Unmanned aerial vehicle operation method, unmanned aerial vehicle and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicles, discloses an unmanned aerial vehicle operation method, an unmanned aerial vehicle and a storage medium, and is used for solving the problem that original route planning is not matched with a target land parcel. The unmanned aerial vehicle operation method comprises the following steps: acquiring an original route plan and land parcel information of a target land parcel, wherein the original route plan comprises a plurality of parallel route segments with the same spacing; according to the original route plan and the land parcel information, determining whether the original route plan satisfies a land parcel coverage condition; if the original route plan does not meet the plot coverage condition, determining a to-be-adjusted route segment from the plurality of route segments; the original parameters of the to-be-adjusted route segment are adjusted to obtain a target route plan, and the original parameters at least comprise the broadcast breadth; and controlling the unmanned aerial vehicle to work based on the target route plan.

Description

Technical Field

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

[0002] In the field of modern agricultural technology, seeding operations are an important part of agricultural operations. In order to improve operation efficiency and ensure personnel safety, more and more users are using seeding equipment such as aircraft and drones to automatically perform seeding operations. The accuracy and coverage of operation route planning are the key to improving operation efficiency.

[0003] In the traditional solution, users generate the original route plan by setting a fixed route segment spacing, where the route segment spacing is the spacing between two adjacent parallel route segments, that is, the sowing width of the drone. In actual applications, the sowing width in the original route plan may not match the width of the plot. If the sowing operation is carried out directly according to the original route plan, the sowing may exceed the boundary of the operation plot or the sowing may be missed. Summary of the invention

[0004] The present application provides a drone operation method, a drone and a storage medium, which are used to optimize the original route planning when the original route planning is not compatible with the target plot.

[0005] The first aspect of the present application provides a method for operating a drone, including: obtaining an original route plan and plot information of a target plot, the original route plan including multiple parallel route segments with equal spacing; determining whether the original route plan meets a plot coverage condition based on the original route plan and the plot information; if the original route plan does not meet the plot coverage condition, determining a route segment to be adjusted from multiple route segments; adjusting original parameters of the route segment to be adjusted to obtain a target route plan, wherein the original parameters include at least a sowing width; and controlling the drone operation based on the target route plan.

[0006] The second aspect of the present application provides a drone, comprising: a body, a spreading device, a memory and at least one processor; the body is used to move according to the target route planning; the spreading device includes a spinner, which can swing back and forth following the forward and reverse rotation of the motor under the drive of the motor; instructions are stored in the memory; at least one processor calls the instructions in the memory to enable the drone to execute the above-mentioned drone operation method.

[0007] The third aspect of the present application provides a computer-readable storage medium, which stores instructions. When the computer-readable storage medium is run on a computer, it enables the computer to execute the above-mentioned drone operation method.

[0008] In the technical solution provided by the present application, when the original route planning does not meet the land coverage conditions, at least one route segment to be adjusted is determined among the multiple route segments of the original route planning, and the adaptation parameters of each route segment to be adjusted are adjusted so that the adjusted target route planning is adapted to the target land. The sowing width can be adaptively adjusted for different land plots, effectively avoiding the problem of sowing beyond the boundary of the operating land or missing sowing under the traditional fixed sowing width setting, improving the flexibility and adaptability of the UAV operation method, ensuring that the adjusted operating range covers the target land, without the need for reseeding, and improving the efficiency of the sowing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a schematic diagram of the first embodiment of the UAV operation method in this application;

[0010] Figure 2 This is a schematic diagram of the first embodiment of route planning for regular plots in this application;

[0011] Figure 3 This is a schematic diagram of a second embodiment of the UAV operation method in this application;

[0012] Figure 4 A schematic diagram of a second embodiment of route planning for a regular plot of land in this application;

[0013] Figure 5 This is a schematic diagram of a third embodiment of the UAV operation method in this application;

[0014] Figure 6 A schematic diagram of a third embodiment of route planning for a regular plot of land in this application;

[0015] Figure 7 This is a schematic diagram of a fourth embodiment of the UAV operation method in this application;

[0016] Figure 8 A schematic diagram of an embodiment of route planning for irregular land in this application;

[0017] Fig. 9 This is a schematic diagram of an embodiment of a UAV operation device in this application;

[0018] Fig.10 A schematic diagram of an embodiment of a drone in the present application. DETAILED DESCRIPTION

[0019] The present application provides a drone operation method, a drone and a storage medium, which are used to adjust and optimize the original route planning when the original route planning is not compatible with the target plot, so as to meet the coverage operation requirements.

[0020] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0021] It is understandable that the execution subject of the present invention can be a sowing operation device based on variable sowing width, or a drone equipped with a sowing operation device, which is not limited here. In the embodiment of the present invention, a drone is the execution subject, and the drone is equipped with a sowing operation device. The drone is connected to the sowing operation device in communication, and the sowing device can obtain the current positioning information of the drone and adjust the sowing width according to the positioning target route adaptation information.

[0022] For ease of understanding, the specific process of the embodiment of the present application is described below. Figure 1 , an embodiment of the drone operation method in this embodiment includes:

[0023] 110. Obtain the original route plan and plot information of the target plot.

[0024] In this embodiment, the original route planning includes multiple parallel route segments with the same spacing, and the original route planning also includes original parameters of each route segment, wherein the original parameters include the original broadcast width set by the user and the original position of each route segment, and the original position is also the route segment position of each route segment in the original route planning.

[0025] like Figure 2 The widths of the three plots shown are H1, H2, and H3 respectively. The user sets the original route spacing, that is, the original sowing width is S0, where Figure 2 The original route planning shown in (a) is an ideal situation. The original sowing width set by the user exactly matches the width of the plot. That is, according to the original route planning, full coverage of the target plot can be achieved, that is, the sum of the total sowing width is exactly equal to the width of the plot. Figure 2 (b) and Figure 2 (c) The original route plan shown does not fit the plot. Figure 2 The sowing range of the original route planning shown in (b) exceeds the target plot. The distance between the sowing range boundary line of the boundary route segment and the plot boundary line is D1, while Figure 2The sowing coverage of the original route planning shown in (c) does not completely cover the target plot, and the distance between the sowing coverage boundary line of its boundary route segment and the plot boundary line is D2.

[0026] Among them, the boundary route segment is the route segment closest to the boundary line of the plot, such as Figure 2 The first route segment of each plot is a boundary route segment close to the boundary line of the left plot, and the last route segment is a boundary route segment close to the boundary line of the right plot.

[0027] In this embodiment, the plot information is used to indicate parameter information of the target plot, which may include plot width, plot boundary information, etc. It can be understood that the plot boundary is used to indicate the range of the target plot, and the target plot includes two plot boundary lines, such as Figure 2 The three plots shown all include a plot boundary line on the left and a plot boundary line on the right. The non-boundary route segment is the route segment between the two plot boundaries except the boundary route segment, such as Figure 2 (a) There are 7 route segments from left to right (here refers to the vertical operating route segments, excluding the horizontal line-changing route segments), among which the 1st route segment and the 7th route segment are boundary route segments, and the 2nd to 6th route segments are non-boundary route segments.

[0028] It should be further explained that the original route planning is usually parallel to a land boundary line, such as Figure 2 The left plot boundary line is set, and the first route segment is set based on the original sowing width set by the user, and other positions are set in sequence according to the original sowing width to construct multiple route segments that are parallel to each other and equally spaced. In the case of sowing beyond the plot range, there may be two route segments adjacent to the left and right of the right plot boundary line. The boundary route segment referred to in this embodiment is the route segment closest to the plot boundary line. Under appropriate circumstances, any one of the two route segments adjacent to the left and right of the right plot boundary line can also be selected as the boundary route segment. The adjustment logic of the two is opposite. Taking the Nth route segment and the N+1th route segment adjacent to the right plot boundary line as an example, if the Nth route segment is adjusted as a boundary route segment, the sowing width of the Nth route segment needs to be increased. If the N+1th route segment is adjusted as a boundary route segment, the sowing width of the Nth route segment needs to be reduced.

[0029] During specific implementation, the present application will adjust the sowing width set by the user. Optionally, a switch or functional component may be set at the interactive level, such as "intelligent sowing width adjustment", or a prompt message may be generated on the user interactive interface to ask the user whether to make a full coverage adjustment to the route. With the user's permission, the drone operation method provided in this embodiment is executed.

[0030] 120. Determine whether the original route plan meets the land plot coverage conditions based on the original route plan and land plot information.

[0031] In this embodiment, the plot coverage condition is used to evaluate the spreading coverage of the target plot based on the original route planning. The plot coverage condition may be that the spreading coverage rate meets a preset coverage rate threshold. When the boundary route segment is parallel to the plot boundary line, that is, the target plot is a regular plot, the plot coverage condition may also be that the spreading coverage boundary line of the boundary route segment overlaps with the plot boundary line, or other plot coverage conditions, which are not specifically limited in this embodiment.

