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

Abstract

The application relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle operation method, an unmanned aerial vehicle and a storage medium, which are used for solving the problem that original flight path planning is not suitable for a target land plot. The unmanned aerial vehicle operation method comprises the following steps: acquiring original flight path planning and land plot information of a target land plot, wherein the original flight path planning comprises a plurality of parallel flight path segments with the same spacing; determining whether the original flight path planning meets land plot coverage conditions according to the original flight path planning and the land plot information; if the original flight path planning does not meet the land plot coverage conditions, determining a to-be-adjusted flight path segment from the plurality of flight path segments; adjusting original parameters of the to-be-adjusted flight path segment to obtain target flight path planning, wherein the original parameters at least comprise a sowing width; and controlling the unmanned aerial vehicle to operate based on the target flight path planning.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a UAV operation method, a UAV, and a storage medium. Background Technology

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

[0003] In traditional solutions, users generate original flight path plans by setting fixed spacing between flight path segments. The spacing between flight path segments is the distance between two adjacent parallel flight path segments, which is also the spread width of the drone. In practical applications, the spread width in the original flight path plan may not match the width of the plot. Directly performing the spreading operation based on the original flight path plan may result in spreading beyond the boundary of the work plot or missing some plots. Summary of the Invention

[0004] This application provides a method for operating unmanned aerial vehicles (UAVs), an UAV, and a storage medium for optimizing the original flight path plan when the original flight path plan is not compatible with the target site.

[0005] The first aspect of this application provides a method for operating unmanned aerial vehicles (UAVs), comprising: acquiring an original flight path plan and land parcel information of a target land parcel, wherein the original flight path plan includes multiple parallel flight path segments with equal spacing; determining whether the original flight path plan meets the land parcel coverage conditions based on the original flight path plan and land parcel information; if the original flight path plan does not meet the land parcel coverage conditions, determining a flight path segment to be adjusted from the multiple flight path segments; adjusting the original parameters of the flight path segment to be adjusted to obtain a target flight path plan, wherein the original parameters include at least the broadcast width; and controlling the UAV operation based on the target flight path plan.

[0006] A second aspect of this application provides a drone, comprising: a body, a dispersing device, a memory, and at least one processor; the body is used to move according to a target route plan; the dispersing device includes a spinning disc that can swing back and forth following the forward and reverse rotation of a motor; the memory stores instructions; and at least one processor calls the instructions in the memory to cause the drone to perform the aforementioned drone operation method.

[0007] A third aspect of this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the aforementioned drone operation method.

[0008] In the technical solution provided in this application, when the original flight path plan does not meet the land cover conditions, at least one flight path segment to be adjusted is determined from the multiple flight path segments in the original flight path plan, and the adaptation parameters of each flight path segment to be adjusted are adjusted so that the adjusted target flight path plan is adapted to the target land plot. The seeding width can be adaptively adjusted for different land plots, effectively avoiding the problem of seeding beyond the boundary of the work plot or missing seeding under the traditional fixed seeding width setting. This improves the flexibility and adaptability of the UAV operation method, ensures that the adjusted operation range covers the target land plot, eliminates the need for reseeding, and improves the efficiency of seeding operations. Attached Figure Description

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

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

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

[0012] Figure 4 This is a schematic diagram of a second embodiment of flight route planning for regular plots of land in this application;

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

[0014] Figure 6 This is a schematic diagram of the third embodiment of flight route planning for regular plots in this application;

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

[0016] Figure 8 This is a schematic diagram of an embodiment of flight route planning for irregular plots of land in this application;

[0017] Figure 9 This is a schematic diagram of one embodiment of the unmanned aerial vehicle (UAV) operation device in this application;

[0018] Figure 10 This is a schematic diagram of one embodiment of the drone in this application. Detailed Implementation

[0019] This application provides a method for operating unmanned aerial vehicles (UAVs), an UAV, and a storage medium, which are used to adjust and optimize the original route plan when it is not compatible with the target site, so as to meet the coverage operation requirements.

[0020] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms “comprising” or “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] It is understood that the executing entity of this invention can be a seeding operation device based on variable spread, or it can be a drone equipped with a seeding operation device; the specific implementation is not limited here. In this embodiment of the invention, a drone is used as the executing entity. The drone is equipped with a seeding operation device, and the drone and the seeding operation device are communicatively connected. The seeding device can obtain the current positioning information of the drone and adjust the spread according to the target flight path adaptation information.

[0022] For ease of understanding, the specific process of the embodiments of this application is described below. Please refer to [link / reference]. Figure 1 One embodiment of the UAV operation method in this example includes:

[0023] 110. Obtain the original flight path plan and land information of the target plot.

