinning disc. This embodiment improves the controllability of concentrated material spreading by drones by providing a method for users to manually control the concentrated material spreading by drones, so that when the automatic spreading program of the drone fails, the spreading operation of the drone can be manually intervened to ensure that the drone can perform the operation task normally and improve the execution efficiency of the operation task.

[0067] In summary, the spreading operation method provided in the embodiment of the present application, when the drone is flying based on the flight route of the operation task, if the drone flies to the operation section or operation waypoint of the flight route, the spreading device is controlled to discharge the material and the swinging disc is controlled to enter the prohibited flapping mode, so that the material is concentrated and falls into the operation area below the operation section or operation waypoint, thereby realizing the concentrated spreading of the material. Through the above-mentioned technical means, when the drone needs to spread the material in a concentrated manner, the swinging disc can be controlled to enter the prohibited flapping mode, so that the material transported by the spreading device is not scattered by the swinging disc but falls into the operation area below in a concentrated manner, and the concentrated spreading of the material can be realized without removing the swinging disc, which solves the problem of the drone's swinging disc needing to be removed before the operation in the prior art, simplifies the preparation operation before the drone operation, and is conducive to improving the operation efficiency of the drone.

[0068] Based on the above embodiments, Fig.14 A schematic diagram of the structure of a spreading device provided in an embodiment of the present application. Fig.14 The spreading operation device provided in this embodiment specifically includes: an information acquisition module 31 and an obstacle avoidance flight module 32 .

[0069] The flight module 31 is configured to fly the UAV based on the flight route of the operation task;

[0070] The first spreading module 32 is configured to control the spreading device to discharge materials and control the spinning disc to enter a prohibited flapping mode when the UAV flies to an operating section or an operating waypoint of a flight route, so that the materials fall in a concentrated manner.

[0071] On the basis of the above embodiment, the spreading operation device also includes a second spreading module, which is configured to control the spreading device to discharge materials and control the spinner to enter a prohibited beating mode when the drone receives a concentrated spreading instruction sent by a remote control device after flying a flight route based on the operation task, so that the material falls in a concentrated manner.

[0072] On the basis of the above embodiment, the first spreading module 32 comprises: a spinning disc control unit configured to control the spinning disc to stop rotating or control the spinning disc to enter an avoidance mode, and the spinning disc in the avoidance mode does not interfere with the falling of materials.

[0073] Based on the above embodiment, the spreading operation device also includes a third spreading module, which is configured to control the drone to fly to various operation waypoints on the flight route, hover at the operation waypoints and concentrate on spreading materials when the operation task is a fixed-point spreading task.

[0074] Based on the above embodiment, the spreading operation device also includes a fourth spreading module, which is configured to control the UAV to fly to each operating segment on the flight route, fly on the operating segment and spread materials centrally when the operating task is a flight spreading task.

[0075] On the basis of the above embodiment, in the case that the spinning tray is a swinging spinning tray, the spinning tray control unit includes: an avoidance subunit configured to control the swinging spinning tray to swing to a preset avoidance position.

[0076] On the basis of the above-mentioned embodiment, the swinging plate body of the swinging plate is a fan-shaped structure, a plurality of blades are arranged at intervals on the edge of the swinging plate body of the swinging plate, and the swinging plate spreads the material by reciprocating swinging.

[0077] On the basis of the above embodiment, in the case that the spinning disk is a rotating spinning disk, the spinning disk control unit comprises: a low-speed rotation subunit configured to control the rotating spinning disk to rotate at a low speed.

[0078] On the basis of the above embodiment, the spinning disk is a rotating spinning disk, the spinning disk body of the rotating spinning disk is a circular structure, a plurality of blades are arranged at intervals on the edge of the spinning disk body of the rotating spinning disk, and the rotating spinning disk spreads the materials by rotating in the same direction.

[0079] On the basis of the above embodiment, the drone includes a motor and a reducer, the driving shaft of the motor is connected to the input end of the reducer, and the output end of the reducer is connected to the rotation center of the spinning disc.

[0080] On the basis of the above-mentioned embodiments, the spreading operation device also includes a flight route acquisition module, which is configured to receive a flight route transmitted by a remote control device before flying a flight route based on an operation task, and the flight route is obtained by planning an operation area by the remote control device or generated by a connection operation triggered by the remote control device based on the operation area; or, it is configured to receive an operation area transmitted by a remote control device before flying a flight route based on an operation task, and plan the flight route according to the operation area.

[0081] Based on the above embodiments, the flight route acquisition module includes: a plant identification unit, configured to identify plants in the working area and determine the plant area; an working waypoint determination unit, configured to determine the working waypoint according to the plant area; and a flight route planning unit, configured to plan the flight route according to the working waypoint.

[0082] As mentioned above, the spreading operation device provided in the embodiment of the present application controls the discharging of the spreading device and controls the swinging disc to enter the prohibited flapping mode when the drone flies to the operation section or operation waypoint of the flight route based on the operation task, so that the materials fall into the operation area below the operation section or operation waypoint, thereby realizing the concentrated spreading of the materials. Through the above-mentioned technical means, when the drone needs to spread the materials in a concentrated manner, the swinging disc can be controlled to enter the prohibited flapping mode, so that the materials transported by the spreading device are not scattered by the swinging disc but fall into the operation area below in a concentrated manner, and the concentrated spreading of the materials can be realized without removing the swinging disc, which solves the problem of the drone's swinging disc needing to be removed before the operation in the prior art, simplifies the preparation operation before the drone operation, and is conducive to improving the operation efficiency of the drone.