[0032] In this embodiment, the sowing coverage boundary line is used to indicate the sowing range of each route segment. Each route segment corresponds to two sowing coverage boundary lines, and each route segment is located between its corresponding two sowing coverage boundary lines. If it is a symmetrical sowing width control scheme, the position of each route segment is at the center line position between its corresponding two sowing coverage boundary lines. If it is an asymmetric sowing width control scheme, the position of each route segment is between its corresponding two sowing coverage boundary lines according to the sowing width on both sides of each route segment.

[0033] Optionally, when the plot coverage condition is that the sowing coverage rate meets a preset coverage rate threshold, the above-mentioned determining whether the original route planning meets the plot coverage condition based on the original route planning and the plot information includes: determining the current sowing coverage rate based on the original route planning and the plot information; judging whether the sowing coverage rate is equal to a preset coverage rate threshold, if so, determining that the plot coverage condition is met; if not, determining that the plot coverage condition is not met.

[0034] The above-mentioned sowing coverage rate can be used to evaluate the coverage degree of the target plot by the sowing operation of the original route planning. The sowing coverage rate can be expressed by the ratio of the operation area to the area of ​​the target plot. The sowing coverage rate can also be expressed by the ratio of the sum of the sowing widths to the plot width of the target plot. This embodiment does not impose any specific restrictions on the method for determining the sowing coverage rate.

[0035] It is understandable that the quality of the sowing operation can be guaranteed by setting an appropriate coverage threshold. For example, if the coverage threshold is set to 1 or 100%, if the current sowing coverage is less than or greater than the coverage threshold, the full coverage of the target plot cannot be achieved. Figure 2 (b) and (c), therefore, if the sowing coverage rate is equal to the preset coverage rate threshold, there is no need to adjust the original route planning; if the sowing coverage rate is not equal to the preset coverage rate threshold, the drone operation method of this embodiment can be executed, and the adjusted target route planning can be adapted to the target plot, that is, the sowing coverage rate threshold of the target route planning satisfies the preset coverage rate threshold, wherein the specific value of the coverage rate threshold can be set according to actual conditions, and this embodiment does not impose any specific restrictions.

[0036] Optionally, when the plot coverage condition is that the sowing coverage boundary line of the boundary route segment overlaps with the plot boundary line, the above-mentioned determining whether the original route plan meets the plot coverage condition based on the original route plan and the plot information includes: determining the sowing coverage boundary line of each boundary route segment according to the original route plan, and determining each plot boundary line according to the plot information; identifying whether the sowing coverage boundary line of each boundary route segment in the original route plan overlaps with the corresponding plot boundary line, and obtaining an identification result; if the identification result is that both overlap, it is determined that the plot coverage condition is met; if the identification result is that there is no overlap with the plot boundary line, it is determined that the plot coverage condition is not met.

[0037] The boundary route segment is the route segment closest to the boundary line of the plot, and each plot includes two boundary route segments, such as Figure 2 The first and last route segments for each plot shown, Figure 2 The sowing and covering boundary lines of the left and right boundary route sections of (a) overlap with the corresponding plot boundary lines. Figure 2 The sowing coverage boundary lines of the right boundary route segments (b) and (c) do not overlap with the corresponding plot boundary lines.

[0038] 130. If the original route plan does not meet the land coverage conditions, the route segment to be adjusted is determined from multiple route segments.

[0039] When the original route planning does not meet the land plot coverage condition, at least one route segment to be adjusted may be adjusted so that the adjusted target route planning meets the land plot coverage condition.

[0040] Optionally, when the plot coverage condition is that the sowing coverage rate meets a preset coverage rate threshold, if the original route planning does not meet the plot coverage condition, then the route segment to be adjusted is determined from multiple route segments, including: if the sowing coverage rate of the original route planning is not equal to the preset coverage rate threshold, then identifying whether the sowing coverage boundary line of each boundary route segment in the original route planning overlaps with the corresponding plot boundary line, obtaining an identification result, and determining at least one route segment to be adjusted based on the identification result.

[0041] Optionally, when the plot coverage condition is that the sowing coverage boundary line of a boundary route segment overlaps with the plot boundary line, if the original route planning does not meet the plot coverage condition, then at least one route segment to be adjusted is determined from multiple route segments, including: if the identification result is that there is at least one boundary route segment whose sowing coverage boundary line does not overlap with the plot boundary line, then at least one route segment to be adjusted is determined based on the identification result.

[0042] Exemplarily, the determining at least one route segment to be adjusted based on the identification result includes: based on the identification result, selecting at least one route segment from multiple route segments as the route segment to be adjusted, to obtain at least one route segment to be adjusted.

[0043] Exemplarily, the above-mentioned determining at least one route segment to be adjusted based on the recognition result includes: determining a boundary route segment where the sowing coverage boundary line does not overlap with the plot boundary line as the route segment to be adjusted, thereby obtaining at least one route segment to be adjusted.

[0044] Specifically, if the sowing coverage boundary line of the first route segment closest to the left boundary line does not overlap with the left boundary line, the first route segment is determined as the route segment to be adjusted; if the sowing coverage boundary line of the second route segment closest to the right boundary line does not overlap with the right boundary line, the second route segment is determined as the route segment to be adjusted; if neither of them overlaps, then both the first route segment and the second route segment are determined as the route segments to be adjusted.

[0045] In this embodiment, the number of route segments to be adjusted may be one, two, or more, and this embodiment does not impose any specific limitation.

[0046] It should be further explained that the route segment to be adjusted in this embodiment can be a boundary route segment or a non-boundary route segment, that is, only the boundary route segment in the original route plan can be adjusted. Under appropriate circumstances, both the boundary route segment and the non-boundary route segment in the original route plan can also be adjusted. This embodiment does not impose any specific restrictions.

[0047] Optionally, at least one route segment to be adjusted is determined based on the identification result, including: if there is at least one boundary route segment whose sowing coverage boundary line does not overlap with the plot boundary line, then judging whether the route segment to be adjusted is allowed to be a non-boundary route segment; if the route segment to be adjusted is allowed to be a non-boundary route segment, then selecting at least one route segment from multiple route segments as the route segment to be adjusted, wherein each route segment to be adjusted is a non-boundary route segment or a boundary route segment, and the non-boundary route segment is a route segment located between two plot boundary lines except the boundary route segment; if the route segment to be adjusted is not allowed to be a non-boundary route segment, then determining the boundary route segment that is not parallel to the plot boundary line as the route segment to be adjusted.

[0048] 140. Adjust the original parameters of the route segment to be adjusted to obtain the target route planning.

[0049] Specifically, the original parameters of each route segment to be adjusted are adjusted according to the original route plan and the plot information to obtain the target route plan, wherein the adjusted target route plan satisfies the plot coverage condition. The target route plan may include multiple route segments, the original parameters of the route segment may be adjusted, or the original parameters of the route segment may not be adjusted, that is, the target route plan includes the adjusted route segments and the remaining route segments that have not been adjusted.

[0050] by Figure 2 (b) as an example, the target route planning includes the original sowing width S0 of the 1st to 6th route segments (i.e., the remaining route segments) and the position of each route segment, and also includes the adjusted target sowing width S0 of the 7th route segment. t_7 and target position, optionally, the following adjustment scheme can be used for optimization: the 7th route segment is set at the midline position between the sowing coverage boundary line of the 6th route segment and the boundary line of the right plot, that is, the original position of the 7th route segment is translated to the left, and the distance between the sowing coverage boundary line of the 6th route segment and the boundary line of the right plot is determined as the target sowing width S of the 7th route segment. t_7 , that is, reduce the original broadcast amplitude of the seventh route segment, that is, S0>S t_7 The above adjustment scheme is only an example, and other adjustment schemes can also be adopted to adjust the 7th route segment.

[0051] In this embodiment, the original parameters are used to indicate parameter information of the route segments in the original route planning. The original parameters at least include the sowing width. The sowing widths of the route segments in the original route planning are equal, that is, the spacing between the route segments in the original route planning is equal; the original parameters may also include the position.

[0052] It should be further explained that the target sowing width after adjustment in this embodiment can be a symmetrical sowing width, that is, the distance between the route section and the sowing coverage boundary lines on the left and right sides is equal, or it can be an asymmetric sowing width, that is, the distance between the route section and the sowing coverage boundary lines on the left and right sides is equal. It can be selected according to actual conditions to adapt to the needs of various application scenarios, and this embodiment does not impose specific restrictions.

[0053] Optionally, the original parameters of the route segment to be adjusted are adjusted to obtain the target route planning, including: determining the sowing coverage boundary line of the route segment adjacent to the route segment to be adjusted, and adjusting the original position of the route segment to be adjusted to the center line position between the sowing coverage boundary line and the plot boundary line; adjusting the original sowing width of the route segment to be adjusted based on the spacing between the sowing coverage boundary line and the plot boundary line.

[0054] 150. Control UAV operations based on target route planning.

[0055] Specifically, the UAV moves according to each route segment in the target route planning, and controls the sowing device carried by the UAV to adjust the sowing width as the UAV moves.

[0056] by Figure 2 Taking (b) as an example, the UAV uses the original sowing width S0 when sowing in the first six routes, and switches to the adjusted sowing width for sowing when switching to the seventh route.