[0024] In this embodiment, the original route plan includes multiple parallel route segments with equal spacing. The original route plan also includes the original parameters of each route segment. The original parameters include the user-defined original span and the original position of each route segment. The original position is the position of each route segment in the original route plan.

[0025] like Figure 2 The widths of the three plots shown are H1, H2, and H3, respectively. The user sets the original flight path spacing, i.e., the original broadcast width, to S0. Figure 2 (a) shows the original flight path plan, which represents an ideal scenario where the user-set original spanning width matches the plot width perfectly. This means that the original flight path plan can achieve full coverage of the target plot, with the total spanning width exactly equal to the plot width. Figure 2 (b) and Figure 2 (c) The original route plan shown is not compatible with the land parcel. Figure 2 (b) The original flight path plan shown has a broadcast coverage area that exceeds the target plot. The distance between the broadcast coverage boundary line of the boundary flight path segment and the plot boundary line is D1. Figure 2(c) The original route plan's broadcast coverage does not fully cover the target plot, and the distance between the broadcast 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 land parcel, such as... Figure 2 The first route segment for each parcel is the boundary route segment closest to the left parcel boundary line, and the last route segment is the boundary route segment closest to the right parcel boundary line.

[0027] In this embodiment, the land parcel information is used to indicate parameter information of the target land parcel, which may include land parcel width, land parcel boundary line information, etc. It is understood that the land parcel boundary line is used to indicate the range of the target land parcel, and the target land parcel includes two land parcel boundary lines, such as... Figure 2 The three plots shown all include the left and right boundary lines. Non-boundary flight paths are flight paths located between two plot boundaries, excluding boundary flight paths, such as... Figure 2 (a) There are 7 route segments from left to right (referring to the vertical operation route segments, excluding the horizontal change route segments), of which the first and seventh route segments are boundary route segments, and the second to sixth route segments are non-boundary route segments.

[0028] It should be further explained that the original flight route was usually parallel to a land parcel boundary line, such as... Figure 2 The first flight path segment is set based on the user-defined original broadcast width along the left boundary line of the land parcel. Other flight path segments are then sequentially set according to the original broadcast width to construct multiple parallel and equally spaced flight path segments. In cases where broadcasting exceeds the land parcel's boundaries, there may be two flight path segments adjacent to the right boundary line. In this embodiment, the boundary flight path segment refers to the flight path segment closest to the land parcel boundary line. In appropriate circumstances, either of the two adjacent flight path segments on the right boundary line can be selected as the boundary flight path segment. The adjustment logic for both is reversed. Taking the Nth and N+1th flight path segments adjacent to the right boundary line as an example, if the Nth flight path segment is adjusted as the boundary flight path segment, its broadcast width needs to be increased; if the N+1th flight path segment is adjusted as the boundary flight path segment, its broadcast width needs to be decreased.

[0029] In specific implementation, this application will adjust the broadcast width set by the user. Optionally, a switch or functional component, such as "intelligent broadcast width adjustment", can be set at the interaction level. Alternatively, a prompt message can be generated on the user interface to ask the user whether to make full coverage adjustment of the flight path. With the user's permission, the UAV operation method provided in this embodiment will be executed.

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

[0031] In this embodiment, the land cover condition is used to evaluate the coverage of the target land by the seeding operation based on the original flight path plan. The land cover condition can be that the seeding coverage rate meets a preset coverage threshold. In the case that the boundary flight path segment is parallel to the land boundary line, that is, the target land is a regular land, the land cover condition can also be that the seeding coverage boundary line of the boundary flight path segment overlaps with the land boundary line, or other land cover conditions. This embodiment does not impose specific restrictions.

[0032] In this embodiment, the coverage boundary lines are used to indicate the coverage range of each flight line segment. Each flight line segment corresponds to two coverage boundary lines, and each flight line segment is located between its two corresponding coverage boundary lines. In the case of a symmetrical coverage control scheme, the position of each flight line segment is at the center line between its two corresponding coverage boundary lines. In the case of an asymmetrical coverage control scheme, the position of each flight line segment is between its two corresponding coverage boundary lines, depending on the coverage on both sides of the flight line segment.

[0033] Optionally, when the land parcel coverage condition is that the seeding coverage rate meets a preset coverage threshold, the above-mentioned determination of whether the original flight route plan meets the land parcel coverage condition based on the original flight route plan and land parcel information includes: determining the current seeding coverage rate based on the original flight route plan and land parcel information; determining whether the seeding coverage rate is equal to the preset coverage threshold; if yes, then determining that the land parcel coverage condition is met; if no, then determining that the land parcel coverage condition is not met.