[0083] The spreading operation device provided in the embodiment of the present application can be used to execute the spreading operation method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0084] Fig.15 is a schematic diagram of the structure of a drone provided in an embodiment of the present application, with reference to Fig.15 The UAV includes: a processor 31, a memory 32, a communication device 33, an input device 34 and an output device 35. The number of processors 31 in the sowing operation equipment can be one or more, and the number of memories 32 in the sowing operation equipment can be one or more. The processor 31, the memory 32, the communication device 33, the input device 34 and the output device 35 of the sowing operation equipment can be connected through a bus or other methods.

[0085] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the sowing operation method of any embodiment of the present application (for example, the information acquisition module 31 and the obstacle avoidance flight module 32 in the sowing operation device). The memory 32 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory 32 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0086] The communication device 33 is used for data transmission.

[0087] The processor 31 executes the software programs, instructions and modules stored in the memory 32 to execute various functional applications and data processing of the device, that is, to implement the above-mentioned spreading operation method.

[0088] The input device 34 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 35 may include a display device such as a display screen.

[0089] The drone provided above can be used to execute the spreading operation method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0090] An embodiment of the present application also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to perform a spreading operation method, the spreading operation method comprising: a drone flying based on a flight route of an operation task; when the drone flies to an operation section or an operation waypoint of the flight route, the spreading device is controlled to discharge material, and the spinner is controlled to enter a prohibited flapping mode to allow the material to fall in a concentrated manner.

[0091] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0092] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application, whose computer executable instructions are not limited to the above-mentioned sowing operation method, can also execute related operations in the sowing operation method provided in any embodiment of the present application.

[0093] The spreading operation device, storage medium and drone provided in the above embodiments can execute the spreading operation method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the spreading operation method provided in any embodiment of the present application.

[0094] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A sowing method, characterized in that: Applied to a drone, the drone is equipped with a spreading device, the spreading device includes a spinning disc, when the drone performs a spreading operation, the spinning disc rotates on a vertical plane or a plane close to a vertical plane to scatter and spread the material, the method includes: The UAV flies based on the flight route of the operation mission; When the UAV flies to the operating section or operating waypoint of the flight route, the spreading device is controlled to discharge the material, and the spinning disc is controlled to enter a prohibited flapping mode, so that the material falls in a concentrated manner.

2. The spreading method according to claim 1, characterized in that: After the flight route based on the operational task is flown, the method further includes: When the UAV receives the centralized spreading instruction sent by the remote control device, it controls the spreading device to discharge the material, and controls the spinning disc to enter the prohibited flapping mode, so that the material falls in a centralized manner.

3. The spreading method according to claim 1, characterized in that: The step of controlling the spinning disc to enter a prohibited beating mode comprises: The spinning plate is controlled to stop rotating or to enter an avoidance mode, and the spinning plate in the avoidance mode does not interfere with the falling of materials.

4. The spreading method according to claim 1, characterized in that: The method comprises: When the operation task is a fixed-point spreading task, the drone is controlled to fly to each operation waypoint on the flight route, hover at the operation waypoint and spread the materials in a concentrated manner.

5. The spreading method according to claim 1, characterized in that: The method comprises: In the case where the operation task is a flight spreading task, the UAV is controlled to fly to each operation segment on the flight route, and flies on the operation segment and spreads materials in a concentrated manner.

6. The spreading method according to claim 3, characterized in that: In the case where the spinning disk is a swinging spinning disk, the step of controlling the spinning disk to enter an avoidance mode comprises: The swinging disk is controlled to swing to a preset avoidance position.

7. The spreading method according to claim 6, characterized in that: The swing disk body of the swing disk is a fan-shaped structure, and a plurality of blades are arranged at intervals on the edge of the swing disk body of the swing disk. The swing disk spreads materials by reciprocating swinging.

8. The spreading method according to claim 3, characterized in that: In the case where the spinning disk is a rotating spinning disk, the step of controlling the spinning disk to enter an avoidance mode comprises: The rotating disk is controlled to rotate at a low speed.

9. The spreading method according to claim 8, characterized in that: The spinning disk is a rotating spinning disk, the spinning disk body of the rotating spinning disk is a circular structure, a plurality of blades are arranged at intervals on the edge of the spinning disk body of the rotating spinning disk, and the rotating spinning disk spreads materials by rotating in the same direction.

10. The spreading method according to claim 1, characterized in that: The drone comprises a motor and a reducer, wherein the driving shaft of the motor is connected to the input end of the reducer, and the output end of the reducer is connected to the rotation center of the spinning disc.

11. The spreading method according to claim 1, characterized in that: Before the flight route based on the operational task is flown, the method further includes: Receiving a flight route transmitted by a remote control device, wherein the flight route is obtained by planning an operation area by the remote control device or is generated by a connection operation triggered by the remote control device based on the operation area; or, Receive the operation area transmitted by the remote control device, and plan the flight route according to the operation area.

12. The spreading method according to claim 11, characterized in that: The receiving the operation area transmitted by the remote control device and planning the flight route according to the operation area includes: Identifying plants in the operation area and determining the plant area; Determine an operation waypoint according to the plant area; Plan a flight route according to the operation waypoints.

13. A spreading device, characterized in that: Applied to a drone, the drone is equipped with a spreading device, the spreading device includes a spinning disc, when the drone performs a spreading operation, the spinning disc rotates on a vertical plane or a plane close to a vertical plane to scatter and spread the material, the device includes: A flight module, configured to fly the UAV based on a flight route of an operation mission; The first spreading module is configured to control the spreading device to discharge materials and control the spinning disc to enter a prohibited flapping mode when the UAV flies to an operating section or an operating waypoint of the flight route, so that the materials fall in a concentrated manner.

14. A spreading operation equipment, characterized in that: include: one or more processors; A memory stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the sowing operation method as described in any one of claims 1-12.

15. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the sowing operation method according to any one of claims 1 to 12 when executed by a computer processor.

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