[0057] In the technical solution provided by this embodiment, when the original route planning does not meet the land coverage conditions, at least one route segment to be adjusted is determined among the multiple route segments of the original route planning, and the adaptation parameters of each route segment to be adjusted are adjusted so that the adjusted target route planning is adapted to the target land. The sowing width can be adaptively adjusted for different land plots, effectively avoiding the problem of sowing beyond the boundary of the operating land or missing sowing under the traditional fixed sowing width setting, improving the flexibility and adaptability of the UAV operation method, ensuring that the adjusted operating range covers the target land, without the need for reseeding, and improving the sowing operation efficiency.

[0058] Reference Figure 3 This embodiment takes the scenario where the sowing coverage boundary line of the boundary route segment overlaps with the plot boundary line as an example, and provides a second embodiment of the drone operation method.

[0059] 310. Obtain the original route plan and plot information of the target plot.

[0060] The above step 310 may refer to step 110 and will not be described in detail here.

[0061] 320. Determine whether the sowing coverage boundary line of the boundary route section overlaps with the plot boundary line.

[0062] Optionally, the sowing coverage boundary line of each boundary route segment is determined according to the original route plan, and the boundary line of each plot is determined according to the plot information; and it is identified whether the sowing coverage boundary line of each boundary route segment in the original route plan overlaps with the corresponding plot boundary line.

[0063] Optionally, the determining the sowing coverage boundary line of each boundary route segment according to the original route plan includes: determining the sowing coverage boundary line of each boundary route segment according to the original position and original sowing width of each boundary route segment in the original route plan.

[0064] The original route planning of this embodiment may also directly include the sowing coverage boundary line information of each boundary route segment, and the original route planning may also directly include the sowing coverage boundary line information of each route segment, without specific limitation.

[0065] 330. If the sowing coverage boundary line does not overlap with the plot boundary line, the route segment to be adjusted is determined.

[0066] Specifically, based on whether the sowing coverage boundary line of each boundary route segment in the original route plan overlaps with the corresponding plot boundary line, at least one route segment to be adjusted is determined, wherein the boundary route segment is the route segment closest to the plot boundary line.

[0067] It can be understood that the sowing coverage boundary line of the boundary route segment does not overlap with the boundary line of the plot, that is, there is sowing beyond the boundary of the plot or omission, that is, the original route planning does not meet the plot coverage conditions. If the user allows the sowing width to be adjusted, then based on whether the sowing coverage boundary line of each boundary route segment in the original route planning overlaps with the corresponding plot boundary line, at least one route segment to be adjusted is determined.

[0068] Optionally, the above-mentioned determination of at least one route segment to be adjusted is based on whether the sowing coverage boundary line of each boundary route segment in the original route planning overlaps with the corresponding plot boundary line, including: if it does not overlap with the plot boundary line, determining the coverage degree of the corresponding boundary route segment; and determining at least one route segment to be adjusted based on the coverage degree and a preset target degree threshold.

[0069] If the plot boundary line is parallel to the boundary route segment, the coverage degree can be expressed by the target relative position deviation or the target area ratio; if the plot boundary line is not parallel to the boundary route segment, the coverage degree is expressed by the target area ratio.

[0070] The above-mentioned target relative position deviation can be the relative position relationship between the boundary route segment and the corresponding plot boundary line, or can be the relative position relationship between the sowing coverage boundary line of the boundary route segment and the corresponding plot boundary line, which is not specifically limited in this embodiment.

[0071] The following example uses the target relative position deviation ΔX to indicate the relative position relationship between the boundary route segment and the corresponding land boundary line. Figure 2 The lower left vertex of the plot (b) is the zero point, and a rectangular coordinate system is constructed. The position of each route segment of the plot can be represented by the horizontal coordinate. The absolute value of the target relative position deviation is the difference between the horizontal coordinate X7 of the seventh route segment and the horizontal coordinate X of the plot boundary line. LB The difference between them, namely ΔX=X LB -X7.

[0072] The absolute value of the target relative position deviation is the distance between the boundary route segment and the boundary line of the corresponding plot. Its positive and negative signs are used to indicate whether the boundary route segment is beyond the scope of the target plot or within the scope of the target plot, as follows:

[0073] If ΔX>0, the boundary route segment is within the target plot;

[0074] If 0.5S0>ΔX>0, the sowing range of the boundary route section exceeds the target plot range, that is, the sowing out-of-bounds phenomenon occurs, such as Figure 2 (b);

[0075] If ΔX>0.5S0>0, the sowing coverage of the boundary route segment is smaller than the target plot range, that is, missed sowing occurs. Figure 2 (c);

[0076] If ΔX>S0>0, the sowing coverage of the boundary route segment is smaller than the target plot, and the degree of missed sowing is greater;

[0077] If ΔX<0, and |ΔX|<0.5S0, the boundary route segment is outside the target plot range, and the sowing coverage of the boundary route segment exceeds the target plot range;

[0078] If ΔX<0, and |ΔX|>0.5S0, the boundary route segment is outside the scope of the target plot, and the sowing coverage range of the boundary route segment is completely outside the scope of the target plot.

[0079] Optionally, when the plot boundary line is parallel to the boundary route segment, and the coverage degree is represented by the target relative position deviation, the above-mentioned determination of at least one route segment to be adjusted based on the coverage degree and a preset target degree threshold includes: when the target relative position deviation is greater than a first preset threshold, adding at least one new route segment between the sowing coverage boundary line of the boundary route segment and the plot boundary line, and determining the new route segment as the route segment to be adjusted.

[0080] Reference Figure 4 (a), the target relative position deviation ΔX of the seventh route segment 41 and the right plot boundary line 43 is greater than 1.5S0. Assuming S0=6 meters and ΔX=10 meters, a new route segment is added at the center line 44 between the sowing coverage boundary line 42 and the plot boundary line 43 of the boundary route segment 41. The spacing between the sowing coverage boundary line 42 and the plot boundary line 43 of the boundary route segment is S1=(ΔX-0.5S0) / 2=(10-0.5×6)=7 meters. The first sowing width of the new route segment 43 is set to 7 meters.

[0081] In this embodiment, if the target relative position deviation is greater than the first preset threshold, at this time, the coverage of the route segment is far from meeting the plot coverage condition. If there is a situation where the sowing width of the calculated adjusted boundary route segment exceeds the maximum working sowing width of the drone, or the sowing coverage range of the boundary route segment adjusted to the target sowing width overlaps too much with the sowing coverage range of the previous route segment, or the sowing width of the previous and next route segments changes too much, etc., which do not meet the requirements, a new route can be added to ensure that the plot coverage condition is met and the stable operation of the drone is guaranteed. Figure 4(a), assuming that the maximum working sowing width of a certain type of UAV is 10 meters, if no new route 44 is added, that is, the boundary route segment 41 is taken as the route segment to be adjusted, the boundary route segment 41 is translated to the right to the midline position between the sowing coverage boundary line 45 of the previous route segment (the sixth route segment) and the plot boundary line 43, and the target sowing width of the seventh route segment 71 after adjustment is 13 meters, which exceeds the maximum working sowing width of the UAV. In order to ensure the stable operation of the UAV, the new route segment 44 can be added through the above solution.

[0082] Optionally, the above-mentioned determining at least one route segment to be adjusted based on the coverage degree and a preset target degree threshold also includes: when the target relative position deviation is less than zero, and the absolute value of the target relative position deviation is less than a second preset threshold, determining the adjacent route segment of the boundary route segment as the route segment to be adjusted, and deleting the boundary route segment.

[0083] Reference Figure 4 (b) The target relative position deviation between the 7th route segment 46 and the plot boundary line 47 on the right side, if ΔX<0, and |ΔX|>0.5S0, the sowing coverage range of the boundary route segment is completely outside the target plot range. In this case, the 7th route segment 46 can be deleted, and its adjacent route segment 48 (the 6th route segment) can be determined as the route segment to be adjusted, and the sowing coverage boundary line 49 and the plot boundary line 47 of the previous route segment of the 6th route segment 48 are determined as the first auxiliary line, and the position of the 6th route segment 48 is adjusted to the center line between the plot boundary line 47 and the sowing coverage boundary line 49, and the distance between the plot boundary line 47 and the sowing coverage boundary line 49 is determined as the sowing width of the 6th route segment 48.

[0084] In this embodiment, if the target relative position deviation is less than zero, and the absolute value of the target relative position deviation is less than the second preset threshold value, at this time, the coverage of the route segment far exceeds the target plot. At this time, if only the sowing width of the boundary route segment 46 is adjusted, it cannot meet the demand; if the sowing width of the sixth route segment 48 is adjusted, and the sowing width and / or position of the boundary route segment 46 are adjusted, it may be possible that the calculated adjusted sowing width is less than the minimum working sowing width of the drone, and there may also be a large overlap in the sowing coverage range between the route segments, or the sowing width of the front and rear route segments varies too much. In order to ensure the stable operation of the drone and reduce the amount of calculation, you can choose to delete the boundary route segment and optimize it by adjusting the adjacent route segments of the boundary route segment.

[0085] It can be understood that when the target relative position deviation of the boundary route segment is less than zero, the absolute value of its target relative position deviation is less than the original sowing width; and when the target relative position deviation of the boundary route segment is greater than zero, the absolute value of its target relative position deviation may be greater than the original sowing width, or may be less than the original sowing width.