[0034] The aforementioned seeding coverage rate can be used to evaluate the coverage of the target plot by the seeding operation of the original route plan. The seeding coverage rate can be expressed as the ratio of the operation area to the area of ​​the target plot, or it can be expressed as the ratio of the sum of the seeding widths to the width of the target plot. This embodiment does not impose specific restrictions on the method of determining the seeding coverage rate.

[0035] Understandably, setting an appropriate coverage threshold can ensure the quality of seeding operations. For example, setting the coverage threshold to 1 or 100% will prevent full coverage of the target plot from being achieved if the current seeding coverage is less than or greater than this threshold. Figure 2 (b) and (c), therefore, if the seeding coverage rate is equal to the preset coverage threshold, there is no need to adjust the original flight path plan. If the seeding coverage rate is not equal to the preset coverage threshold, the UAV operation method of this embodiment can be executed. The adjusted target flight path plan can be adapted to the target plot, that is, the seeding coverage threshold of the target flight path plan meets the preset coverage threshold. The specific value of the coverage threshold can be set according to the actual situation, and this embodiment does not impose specific restrictions.

[0036] Optionally, when the land parcel coverage condition is that the broadcast coverage boundary line of the boundary route segment overlaps with the land parcel boundary line, the above-mentioned determination of whether the original route plan meets the land parcel coverage condition based on the original route plan and land parcel information includes: determining the broadcast coverage boundary line of each boundary route segment based on the original route plan, and determining the land parcel boundary line based on the land parcel information; identifying whether the broadcast coverage boundary line of each boundary route segment in the original route plan overlaps with the corresponding land parcel boundary line, and obtaining the identification result; if the identification result is that they all overlap, then it is determined that the land parcel coverage condition is met; if the identification result is that they do not overlap with the land parcel boundary line, then it is determined that the land parcel coverage condition is not met.

[0037] Among them, the boundary route segment is the route segment closest to the boundary line of the land parcel, and each land parcel includes two boundary route segments, such as... Figure 2 The first and last flight segments for each plot of land are shown. Figure 2 (a) The seeding coverage boundary lines of both the left and right boundary line segments overlap with the corresponding plot boundary lines. Figure 2 In both (b) and (c), the spreading coverage boundary lines of the right boundary flight segments 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 shall be determined from multiple route segments.

[0039] If the original route plan does not meet the land coverage conditions, at least one route segment to be adjusted can be adjusted so that the adjusted target route plan meets the land coverage conditions.

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

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

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

[0043] For example, the above-mentioned determination of at least one flight line segment to be adjusted based on the identification results includes: determining the boundary flight line segment where the broadcast coverage boundary line does not overlap with the land parcel boundary line as the flight line segment to be adjusted, thereby obtaining at least one flight line segment to be adjusted.

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

[0045] In this embodiment, the number of route segments to be adjusted can be one, two, or multiple; no specific limitation is imposed in this embodiment.

[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 be adjusted. This embodiment does not impose specific restrictions.

[0047] Optionally, based on the identification results, at least one flight path segment to be adjusted is determined, including: if at least one boundary flight path segment has a coverage boundary line that does not overlap with the land parcel boundary line, then it is determined whether the flight path segment to be adjusted is allowed to be a non-boundary flight path segment; if the flight path segment to be adjusted is allowed to be a non-boundary flight path, then at least one flight path segment is selected from multiple flight path segments as the flight path segment to be adjusted, wherein each flight path segment to be adjusted is either a non-boundary flight path segment or a boundary flight path segment, and a non-boundary flight path segment is a flight path segment located between two land parcel boundary lines other than boundary flight path segments; if the flight path segment to be adjusted is not allowed to be a non-boundary flight path, then a boundary flight path segment that is not parallel to the land parcel boundary line is determined as the flight path segment to be adjusted.

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

[0049] Specifically, the original parameters of each route segment to be adjusted are adjusted based on the original route plan and land parcel information to obtain the target route plan. The adjusted target route plan meets the land parcel coverage conditions. The target route plan may include multiple route segments. The original parameters of the route segment may be adjusted or 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) For example, the target route planning includes the original span S0 of route segments 1 to 6 (i.e., the remaining route segments) and the position of each route segment, as well as the adjusted target span S0 of route segment 7. t_7 Optionally, the target location can be optimized by adjusting the following scheme: Position the 7th flight line segment at the centerline between the broadcast coverage boundary line of the 6th flight line segment and the right-side plot boundary line. This involves shifting the original position of the 7th flight line segment to the left, and determining the distance between the broadcast coverage boundary line of the 6th flight line segment and the right-side plot boundary line as the target broadcast width S for the 7th flight line segment. t_7 This means reducing the original beamwidth of the 7th flight segment, i.e., S0 > S. t_7 The above adjustment scheme is only one example, and other adjustment schemes can be adopted to adjust the 7th route segment.

[0051] In this embodiment, the original parameters are used to indicate the parameter information of the route segments in the original route plan. The original parameters include at least the span, and the span of each route segment in the original route plan is equal, that is, the spacing between each route segment in the original route plan is equal; the original parameters may also include the position.

[0052] It should be further explained that the target spread adjusted in this embodiment can be a symmetrical spread, which means that the distance from the flight line segment to the left and right sides of the spread coverage boundary line is equal, or it can be an asymmetrical spread, which means that the distance from the flight line segment to the left and right sides of the spread coverage boundary line is equal. The choice can be made according to the actual situation to adapt to the needs of various application scenarios. This embodiment does not impose any specific restrictions.

[0053] Optionally, the original parameters of the route segment to be adjusted are adjusted to obtain the target route plan, including: determining the broadcast coverage boundary line of the adjacent route segments to be adjusted, and adjusting the original position of the route segment to be adjusted to the centerline position between the broadcast coverage boundary line and the land parcel boundary line; adjusting the original broadcast width of the route segment to be adjusted based on the distance between the broadcast coverage boundary line and the land parcel boundary line.

[0054] 150. Controlling UAV operations based on target flight path planning.

[0055] Specifically, the drone moves according to each segment of the target route plan, and the seeding device carried by the drone is controlled to adjust the seeding width as the drone moves.

[0056] by Figure 2 (b) For example, the drone uses the original seeding width S0 when seeding on the first 6 routes, and switches to the adjusted seeding width when changing to the 7th route.

[0057] In the technical solution provided in this embodiment, when the original route plan does not meet the land cover conditions, at least one route segment to be adjusted is determined from the multiple route segments in the original route plan, and the adaptation parameters of each route segment to be adjusted are adjusted so that the adjusted target route plan is adapted to the target land. The sowing width can be adaptively adjusted for different lands, effectively avoiding the problem of sowing beyond the boundary of the work land or missing sowing under the traditional fixed sowing width setting. This improves the flexibility and adaptability of the UAV operation method, ensures that the adjusted operation range covers the target land, eliminates the need for reseeding, and improves the efficiency of sowing operations.

[0058] Reference Figure 3 This embodiment takes the scenario where the seeding coverage boundary line of the boundary flight segment overlaps with the boundary line of the land parcel as an example to provide a second embodiment of the UAV operation method.

[0059] 310. Obtain the original flight path plan and land information of the target plot.

[0060] Step 310 above can be referred to step 110, and will not be repeated here.

[0061] 320. Determine whether the seeding coverage boundary line of the boundary flight segment overlaps with the land parcel boundary line.

[0062] Optionally, the broadcast 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; it is identified whether the broadcast coverage boundary line of each boundary route segment in the original route plan overlaps with the corresponding plot boundary line.

[0063] Optionally, determining the broadcast coverage boundary line of each boundary route segment based on the original route plan includes: determining the broadcast coverage boundary line of each boundary route segment based on the original location and original broadcast width of each boundary route segment in the original route plan.

[0064] The original route plan in this embodiment can also directly include the broadcast coverage boundary information of each boundary route segment, without any specific restrictions.

[0065] 330. If the seeding coverage boundary line does not overlap with the land parcel boundary line, then the flight path segment to be adjusted is determined.

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

[0067] It is understandable that the broadcast coverage boundary line of the boundary route segment does not overlap with the land parcel boundary line, that is, there is broadcasting beyond the land parcel boundary or missed broadcasting, which means that the original route plan does not meet the land parcel coverage conditions. If the user allows broadcast width adjustment, at least one route segment to be adjusted will be determined based on whether the broadcast coverage boundary line of each boundary route segment in the original route plan overlaps with the corresponding land parcel boundary line.

[0068] Optionally, the above-mentioned determination of at least one route segment to be adjusted based on whether the coverage boundary line of each boundary route segment in the original route plan overlaps with the corresponding land parcel boundary line includes: if it does not overlap with the land parcel 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 the preset target degree threshold.

[0069] If the boundary line of the land parcel is parallel to the boundary line segment, the coverage can be represented by the relative positional deviation of the target or by the target area ratio; if the boundary line of the land parcel is not parallel to the boundary line segment, the coverage can be represented by the target area ratio.

[0070] The aforementioned relative positional deviation of the target can be the relative positional relationship between the boundary flight line segment and the corresponding land parcel boundary line, or it can be the relative positional relationship between the spreading coverage boundary line of the boundary flight line segment and the corresponding land parcel boundary line. This embodiment does not impose specific limitations.

[0071] The following explanation uses the target relative position deviation ΔX as an example to indicate the relative positional relationship between the boundary line segment and the corresponding land parcel boundary line. Figure 2 (b) Construct a rectangular coordinate system with the lower left vertex of the plot as the zero point. The position of each flight segment of the plot can be represented by the x-coordinate. The absolute value of the relative position deviation of the target is the x-coordinate X7 of the 7th flight segment and the x-coordinate of the plot boundary line. LB The difference between them, i.e., ΔX = X LB -X7.