[0086] When the target relative position deviation is greater than zero and less than the first preset threshold, or the target relative position deviation is less than zero and greater than the second preset threshold, the boundary route segment is determined as the route segment to be adjusted. This embodiment adaptively selects the route segments to be adjusted by the coverage of the boundary route segments, thereby improving the flexibility and accuracy of the screening results and further improving the optimization efficiency of the original route planning.

[0087] The first preset threshold and the second preset threshold are target degree thresholds when the coverage degree is represented by the target relative position deviation. The first preset threshold can be set based on the maximum working sowing width allowed by the drone to avoid the adjusted target sowing width exceeding the maximum working sowing width. For example, the first preset threshold can be set to the original sowing width S0, and the second preset threshold can be set based on the minimum working sowing width allowed by the drone to avoid the adjusted target sowing width being less than the minimum working sowing width. The first preset threshold and the second preset threshold can also be other values ​​under appropriate circumstances. This embodiment does not make specific restrictions. By setting appropriate target degree thresholds, flexible screening of the route segments to be adjusted can be achieved.

[0088] In this embodiment, the target area ratio R A A is the sowing coverage area of ​​the boundary route segment b The target area A t The ratio of Target area A t is the area between the boundary line of the plot and the adjacent route segment of the boundary route segment. If R A >1, the sowing exceeds the target plot. If 0 < R A <1, there is a missed broadcast. Figure 2 (b) as an example, the target area ratio The area of ​​the seeding coverage of the seventh route segment is A7 = S0 × L, and the target area is A t The area A between the sixth route segment and the right boundary line t =D3×L, L is the side length of the plot.

[0089] The specific implementation method for screening the route segments to be adjusted based on the target area ratio as the coverage degree can be performed with reference to the above-mentioned specific implementation method for screening the route segments to be adjusted based on the target relative position deviation, that is, the route segments are increased or decreased according to the coverage degree and the preset target degree threshold, and the route segments to be adjusted are determined, which will not be repeated here.

[0090] 340. Determine two target auxiliary line segments adjacent to the left and right of the route segment to be adjusted.

[0091] Specifically, two adjacent target auxiliary line segments on the left and right of the route segment to be adjusted are determined according to the original route plan and the plot information; the original parameters of the route segment to be adjusted are adjusted based on the two adjacent target auxiliary line segments to obtain the target route plan.

[0092] The target auxiliary line segment is an auxiliary line used to indicate the original parameter adjustment of the route segment to be adjusted, and the target route to be adjusted is located between two adjacent target auxiliary line segments on the left and right.

[0093] 350. Adjust the original parameters of the route segment to be adjusted according to the two target auxiliary line segments.

[0094] The centerline position is determined based on the two target auxiliary line segments; the original position of the route segment to be adjusted is adjusted to the centerline position; the original broadcast width of the route segment to be adjusted is adjusted based on the two target auxiliary line segments to obtain the target route planning.

[0095] Optionally, the above-mentioned adjusting the original sowing width of the route segment to be adjusted based on the two target auxiliary line segments includes: if the two target auxiliary line segments are parallel, that is, the route segment to be adjusted is parallel to the boundary line of the plot, that is, a regular plot, the above-mentioned adjusting the original sowing width of the route segment to be adjusted based on the two target auxiliary line segments includes: determining the distance between the two target auxiliary line segments as the target sowing width of the route segment to be adjusted, wherein the target sowing width is a fixed value.

[0096] It should be further explained that, when the route section to be adjusted is not parallel to the boundary line of the land, the adjusted target sowing width will increase or decrease along with the advancing direction of the route section to be adjusted.

[0097] It should be further explained that, in appropriate cases, this embodiment only adjusts the original sowing width of the route segment to be adjusted, or both the original sowing width and the original route position of the route segment to be adjusted can be adjusted. The adjusted target sowing width can be a symmetrical sowing width or an asymmetrical sowing width, which is not specifically limited in this embodiment.

[0098] Optionally, it can be determined whether to adjust only the original sowing width or both the original sowing width and the original route position according to the coverage degree of the route segment to be adjusted.

[0099] 360. Control the drone to move according to the route planning information, and control the drone's sowing device to sow according to the sowing width of the current target route section.

[0100] Specifically, the UAV is controlled to move according to the route planning information, and the target route segment is determined from the target route planning based on the real-time positioning of the UAV; and the seeding is performed based on the seeding width corresponding to the target route segment.

[0101] The sowing device of this embodiment can be a vertical sowing device or other sowing devices with adjustable sowing width. The vertical sowing device includes a material storage box, a feeding assembly and a swinging plate assembly. Specifically, the sowing material in the material storage box is transported to the top of the swinging plate assembly by the feeding assembly and falls, and the swinging plate assembly scatters the sowing material by reciprocating and swinging.

[0102] In the related art of vertical sowing devices, the sowing width of the vertical sowing device is related to the flight altitude of the drone, the swing angle of the spinner, and the swing speed of the spinner. During the sowing operation, the swing speed of the spinner can be adjusted in theory, but the swing speed is closely related to the material particle type, sowing uniformity, etc., and is subject to many restrictions. Similarly, the adjustment of the flight altitude is also subject to many restrictions. If the altitude is too low, the crop lodging phenomenon is more serious. If the altitude is too high, the sowing uniformity cannot be guaranteed. If the sowing width needs to be adjusted in real time, the adjustment of the flight altitude takes time and there is a lag. In addition, the change in altitude will also increase safety hazards, and it is difficult to ensure that there are no obstacles above and below the route. Therefore, this embodiment provides a spinner assembly whose swing angle can be adjusted as the sowing width changes.

[0103] In the related art of the spinning disc assembly, when the spinning disc assembly uses the motor as the source power to drive the planetary reducer, and then drives a crank connecting rod mechanism, converts the original motor circular motion into the reciprocating swing motion of the spinning disc, and then completes the throwing operation of the spreading material, it is limited by the crank rocker mechanism, and the spinning disc can only swing with a fixed swing amplitude. This type of spinning disc is difficult to meet some scenes that require changing the sowing width during flight. Optionally, a structural example of a spinning disc assembly with an adjustable swing angle is provided. In this embodiment, the spinning disc assembly is changed to a motor-driven spinning disc, that is, the motor drives the reducer, and the output shaft of the reducer is directly connected to the spinning disc. By controlling the motor to make forward and reverse movements, the spinning disc is driven to swing back and forth in a sweeping vibration manner. Since 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, giving the sowing device the ability to adjust the sowing width in real time during the operation process. Under appropriate circumstances, the spinning disc assembly with an adjustable swing angle in this embodiment can achieve the control of symmetrical sowing width and asymmetrical sowing width.

[0104] The above-mentioned sowing based on the sowing width corresponding to the target route segment includes: determining the target swing angle range of the spinning disc according to the sowing width corresponding to the target route segment, and controlling the spinning disc to swing back and forth in the target swing angle range.

[0105] Among them, the target swing angle interval corresponds to the sowing width of the current target route segment. For example, the first route segment corresponds to the original sowing width, and the original sowing width corresponds to the first swing angle interval. When moving to the first route segment, the spinning disc is controlled to swing within the first angle interval; the second route segment corresponds to the target sowing width after the original sowing width is adjusted, and the target sowing width corresponds to the second swing angle interval. When moving to the second route segment, the spinning disc is controlled to swing within the second angle interval.

[0106] In the technical solution provided by the present embodiment, when the original route planning does not meet the plot coverage conditions, the original parameters are adjusted, and the sowing width can be adaptively adjusted for different plots, effectively avoiding the problem of sowing beyond the boundary of the working plot or missing sowing under the traditional fixed sowing width setting; when the sowing coverage boundary line of the boundary route segment does not overlap with the plot boundary line, at least one route segment to be adjusted is selected based on the coverage degree of the non-overlapping boundary route segment, thereby improving the flexibility and accuracy of the screening result; the adaptation parameters of the route segment to be adjusted are adjusted by two adjacent left and right target auxiliary line segments, thereby improving the accuracy of the adjustment, so that the adjusted target auxiliary line segments can be adjusted to the same level as the original route segment. The target route planning is adapted to the target plot to ensure that the adjusted operating range covers the target plot without the need for reseeding; further, the swing angle range of the spinner is controlled to adjust the sowing width during operation, thereby avoiding many limitations of sowing width adjustment through flight altitude and swing speed of the spinner; the spinner is directly driven by a motor to change the swing angle range of the spinner to adapt to the sowing width adjustment by controlling the rotation angle of the motor, thereby avoiding the limitation of the crank rocker mechanism on the swing angle control of the spinner, realizing real-time adjustment of the sowing width during operation, improving the sowing operation efficiency, and enhancing the flexibility and adaptability of the UAV operation method.

[0107] Reference Figure 5 In actual application, it can be set whether the route segment to be adjusted is allowed to be a non-boundary route segment. If only the boundary route is allowed to be adjusted, there is at least one route segment to be adjusted; if the non-boundary route is allowed to be adjusted, there are at least two route segments to be adjusted. This embodiment provides a third embodiment of the drone operation method for the above scenario:

[0108] 510. Obtain the original route plan and plot information of the target plot.