[0072] The absolute value of the target's relative position deviation is the distance between the boundary line segment and the corresponding land parcel boundary line. Its positive or negative sign indicates whether the boundary line segment is outside or within the target land parcel, as detailed below:

[0073] If ΔX > 0, then the boundary line segment is located within the target land area;

[0074] If 0.5S0 > ΔX > 0, then the seeding range of this boundary flight segment exceeds the target plot area, i.e., seeding exceeds the boundary. Figure 2 (b);

[0075] If ΔX > 0.5S0 > 0, then the seeding coverage area of ​​this boundary flight line segment is smaller than the target plot area, meaning there is missed seeding. Figure 2 (c);

[0076] If ΔX>S0>0, then the coverage area of ​​the boundary flight line segment is smaller than the target plot area, and the degree of missed seeding is greater;

[0077] If ΔX < 0 and |ΔX| < 0.5S0, then the boundary line segment is outside the target plot area, and the coverage area of ​​the boundary line segment exceeds the target plot area.

[0078] If ΔX < 0 and |ΔX| > 0.5S0, then the boundary route segment is located outside the target plot area, and the coverage area of ​​the boundary route segment is completely outside the target plot area.

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

[0080] Reference Figure 4 (a) The relative position deviation between the target of the 7th flight line segment 41 and the right-side plot boundary line 43 is ΔX > 1.5S0. Assuming S0 = 6 meters and ΔX = 10 meters, a new flight line segment is added at the centerline position 44 between the broadcast coverage boundary line 42 and the plot boundary line 43 of the boundary flight line segment 41. The distance between the broadcast coverage boundary line 42 and the plot boundary line 43 of the boundary flight line segment is S1 = (ΔX - 0.5S0) / 2 = (10 - 0.5 × 6) = 7 meters. The first broadcast width of the new flight line segment 43 is set to 7 meters.

[0081] In this embodiment, if the relative position deviation of the target is greater than the first preset threshold, the coverage of the flight line segment is far from meeting the land cover conditions. If the calculated spread of the adjusted boundary flight line segment exceeds the maximum working spread of the drone, or the spread coverage of the boundary flight line segment adjusted to the target spread overlaps too much with the spread coverage of the previous flight line segment, or the spread of the flight line segments changes too much, etc., failing to meet the requirements, new flight lines can be added to ensure that the land cover conditions are met and the drone operates stably. Figure 4(a) Assuming that the maximum working spread of a certain type of UAV is 10 meters, if no new flight path 44 is added, that is, if the boundary flight path segment 41 is the flight path segment to be adjusted, the boundary flight path segment 41 will be shifted to the right to the center line position between the spreading coverage boundary line 45 of the previous flight path segment (the 6th flight path segment) and the plot boundary line 43. After the adjustment, the target spread of the 7th flight path segment 71 is 13 meters, which exceeds the maximum working spread of the UAV. In order to ensure the stable operation of the UAV, a new flight path segment 44 can be added through the aforementioned scheme.

[0082] Optionally, the above-mentioned determination of at least one route segment to be adjusted based on the coverage and the preset target degree threshold further includes: when 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, 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) If the relative position deviation between the 7th flight line segment 46 and the target parcel boundary line 47 on the right is ΔX < 0 and |ΔX| > 0.5S0, the broadcast coverage of this boundary flight line segment is completely outside the target parcel area. In this case, the 7th flight line segment 46 can be deleted, and its adjacent flight line segment 48 (the 6th flight line segment) can be identified as the flight line segment to be adjusted. The broadcast coverage boundary line 49 of the previous flight line segment of the 6th flight line segment 48 and the parcel boundary line 47 can be identified as the first auxiliary line. The position of the 6th flight line segment 48 can be adjusted to the centerline between the parcel boundary line 47 and the broadcast coverage boundary line 49, and the distance between the parcel boundary line 47 and the broadcast coverage boundary line 49 can be identified as the broadcast width of the 6th flight line 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, then the coverage of the flight line segment far exceeds the target plot. In this case, adjusting only the broadcast width of the boundary flight line segment 46 cannot meet the requirements. If the broadcast width of the 6th flight line segment 48 is adjusted, and then the broadcast width and / or position of the boundary flight line segment 46 are adjusted, it is possible that the calculated broadcast width after adjustment is less than the minimum working broadcast width of the UAV. There may also be excessive overlap of the broadcast coverage between flight line segments, or excessive changes in the broadcast width of the preceding and following flight line segments. In order to ensure the stable operation of the UAV and reduce the amount of computation, the boundary flight line segment can be deleted and the adjacent flight line segments of the boundary flight line segment can be adjusted for optimization.

[0085] It is understandable that when the target relative position deviation of the boundary route segment is less than zero, the absolute value of the target relative position deviation is less than the original broadcast width; while when the target relative position deviation of the boundary route segment is greater than zero, the absolute value of the target relative position deviation may be greater than or less than the original broadcast width.

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

[0087] The aforementioned first and second preset thresholds are target degree thresholds when the coverage is represented by the target relative position deviation. The first preset threshold can be set based on the maximum working span allowed by the UAV to avoid the adjusted target span exceeding the maximum working span. For example, the first preset threshold can be set to the original span S0, and the second preset threshold can be set based on the minimum working span allowed by the UAV to avoid the adjusted target span being less than the minimum working span. The first and second preset thresholds can also be other values ​​under appropriate circumstances. This embodiment does not impose specific limitations. By setting appropriate target degree thresholds, flexible filtering of the flight path segment to be adjusted can be achieved.

[0088] In this embodiment, the target area ratio R A The area A of the seeding coverage zone for the boundary flight route segment. b Area A of the target region t The ratio, that is Target area A t Let R be the area between the boundary line of the land parcel and the adjacent flight segment of the boundary line. A If R > 1, then the seeding exceeds the target area; if R < 0, then the seeding exceeds the target area. A If the value is less than 1, then there is a missed broadcast. Figure 2 (b) For example, the target area ratio The coverage area of ​​the 7th flight segment is A7 = S0 × L, and the target area is A. t The area A between the 6th route segment and the right boundary line. t =D3×L, where L is the side length of the plot.

[0089] The specific implementation method for selecting the route segments to be adjusted based on the target area ratio as the coverage level can be referred to the above implementation method for selecting the route segments to be adjusted based on the target relative position deviation. That is, the route segments are added or removed according to the coverage level and the preset target level threshold, and the route segments to be adjusted are determined. It will not be repeated here.

[0090] 340. Identify the two adjacent target auxiliary line segments of the route segment to be adjusted.

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

[0092] The aforementioned target auxiliary line segment is an auxiliary line used to indicate the original parameter adjustment of the line segment to be adjusted. The target line segment to be adjusted is located between two adjacent target auxiliary line segments.

[0093] 350. Adjust the original parameters of the flight path segment to be adjusted based on the two target auxiliary line segments.

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

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

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

[0097] It should be further noted that, where appropriate, this embodiment may only adjust the original span of the flight path segment to be adjusted, or both the original span and the original flight path position may be adjusted. The adjusted target span may be a symmetrical span or an asymmetrical span; this embodiment does not impose any specific limitations.

[0098] Optionally, it can be determined whether only the original broadcast width needs to be adjusted, or whether both the original broadcast width and the original flight path position need to be adjusted, based on the coverage of the flight path segment to be adjusted.

[0099] 360. Control the drone to move according to the flight path planning information, and control the drone's seeding device to seed according to the current target flight path width.

[0100] Specifically, the drone is controlled to move according to the flight path planning information, and the target flight path segment is determined from the target flight path planning based on the drone's real-time positioning; the seeding is carried out based on the seeding width corresponding to the target flight path segment.

[0101] The spreading device in this embodiment can be a vertical spreading device or other spreading devices with adjustable spreading width. The vertical spreading device includes a storage box, a feeding component and a throwing disc component. Specifically, the spreading material in the storage box is conveyed to the top of the throwing disc component by the feeding component and falls down. The throwing disc component performs the spreading operation by reciprocating horizontal swinging.

[0102] In the related technologies of vertical spreading devices, the spreading width of the vertical spreading device is related to the flight altitude of the drone, the swing angle of the spreading disc, and the swing speed of the spreading disc. During the spreading operation, the swing speed of the spreading disc can theoretically be adjusted, but the swing speed is closely related to the type of material particles and the spreading uniformity, and is subject to many limitations. Similarly, the adjustment of the flight altitude is also subject to many limitations. If the altitude is too low, the crop lodging phenomenon is more serious; if the altitude is too high, the spreading uniformity cannot be guaranteed. If the spreading width needs to be adjusted in real time, the adjustment of the flight altitude takes time, which is lagging, and the change of altitude also increases the safety hazard, making it difficult to ensure that there are no obstacles above and below the flight path. Therefore, this embodiment provides a spreading disc component whose swing angle can be adjusted according to the spreading width.