[0109] 520. Determine whether the original route planning meets the land coverage conditions.

[0110] Steps 510 to 520 may be performed with reference to steps 310 to 320 and will not be described in detail here.

[0111] 530. If not, determine the route segment to be adjusted.

[0112] In this embodiment, the scenario in which adjustment of non-boundary route segments is allowed is applicable to the scenario of regular plots, in which each boundary route segment in the original route planning of the regular plot is parallel to the boundary line of the plot; under appropriate circumstances, adjustment of non-boundary route segments can also be used in the scenario of irregular plots, in which there is a boundary route segment in the original route planning of the irregular plot that is not parallel to the boundary line of the plot.

[0113] Optionally, if it does not overlap with the plot boundary line, determine whether the corresponding boundary route segment is parallel to the plot boundary line; if so, select at least one route segment from multiple route segments as the route segment to be adjusted, wherein each route segment to be adjusted is a non-boundary route segment or a boundary route segment, and the non-boundary route segment is a route segment located between two plot boundary lines except the boundary route segment; if not, determine the boundary route segment that is not parallel to the plot boundary line as the route segment to be adjusted.

[0114] In the scenario of regular plots, the above scheme can select non-boundary route segments as route segments to be adjusted, while in the scenario of irregular plots, only boundary route segments are allowed to be selected as route segments to be adjusted. This can avoid excessive adjustments to the original planning information of irregular plots and reduce the amount of calculations required to adjust the route segments.

[0115] Optionally, if the boundary route segment is parallel to the plot boundary line, at least one route segment is selected from multiple route segments as the route segment to be adjusted, including: determining the boundary route segment whose sowing coverage boundary line does not overlap with the plot boundary line and is parallel to the plot boundary line as the route segment to be adjusted.

[0116] Specifically, if each plot of land includes two left and right boundary route segments, the sowing coverage boundary line of one of the boundary route segments may not overlap with the plot boundary line and is parallel to the plot boundary line, then a route segment to be adjusted can be determined, which may be the first boundary route segment or the last boundary route segment; in special circumstances, there may be two boundary route segments whose sowing coverage boundary lines do not overlap with the plot boundary line, and both boundary route segments are parallel to the plot boundary line, then two route segments to be adjusted can be determined.

[0117] In actual application, only the boundary route segments are allowed to be adjusted. Figure 5 Steps 540-550 are to adjust the original parameters of the boundary route segment; if adjustment of the non-boundary route segment is allowed, then refer to Figure 5 Steps 560-570 are for optimizing the original route planning.

[0118] 540. Determine two first auxiliary line segments adjacent to the left and right of the route segment to be adjusted.

[0119] Optionally, when the route segment to be adjusted is not allowed to be a non-boundary route segment, that is, the route segment to be adjusted is only a boundary route segment, usually the boundary route segment whose sowing coverage boundary line does not overlap with the plot boundary line is adjusted, and the two first auxiliary line segments adjacent to the left and right of the route segment to be adjusted are determined as the target auxiliary line segments according to the original route plan and the plot information; that is, the two first auxiliary line segments adjacent to the left and right of the boundary route segment are determined.

[0120] In the present application, when the route segment to be adjusted is a boundary route segment, in order to facilitate distinction, at this time, the target auxiliary line segment of the route segment to be adjusted is called the first auxiliary line segment, and the two first auxiliary line segments can be the adjacent route segments located on one side of the route segment to be adjusted, and the land boundary line located on the other side of the route segment to be adjusted; the two first auxiliary line segments can also be the sowing and covering boundary line of the adjacent route segment located on one side of the route segment to be adjusted, and the land boundary line located on the other side of the route segment to be adjusted.

[0121] 550. Adjust original parameters of the route segment to be adjusted based on the two first auxiliary line segments.

[0122] Specifically, original parameters of the route segment to be adjusted in the original route planning are adjusted according to the two first auxiliary line segments to obtain the target route planning.

[0123] Optionally, the above-mentioned adjusting the original parameters of the route segment to be adjusted in the original route planning according to the two first auxiliary line segments to obtain the target route planning includes: determining the target sowing width of the route segment to be adjusted based on the two first auxiliary line segments; adjusting the original sowing width of the route segment to be adjusted to the target sowing width to obtain the target route planning.

[0124] Optionally, the target sowing width of the route segment to be adjusted is determined based on the two first auxiliary line segments, including: if the route segment to be adjusted is parallel to the boundary line of the plot, that is, the boundary route segment is parallel to the boundary line of the plot, that is, the two first auxiliary line segments are parallel, then the target sowing width of the route segment to be adjusted after adjustment is determined based on the spacing between the two first auxiliary line segments.

[0125] Exemplarily, the above-mentioned determining the target sowing width after adjustment of the route segment to be adjusted based on the distance between the two first auxiliary line segments includes: if the two first auxiliary line segments are adjacent route segments and a plot boundary line, then determining the distance between the adjacent route segment and the plot boundary line as the target sowing width after adjustment of the route segment to be adjusted.

[0126] Exemplarily, the above-mentioned determination of the adjusted target sowing width of the route segment to be adjusted based on the distance between the two first auxiliary line segments includes: if the two first auxiliary line segments are adjacent route segments and a land boundary line, determining the adjusted target sowing width of the route segment to be adjusted according to the original sowing width and the distance between the two first auxiliary line segments. That is, the distance between the sowing width coverage boundary line of the adjacent route segment and the land boundary line is determined as the adjusted target sowing width of the route segment to be adjusted.

[0127] Optionally, the target sowing width of the route segment to be adjusted is determined based on the two first auxiliary line segments, including: if the two first auxiliary line segments are not parallel, that is, the route segment to be adjusted is not parallel to the boundary line of the plot, then the target sowing width of the route segment to be adjusted after adjustment is determined based on the spacing between the two first auxiliary line segments at different positions; wherein the target sowing width increases or decreases with the advancing direction of the route segment to be adjusted.

[0128] Exemplarily, original parameters of the route segment to be adjusted in the original route planning are adjusted according to the two first auxiliary line segments to obtain the target route planning, and also includes: determining the centerline position based on the two first auxiliary line segments; adjusting the original position of the route segment to be adjusted to the centerline position.

[0129] The distance from each point on the above-mentioned center line position to the two first auxiliary line segments is equal. When the boundary route segment is parallel to the boundary line of the plot, that is, the two first auxiliary line segments are parallel, the corresponding spacing of any point on the center line position is equal, that is, the spacing between any midpoint and the two first auxiliary line segments is equal; when the two first auxiliary line segments are not parallel, that is, the route segment to be adjusted is not parallel to the boundary line of the plot, the spacing from different positions on the center line to the first auxiliary line segments is different, and the spacing of each position is that each position point draws a perpendicular line to the two first auxiliary line segments, that is, the intersection of the perpendicular line and the first auxiliary line segment, and the line connecting the intersection and each position point is the spacing of the position, and the spacing from the same position point on the center line to each first auxiliary line segment is equal.

[0130] 560. Adjust the original position of each pure position adjustment route segment until the sowing coverage boundary line of each boundary route segment overlaps with the corresponding plot boundary line.

[0131] It can be understood that, when the route segment to be adjusted is allowed to be a non-boundary route segment, it is also possible to choose to adjust the original parameters of the boundary route segment, or it is also possible to choose to adjust both the boundary route segment and the non-boundary route segment, that is, there are at least two routes to be adjusted, and this embodiment does not make specific restrictions.

[0132] The selection of adjusting the original parameters of the boundary route segment may be performed by referring to the above steps 540-550. The following is an example of selecting to adjust both the boundary route segment and the non-boundary route segment:

[0133] If the selected route segments to be adjusted include non-boundary route segments, at least two route segments to be adjusted need to be adjusted, and the at least two route segments to be adjusted include a route segment with adjustable sowing amplitude and a route segment with pure position adjustment. Among them, the route segment with adjustable sowing amplitude needs to at least adjust the sowing amplitude, while the route segment with pure position adjustment only needs to adjust the position.

[0134] When non-boundary route segments are allowed, there are at least two route segments to be adjusted. According to the types of parameters allowed to be adjusted, the route segments to be adjusted can be divided into route segments with adjustable sowing amplitude and route segments with pure position adjustment. Among them, the route segments with adjustable sowing amplitude at least need to adjust the sowing amplitude, while the route segments with pure position adjustment only need to adjust the position.

[0135] It is understandable that the route segment with adjustable sowing width can also adjust both the sowing width and the position. If there is only one pure position adjustment route segment, the pure position adjustment route segment is a boundary route segment; if there are at least two pure position adjustment route segments, they include at least one boundary route segment and at least one non-boundary route segment to be adjusted; if there are at least three pure position adjustment route segments, they include at least one boundary route segment and at least one non-boundary route segment to be adjusted.

[0136] 570. Determine two second auxiliary line segments adjacent to the left and right of the adjustable sowing amplitude route segment.