[0103] In the related technologies of the slinger assembly, when the slinger assembly uses a motor as the source power to drive a planetary reducer, which in turn drives a crank-connecting rod mechanism to convert the original circular motion of the motor into the reciprocating horizontal motion of the slinger to complete the spreading operation, it is limited by the crank-rocker mechanism. The slinger can only swing with a fixed swing amplitude. This type of slinger is difficult to meet the needs of some scenarios that require changing the spreading amplitude during flight. Optionally, a structural example of a slinger assembly with adjustable swing angle is provided. In this embodiment, the slinger assembly is changed to a motor-driven slinger, that is, the motor drives the reducer, and the output shaft of the reducer is directly connected to the slinger. By controlling the motor to perform forward and reverse motion, the slinger is driven to perform a back-and-forth sweeping swing. Since the motor directly drives the slinger, the swing angle range of the slinger can be changed at any time by controlling the rotation angle of the motor, giving the spreading device the ability to adjust the spreading amplitude in real time during operation. Under appropriate conditions, the slinger assembly with adjustable swing angle of this embodiment can achieve control of symmetrical and asymmetrical spreading amplitude.

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

[0105] The target swing angle range corresponds to the broadcast width of the target flight segment currently in which the target flight segment is located. For example, if the first flight segment corresponds to the original broadcast width and the original broadcast width corresponds to the first swing angle range, then when moving to the first flight segment, the control panel swings within the first angle range. The second flight segment corresponds to the target broadcast width after the original broadcast width is adjusted and the target broadcast width corresponds to the second swing angle range. Then when moving to the second flight segment, the control panel swings within the second angle range.

[0106] In the technical solution provided in this embodiment, when the original route plan does not meet the land parcel coverage conditions, the original parameters are adjusted. This allows for adaptive adjustment of the seeding width for different land parcels, effectively avoiding the problems of seeding beyond the work parcel boundary or missing seeding under traditional fixed seeding width settings. When the seeding coverage boundary line of the boundary route segment does not overlap with the land parcel boundary line, at least one route segment to be adjusted is selected based on the coverage degree of the non-overlapping boundary route segment, improving the flexibility and accuracy of the selection results. Adjusting the adaptation parameters of the route segment to be adjusted using two adjacent target auxiliary line segments improves the accuracy of the adjustment, ensuring that the adjusted target... The flight path planning is adapted to the target plot, ensuring that the adjusted operation range covers the target plot without the need for reseeding. Furthermore, by controlling the swing angle range of the spinning disc, the sowing width can be adjusted during the operation, avoiding many limitations of adjusting the sowing width through flight altitude and spinning disc swing speed. By using a motor to directly drive the spinning disc, the swing angle range of the spinning disc can be changed by controlling the motor rotation angle to adapt to the sowing width adjustment, avoiding the limitations of the crank-rocker mechanism on the control of the spinning disc swing angle. This enables real-time adjustment of the sowing width during the operation, improves the efficiency of the sowing operation, and enhances the flexibility and adaptability of the UAV operation method.

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

[0108] 510. Obtain the original flight path plan and land information of the target plot.

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

[0110] Steps 510 to 520 can be performed by referring to steps 310 to 320, and will not be repeated here.

[0111] 530. If not, then the route segment to be adjusted is determined.

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

[0113] Optionally, if the route does not overlap with the land parcel boundary line, determine whether the corresponding boundary route segment is parallel to the land parcel 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 either a non-boundary route segment or a boundary route segment, and a non-boundary route segment is a route segment located between two land parcel boundary lines other than the boundary route segment; if not, determine the boundary route segment that is not parallel to the land parcel boundary line as the route segment to be adjusted.

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

[0115] Optionally, if the boundary line segment is parallel to the land parcel boundary line, then at least one line segment is selected from multiple line segments as the line segment to be adjusted, including: determining the boundary line segment to be adjusted as the line segment where the broadcast coverage boundary line does not overlap with the land parcel boundary line and is parallel to the land parcel boundary line.

[0116] Specifically, if each plot includes two boundary flight lines, one of which may have a coverage boundary line that does not overlap with the plot boundary line and is parallel to it, then a flight line segment to be adjusted can be identified. This segment may be the first or the last boundary flight line segment. In special cases, there may be two boundary flight line segments whose coverage boundaries do not overlap with the plot boundary line and are parallel to it. In such cases, two flight line segments to be adjusted can be identified.

[0117] In practical applications, if adjustments are only permitted to the boundary route segments, then it can be referred to... Figure 5 Steps 540-550 involve adjusting the original parameters of the boundary route segment; if adjustments to non-boundary route segments are permitted, then refer to... Figure 5 Steps 560-570 involve optimizing the original route plan.

[0118] 540. Determine the two first auxiliary line segments that are adjacent to the left and right sides of the line 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 broadcast coverage boundary line does not overlap with the land parcel boundary line is adjusted. Based on the original route plan and land parcel information, the two first auxiliary line segments adjacent to the left and right of the route segment to be adjusted are determined as target auxiliary line segments; that is, the two first auxiliary line segments adjacent to the left and right of the boundary route segment are determined.