[0137] Specifically, the sowing coverage boundary lines of each boundary route segment in the original route plan are overlapped with the corresponding plot boundary lines, and the route positions of the remaining pure position adjustment route segments in the original route plan are adjusted based on the original sowing width to obtain a candidate route plan, wherein the route segment to be adjusted is any one of at least one route segment to be adjusted except the boundary route segment; and two second auxiliary line segments adjacent to the left and right of the route segment to be adjusted are determined according to the candidate route plan.

[0138] In the present application, when adjustment of non-boundary route segments is allowed, that is, when at least two route segments to be adjusted include a route segment with adjustable sowing width, for the sake of easy distinction, the target auxiliary line segment of the route segment to be adjusted is called the second auxiliary line segment, and the two second auxiliary line segments may be the adjacent route segment on one side of the route segment to be adjusted, and the adjacent route segment on the other side of the route segment to be adjusted; the two second auxiliary line segments may also be the sowing coverage boundary lines of the adjacent route segment on one side of the route segment to be adjusted, and the sowing coverage boundary lines of the adjacent route segment on the other side of the route segment to be adjusted; under appropriate circumstances, the two second auxiliary line segments may also be the boundary route segment on one side of the route segment to be adjusted, and the adjacent route segment on the other side of the route segment to be adjusted.

[0139] To facilitate understanding, an example is provided. Figure 6The original route planning shown in (a) has uncovered plots of land, that is, the sowing coverage boundary line 62 of the seventh route segment 61 does not overlap with the plot boundary line 63. If adjustment of non-boundary route segments is allowed, such as selecting the sixth route segment 64 as the route segment to be adjusted, then the boundary route segment 61 is a pure position adjustment route segment, while the sixth route segment 64 is a route segment with adjustable sowing width.

[0140] The sowing coverage boundary line 62 of the boundary route segment 61 is adjusted to overlap with the plot boundary line 63, such as Figure 6 (b) shows the adjusted candidate route planning, which determines two second auxiliary line segments adjacent to the route segment 64 to be adjusted, such as the sowing coverage boundary line 65 on the left side of the adjusted boundary route segment 61 and the sowing coverage boundary line 66 of the fifth route segment.

[0141] 580. Adjust the original parameters of the adjustable-range route segment based on the two second auxiliary line segments.

[0142] The original parameters of the route segment to be adjusted in the original route planning are adjusted according to the two second auxiliary line segments to obtain the target route planning, wherein the route segment to be adjusted is a route segment with adjustable sowing amplitude.

[0143] Specifically, the original parameters of the route segment to be adjusted in the original route planning are adjusted according to the two second auxiliary line segments to obtain the target route planning, including: based on the adjusted target position and original sowing width of the two second auxiliary line segments, determining the target sowing width and target position of the route segment to be adjusted to obtain the target route planning.

[0144] Continue above Figure 6 For example, the route segment 64 to be adjusted, i.e., the route segment with adjustable sowing width, is adjusted to the midline position between the sowing coverage boundary line 65 and the sowing coverage boundary line 66, i.e., it is translated rightward to the midline position, and the distance between the sowing coverage boundary line 65 and the sowing coverage boundary line 66 is determined as the target sowing width S2.

[0145] The above-mentioned two second auxiliary line segments are two adjacent route segments on the left and right of the route segment with adjustable sowing width, and can also be the sowing coverage boundary lines of the two adjacent route segments on the left and right of the route segment with adjustable sowing width. The adjusted target position is the center line between the two second auxiliary line segments. The adjusted target sowing width is the spacing between each position of the two second auxiliary line segments. In the regular plot scenario, the target sowing width is a fixed value. In the irregular plot scenario, the target sowing width increases or decreases with the direction of the route.

[0146] It can be understood that the adjustment of the original parameters of the route segment to be adjusted based on the two second auxiliary line segments can be performed by referring to the method of adjusting the original parameters of the route segment to be adjusted based on the two first auxiliary line segments in the above step 550, which will not be repeated here.

[0147] In this embodiment, the number of route segments with adjustable sowing amplitude can be set to only one, that is, the sowing amplitude of only one route segment is adjusted, while the positions of other route segments are adjusted. The number of route segments with adjustable sowing amplitude can also be set according to actual conditions.

[0148] The following provides an example of a situation where the target route to be adjusted is a non-boundary route segment when the boundary route segment is not parallel to the boundary line of the plot, that is, the non-boundary route segment is allowed to be adjusted: For a scenario where the boundary route segment is not parallel to the boundary line of the plot, if the selected route segments to be adjusted include a non-boundary route segment, it is determined as a route segment with adjustable sowing width, and the other route segments that need to be adjusted are determined as pure position adjustment route segments. The original positions of the boundary route segments need to be adjusted first, until the sowing coverage boundary lines of the boundary route segments just overlap with the boundary line of the plot, and the adjusted boundary route segments are adjusted to the original positions of the boundary route segments. The boundary line section is the reference line section, and the position of each line section is adjusted in turn according to the sowing amplitude section of the original parameters until the adjacent position closest to the above-mentioned sowing amplitude adjustable line section is adjusted to determine the two second auxiliary line segments adjacent to the left and right of the sowing amplitude adjustable line section, wherein the sowing amplitude adjustable line section is between the two second auxiliary line segments, and the adjusted pure position adjustment line section is parallel to the boundary line of the plot, and the adjusted sowing amplitude adjustable line section is on the midline position between the two second auxiliary line segments, and the adjusted sowing amplitude adjustable line section is not parallel to the two second auxiliary line segments.

[0149] 590. Control UAV operations based on target route planning.

[0150] Step 590 can be performed with reference to step 360 and will not be described in detail here.

[0151] In the technical solution provided by the present embodiment, when the original route planning does not meet the plot coverage conditions, the original parameters are adjusted, and the sowing width can be adaptively adjusted for different plots, effectively avoiding the problem of sowing beyond the boundary of the operating plot or missing sowing under the traditional fixed sowing width setting; when the sowing coverage boundary line of the boundary route segment does not overlap with the plot boundary line, at least one route segment to be adjusted is determined based on whether adjustment of the non-boundary route segment is allowed, and an original route planning optimization solution is provided for two scenarios: only allowing adjustment of the boundary route segment and allowing adjustment of the non-boundary route segment, thereby improving the flexibility and adaptability of the optimization method and the accuracy of the optimization result, so that the adjusted target route planning is adapted to the target plot, ensuring that the adjusted operating range covers the target plot without the need for reseeding; real-time adjustment of the sowing width during the operation is achieved, the sowing operation efficiency is improved, and the robustness of the UAV operation method is improved.

[0152] Reference Figure 7In practical applications, in order to reduce turns in the original route planning, parallel routes are generally planned with the longest side, and the target plot may be a regular plot or an irregular plot. For the regular plot scenario, such as Figure 2 For rectangular plots, the boundary route segments in the original route planning are parallel to the boundary lines of the plots; for irregular plots, such as Figure 8 In the case of an irregular quadrilateral plot, at least one boundary route segment in the original route planning is not parallel to the boundary line of the plot, and there may be a problem of exceeding the plot and / or failing to cover the plot. This embodiment takes the example of only allowing the adaptation parameter adjustment of the boundary route segment, and provides a fourth embodiment of the drone operation method for two scenarios of regular plots and irregular plots:

[0153] 710. Obtain the original route plan and plot information of the target plot.

[0154] 720. Determine whether the sowing coverage boundary line of the boundary route section overlaps with the plot boundary line.

[0155] The above steps 710 and 720 are performed with reference to steps 310 and 320 and are not described again here.

[0156] 730. If the sowing coverage boundary line of the boundary route segment does not overlap with the plot boundary line, determine whether the sowing coverage boundary line is parallel to the plot boundary line.

[0157] Specifically, if the sowing coverage boundary line of the boundary route segment does not overlap with the plot boundary line, it is determined whether the sowing coverage boundary line is parallel to the plot boundary line, that is, whether the boundary route segment is parallel to the plot boundary line.

[0158] It can be understood that in actual applications, the original route planning is a route planning generated based on the target plot and the original parameters set by the user, and by judging whether the boundary route segment of the original route planning is parallel to the boundary line of the plot, it can be determined whether the target plot is a regular plot or an irregular plot, so that when the original route planning does not meet the plot coverage conditions and cannot achieve full coverage of the plot, corresponding boundary route segment adjustment plans are adopted for regular plots and irregular plots. If it is a regular plot, the boundary route segment can be adjusted by referring to the following steps 740-750. If it is an irregular plot, the following steps 760-770 can be executed for adjustment. The adjustment of the boundary route segment in the two scenarios is explained in detail below.

[0159] 740. If the sowing and covering boundary line of the boundary route segment is parallel to the boundary line of the plot, the position of the boundary route segment is set on the midline of the sowing and covering boundary line of the adjacent route segment and the boundary line of the plot.

[0160] Optionally, if the sowing coverage boundary line is parallel to the plot boundary line, that is, the boundary route segment is parallel to the plot boundary line, that is, the target plot is a regular plot, then the adjacent route segments of the route segment to be adjusted are determined, and the centerline position of the sowing coverage boundary line and the plot boundary line of the adjacent route segments is determined, and the original position of the route segment to be adjusted is adjusted to the centerline position.

[0161] The route segment to be adjusted is the boundary route segment where the sowing coverage boundary line does not overlap with the plot boundary line, and the adjacent route segment is the route segment closest to the boundary route segment, for example, Figure 2 In (b), the boundary route segment is the 7th route segment, and its adjacent route segment is the previous route segment, that is, the 6th route segment. The 7th route segment is set at the midline position between the 6th route segment and the right land boundary line, that is, the 7th route segment is shifted to the left.

[0162] 750. The distance between the sowing coverage boundary line of the adjacent route section and the boundary line of the plot is determined as the sowing width of the boundary route section, and the sowing width is a fixed value.

[0163] The distance between adjacent route segments and the boundary line of the plot is determined as the target sowing width; the original sowing width of the route segment to be adjusted is set as the target sowing width to obtain the target route planning; wherein the target sowing width is a fixed value.

[0164] 760. If the sowing and covering boundary line of a boundary route segment is not parallel to the boundary line of a plot, the position of the boundary route segment is set on the midline between the sowing and covering boundary line of an adjacent route segment and the boundary line of a plot.

[0165] If the boundary route segment is not parallel to the plot boundary line, that is, the target plot is an irregular plot, then determine the sowing coverage boundary line of the adjacent route segment of the route segment to be adjusted; determine the center line position of the sowing coverage boundary line and the plot boundary line, and adjust the original position of the route segment to be adjusted to the center line position.

[0166] Among them, the route segment to be adjusted is the boundary route segment where the sowing coverage boundary line does not overlap with the plot boundary line, and the adjacent route segment is the route segment closest to the boundary route segment.

[0167] Reference Figure 8 (a) The sowing coverage boundary line 82 of the boundary route segment 81 corresponding to the operation end point does not overlap with the plot boundary line 83, and the boundary route segment 81 is not parallel to the plot boundary line 83. The sowing range of the last boundary route segment exceeds the plot range and does not cover the plot range. The boundary route segment 81 before adjustment is parallel to the previous route segment 84.

[0168] The boundary route segment 81 is determined as the route segment to be adjusted, the previous route segment 84 and the plot boundary line 83 are two target auxiliary line segments, the center line 88 between the sowing coverage boundary line 85 and the plot boundary line segment 83 is determined, and the distance from each point on the center line to the two target auxiliary lines is the same, and the boundary route segment 81 is set on the center line 86. The adjusted boundary route segment is not parallel to the plot boundary line and the adjacent route segment, such as Figure 8 (b) as shown.

[0169] 770. The sowing width of the boundary route section is determined according to the distance between the sowing coverage boundary line of the adjacent route section and the boundary line of the plot at different positions. The sowing width increases or decreases with the advancing direction.

[0170] The distance between the adjacent route segments and each position of the plot boundary line is determined as the target sowing width at that position; the original sowing width of the route segment to be adjusted is set as the target sowing width to obtain the target route planning; wherein the target sowing width increases or decreases with the advancing direction of the route segment to be adjusted.

[0171] like Figure 8 (b) The spacings between different position points of the sowing coverage boundary line 85 and the land boundary line segment 83 are different. For example, the spacings between two of the position points are D4 and D5D5, respectively, and D4<D5D4<D5. After adjustment, the sowing width of the boundary route segment increases with the advancing direction of the route segment, so that the sowing range can better cover the land, and there will be no phenomenon of exceeding the land and uncovering the land.

[0172] 780. Control UAV operations based on target route planning.

[0173] Specifically, the drone is controlled to move according to the route planning information; the target swing angle range of the spinning disc is determined based on the sowing width of the target route segment located in real time, and the spinning disc is controlled to move within the target swing angle range.

[0174] Continue with Figure 8 (b) is taken as an example. During operation, the UAV uses the first sowing width (i.e., the original sowing width) when sowing on the first 6 routes. Then, the first swing angle range corresponding to the first sowing width is determined, and the motor of the spinning disc assembly is controlled to drive the spinning disc to move within the determined first swing angle range, so as to achieve sowing with the first sowing width. When switching to the 7th route, the corresponding swing angle interval range of the spinning disc is determined according to the sowing width of each position point, and the spinning disc is controlled to move within the determined swing angle interval range. As the route moves forward, the swing angle interval increases with the increasing sowing width.

[0175] In the technical solution provided by the present embodiment, when the original route planning does not meet the land coverage conditions, the original parameters are adjusted, and the sowing width can be adaptively adjusted for different land plots, effectively avoiding the problem of sowing beyond the boundary of the operating land plot or missing sowing under the traditional fixed sowing width setting; the sowing width of the boundary route section adjusted for regular land plots can achieve full coverage operation, and the sowing width of the boundary route section adjusted for irregular land plots increases or decreases with the direction of the route, thereby achieving the adaptation of the target route planning and the target land plot, ensuring that the adjusted operating range covers the target land plot without the need for reseeding; the swing angle of the spinner is adjusted in real time according to the sowing width during the operation, thereby improving the sowing operation efficiency and enhancing the robustness of the drone operation method.

[0176] The above describes the UAV operation method in this embodiment. The following describes the UAV operation device in this embodiment. Fig. 9 In this embodiment, an embodiment of the UAV operation device includes:

[0177] The acquisition module 901 is used to acquire the original route plan and the plot information of the target plot, where the original route plan includes a plurality of parallel route segments with the same spacing;

[0178] A judgment module 902 is used to determine whether the original route plan meets the land plot coverage condition according to the original route plan and the land plot information;

[0179] A determination module 903, for determining at least one route segment to be adjusted from the plurality of route segments if no;

[0180] The adjustment module 904 is used to adjust the original parameters of each route segment to be adjusted to obtain a target route plan, wherein the original parameters at least include the sowing width;

[0181] The operation module 905 is used to plan the operation based on the target route.

[0182] Optionally, the UAV is loaded with a spreading device, which includes a spinner, which can swing back and forth following the forward and reverse rotation of the motor under the drive of the motor. The operation module 905 is specifically used to: control the UAV to move according to the target route planning, when the UAV enters the target route section, determine the target swing angle range of the spinner according to the sowing width corresponding to the target route section, and control the spinner to swing back and forth within the target swing angle range.

[0183] Optionally, the determination module 903 is specifically used to determine the route segment to be adjusted based on whether the sowing coverage boundary line of the boundary route segment in the original route planning overlaps with the corresponding plot boundary line, wherein the boundary route segment is the route segment closest to the plot boundary line.

[0184] Optionally, the determining module 903 includes:

[0185] A first processing unit is used to determine the coverage degree of the corresponding boundary route segment if there is no overlap with the land parcel boundary line;

[0186] The second processing unit is used to determine the route segment to be adjusted according to the coverage degree and a preset target degree threshold.

[0187] Optionally, the second processing unit is specifically configured to: if there is no overlap with the land plot boundary line, determine whether the corresponding boundary route segment is parallel to the land plot boundary line;

[0188] If yes, at least one route segment is selected from the multiple route segments as the route segment to be adjusted, wherein the route segment to be adjusted is a non-boundary route segment or a boundary route segment, and the non-boundary route segment is a route segment located between the boundary lines of two plots except the boundary route segment;

[0189] If not, the boundary route segment that is not parallel to the boundary line of the plot is determined as the route segment to be adjusted.

[0190] Optionally, the adjustment module 904 may include:

[0191] A first auxiliary line determination unit, used to determine two first auxiliary line segments adjacent to the left and right of the route segment to be adjusted according to the original route plan and the plot information;

[0192] The first adjustment unit is used to adjust the original parameters of the route segment to be adjusted in the original route planning according to the two first auxiliary line segments to obtain the target route planning.

[0193] Optionally, the first auxiliary line determining unit is specifically configured to:

[0194] Determine whether the route segment to be adjusted is parallel to the boundary line of the plot;

[0195] If so, the adjacent route segment corresponding to the route segment to be adjusted and the corresponding land boundary line are determined as two first auxiliary line segments;

[0196] If not, the sowing coverage boundary line of the adjacent route segment is determined, and the sowing coverage boundary line and the land boundary line corresponding to the route segment to be adjusted are determined as two first auxiliary line segments.

[0197] Optionally, the first adjustment unit further includes:

[0198] The sowing width adjustment subunit is used to: if the route segment to be adjusted is parallel to the boundary line of the plot, determine the distance between the two first auxiliary line segments as the target sowing width of the route segment to be adjusted, and the target sowing width is a fixed value;

[0199] If the route segment to be adjusted is not parallel to the boundary line of the plot, the target sowing width of the route segment to be adjusted is determined according to the distance between the two first auxiliary line segments at different positions, and the target sowing width increases or decreases with the advancing direction of the route segment to be adjusted.

[0200] Optionally, the first adjustment unit includes:

[0201] The position adjustment subunit is used to determine the centerline position based on the two first auxiliary line segments, and adjust the original position of the route segment to be adjusted to the centerline position.

[0202] Optionally, the position adjustment subunit is specifically used to: if the route segment to be adjusted is parallel to the boundary line of the plot, determine the centerline position between the route segment adjacent to the route segment to be adjusted and the boundary line of the plot;

[0203] If the route segment to be adjusted is not parallel to the boundary line of the plot, the center line position is determined between the sowing and coverage boundary line of the adjacent route segment and the boundary line of the plot.

[0204] Optionally, the adjustment module 704 may further include:

[0205] A first position moving unit is used to sequentially adjust the positions of the route segments in the original route plan except the route segment to be adjusted based on the original sowing width until the sowing coverage boundary line of the boundary route segment overlaps with the corresponding plot boundary line, thereby obtaining a candidate route plan, wherein the route segment to be adjusted is any route segment except the boundary route segment;

[0206] A second determining unit, configured to determine two second auxiliary line segments adjacent to the left and right of the route segment to be adjusted according to the candidate route planning;

[0207] The second adjustment unit is used to adjust the original parameters of the route segment to be adjusted according to the two second auxiliary line segments to obtain the target route planning.

[0208] Optionally, the second adjustment unit is specifically configured to determine the target position and target sowing width of the route segment to be adjusted based on the adjusted target positions and original sowing width of the two second auxiliary line segments, so as to obtain the target route planning.

[0209] In this embodiment, in the technical solution provided by this embodiment, when the original route planning does not meet the land coverage conditions, at least one route segment to be adjusted is determined among the multiple route segments of the original route planning, and the adaptation parameters of each route segment to be adjusted are adjusted so that the adjusted target route planning is adapted to the target land. The sowing width can be adaptively adjusted for different land plots, effectively avoiding the problem of sowing beyond the boundary of the operating land or missing sowing under the traditional fixed sowing width setting, improving the flexibility and adaptability of the UAV operation method, ensuring that the adjusted operating range covers the target land, without the need for reseeding, and improving the sowing operation efficiency.

[0210] above Fig. 9 The UAV operation device in this embodiment is described in detail from the perspective of modular functional entities, and the UAV in this embodiment is described in detail from the perspective of hardware processing.

[0211] See also Fig.10 As shown, the UAV includes a body 1000, a spreading device 1001, a processor 1002 and a memory 1003. The body is used to move according to the target route planning; the spreading device includes a spinner, which can swing back and forth following the forward and reverse rotation of the motor under the drive of the motor; the memory 1003 stores machine executable instructions that can be executed by the processor 1002, and the processor 1002 executes the machine executable instructions to implement the above-mentioned UAV operation method.

[0212] Further, Fig.10 The drone shown also includes a bus 1004 and a communication interface 1005 , and the processor 1002 , the communication interface 1005 and the memory 1003 are connected via the bus 1004 .

[0213] The memory 1003 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), for example, at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 1005 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 1004 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0214] The processor 1002 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 1002. The above processor 1002 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 gates or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present disclosure can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present disclosure can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 1003, and the processor 1002 reads the information in the memory 1003 and completes the method steps of the above-mentioned embodiment in combination with its hardware.

[0215] The present application also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the drone operation method.

[0216] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0217] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., and other media that can store program codes.

[0218] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A drone operation method, characterized in that: The method comprises: Obtaining an original route plan and plot information of a target plot, wherein the original route plan includes a plurality of parallel route segments with equal spacing; Determining whether the original route plan meets the land plot coverage condition according to the original route plan and the land plot information; If the original route planning does not meet the land coverage condition, determining the route segment to be adjusted from the multiple route segments; Adjusting the original parameters of the route segment to be adjusted to obtain a target route plan, wherein the original parameters at least include a sowing width; The UAV operation is controlled based on the target route planning.

2. The drone operation method according to claim 1, characterized in that: The drone load spreading device includes a spinning disc, and the spinning disc can swing back and forth following the forward and reverse rotation of the motor under the drive of the motor, and the drone operation is controlled based on the target route planning, including: The drone is controlled to move according to the target route planning. When the drone enters the target route section, the target swing angle range of the spinning plate is determined according to the sowing amplitude corresponding to the target route section, and the spinning plate is controlled to swing back and forth within the target swing angle range.

3. The drone operation method according to claim 1, characterized in that: The determining of the route segment to be adjusted from the plurality of route segments comprises: Based on whether the sowing coverage boundary line of the boundary route segment in the original route planning overlaps with the corresponding plot boundary line, the route segment to be adjusted is determined, wherein the boundary route segment is the route segment closest to the plot boundary line.

4. The drone operation method according to claim 3, characterized in that: The determining of the route segment to be adjusted based on whether the sowing coverage boundary line of the boundary route segment in the original route planning overlaps with the corresponding plot boundary line includes: If there is no overlap with the boundary line of the plot, then the coverage degree of the corresponding boundary route segment is determined; The route segment to be adjusted is determined according to the coverage degree and a preset target degree threshold.

5. The drone operation method according to claim 3, characterized in that: The determining of the route segment to be adjusted based on whether the sowing coverage boundary line of the boundary route segment in the original route planning overlaps with the corresponding plot boundary line includes: If it does not overlap with the land boundary line, determining whether the corresponding boundary route segment is parallel to the land boundary line; If yes, then selecting at least one route segment from the plurality of route segments as the route segment to be adjusted, wherein the route segment to be adjusted is a non-boundary route segment or a boundary route segment, and the non-boundary route segment is a route segment located between two land boundary lines except the boundary route segment; If not, the boundary route segment that is not parallel to the boundary line of the plot is determined as the route segment to be adjusted.

6. The drone operation method according to claim 1, characterized in that: If only the boundary route segments are allowed to be adjusted; The adjusting the original parameters of the route segment to be adjusted to obtain the target route planning includes: Determine two first auxiliary line segments adjacent to the left and right of the route segment to be adjusted according to the original route plan and the land plot information; The original parameters of the route segment to be adjusted in the original route planning are adjusted according to the two first auxiliary line segments to obtain the target route planning.

7. The drone operation method according to claim 6, characterized in that: The determining, according to the original route plan and the land parcel information, two first auxiliary line segments adjacent to the left and right of the route segment to be adjusted includes: Determining whether the route segment to be adjusted is parallel to the boundary line of the plot; If yes, the adjacent route segment corresponding to the route segment to be adjusted and the corresponding land boundary line are determined as two first auxiliary line segments; If not, the sowing coverage boundary line of the adjacent route segment is determined, and the sowing coverage boundary line and the land boundary line corresponding to the route segment to be adjusted are determined as two first auxiliary line segments.

8. The drone operation method according to claim 6, characterized in that: The two first auxiliary line segments include land parcel boundary lines; The adjusting the original parameters of the route segment to be adjusted in the original route planning according to the two first auxiliary line segments to obtain the target route planning includes: If the route segment to be adjusted is parallel to the boundary line of the plot, the distance between the two first auxiliary line segments is determined as the target sowing width of the route segment to be adjusted, and the target sowing width is a fixed value; If the route segment to be adjusted is not parallel to the boundary line of the plot, the target sowing width of the route segment to be adjusted is determined according to the distance between two first auxiliary line segments at different positions, and the target sowing width increases or decreases with the advancing direction of the route segment to be adjusted.

9. The drone operation method according to claim 6, characterized in that: The original parameters also include the original position; The method of adjusting the original parameters of the route segment to be adjusted in the original route planning according to the two first auxiliary line segments to obtain the target route planning further includes: The centerline position is determined based on the two first auxiliary line segments, and the original position of the route segment to be adjusted is adjusted to the centerline position to obtain the target route planning.

10. The drone operation method according to claim 9, characterized in that: The determining of the midline position based on the two first auxiliary line segments comprises: If the route segment to be adjusted is parallel to the boundary line of the plot, then determining the centerline position between the route segment adjacent to the route segment to be adjusted and the boundary line of the plot; If the route segment to be adjusted is not parallel to the boundary line of the plot, a centerline position is determined between the sowing and covering boundary line of the adjacent route segment and the boundary line of the plot.

11. The drone operation method according to claim 1, characterized in that: If adjustment of non-boundary route segments is allowed, the original parameters also include the original position; The adjusting the original parameters of the route segment to be adjusted to obtain the target route planning includes: Based on the original sowing width, the route segments in the original route plan except the route segment to be adjusted are adjusted in sequence until the sowing coverage boundary line of the boundary route segment overlaps with the corresponding plot boundary line, thereby obtaining a candidate route plan, wherein the route segment to be adjusted is any route segment except the boundary route segment; Determine two second auxiliary line segments adjacent to the left and right of the route segment to be adjusted according to the candidate route planning; The original parameters of the route segment to be adjusted are adjusted according to the two second auxiliary line segments to obtain the target route planning.

12. The drone operation method according to claim 11, characterized in that: The adjusting the original parameters of the to-be-adjusted route segment according to the two second auxiliary line segments to obtain the target route planning includes: Based on the adjusted target positions and original sowing widths of the two second auxiliary line segments, the target position and target sowing width of the route segment to be adjusted are determined to obtain a target route plan.

13. A drone, characterized in that: The drone includes a body, a spreading device, a memory and at least one processor; The body is used to move according to the target route planning; The spreading device comprises a spinning disc, which can swing back and forth following the forward and reverse rotation of the motor under the drive of the motor; Instructions are stored in the memory; the at least one processor calls the instructions in the memory to enable the drone to execute the drone operation method as described in any one of claims 1-12.

14. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instruction is read and executed, the drone operation method as described in any one of claims 1-12 is executed.

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