[0120] In this application, when the route segment to be adjusted is a boundary route segment, for ease of distinction, the target auxiliary line segment of the route segment to be adjusted is referred to as the first auxiliary line segment. The two first auxiliary line segments can be 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 broadcast coverage boundary line of an 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 the original parameters of the route segment to be adjusted based on the two first auxiliary line segments.

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

[0123] Optionally, the above adjustment of the original parameters of the route segment to be adjusted in the original route plan based on the two first auxiliary line segments to obtain the target route plan includes: determining the target span of the route segment to be adjusted based on the two first auxiliary line segments; adjusting the original span of the route segment to be adjusted to the target span to obtain the target route plan.

[0124] Optionally, the target broadcast width of the flight line segment to be adjusted is determined based on the two first auxiliary line segments, including: if the flight line segment to be adjusted is parallel to the land parcel boundary line, that is, the boundary flight line segment is parallel to the land parcel boundary line, that is, the two first auxiliary line segments are parallel, then the target broadcast width of the flight line segment to be adjusted is determined based on the distance between the two first auxiliary line segments.

[0125] For example, the above method of determining the target broadcast width of the adjusted flight line segment based on the spacing between the two first auxiliary line segments includes: if the two first auxiliary line segments are adjacent flight line segments and land parcel boundary lines, then the spacing between the adjacent flight line segments and the land parcel boundary lines is determined as the target broadcast width of the adjusted flight line segment.

[0126] For example, the above-mentioned determination of the target broadcast width after adjustment of the flight path segment to be adjusted based on the spacing between the two first auxiliary line segments includes: if the two first auxiliary line segments are adjacent flight path segments and land parcel boundary lines, then the target broadcast width after adjustment of the flight path segment to be adjusted is determined according to the original broadcast width and the spacing between the two first auxiliary line segments. That is, the spacing between the broadcast width coverage boundary line of the adjacent flight path segment and the land parcel boundary line is determined as the target broadcast width after adjustment of the flight path segment to be adjusted.

[0127] Optionally, the target broadcast width of the flight path segment to be adjusted is determined based on two first auxiliary line segments, including: if the two first auxiliary line segments are not parallel, that is, the flight path segment to be adjusted is not parallel to the boundary line of the land parcel, the target broadcast width of the flight path segment to be adjusted is determined based on the distance between different positions of the two first auxiliary line segments; wherein, the target broadcast width increases or decreases with the direction of travel of the flight path segment to be adjusted.

[0128] For example, adjusting the original parameters of the route segment to be adjusted in the original route plan based on the two first auxiliary line segments to obtain the target route plan further includes: determining the centerline position based on the two first auxiliary line segments; and adjusting the original position of the route segment to be adjusted to the centerline position.

[0129] The distance from each point on the aforementioned centerline position to the two first auxiliary line segments is equal. When the boundary line segment is parallel to the land parcel boundary line, that is, when the two first auxiliary line segments are parallel, the distance between any point on the centerline position is equal, that is, the distance between any midpoint and the two first auxiliary line segments is equal. When the two first auxiliary line segments are not parallel, that is, when the line segment to be adjusted is not parallel to the land parcel boundary line, the distance from different positions on the centerline to the first auxiliary line segments is different. The distance at each position is the distance at which a perpendicular line is drawn from each position point to each of the two first auxiliary line segments, that is, the intersection of the perpendicular line and the first auxiliary line segment. The line connecting the intersection point to each position point is the distance at that position. The distance from the same position point on the centerline to each of the first auxiliary line segments is equal.

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

[0131] It is understandable that, if the route segment to be adjusted is a non-boundary route segment, one can choose to adjust the original parameters of the boundary route segment, or one can choose to adjust both the boundary and non-boundary route segments. That is, there are at least two routes to be adjusted. This embodiment does not impose specific restrictions.

[0132] To adjust the original parameters of the boundary route segment, refer to steps 540-550 above. The following example illustrates how 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, then at least two route segments to be adjusted need to be adjusted. The at least two route segments to be adjusted include a route segment with adjustable beamwidth and a route segment with pure position adjustment. Among them, the route segment with adjustable beamwidth needs to adjust the beamwidth at least, 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. Based on the types of parameters that can be adjusted, each route segment to be adjusted can be divided into a broadcast width adjustable route segment and a pure position adjustment route segment. Among them, the broadcast width adjustable route segment needs to adjust the broadcast width at least, while the pure position adjustment route segment only needs to adjust the position.

[0135] Understandably, the adjustable span line segment can also adjust both the span and position. If there is only one pure position adjustment line segment, then the pure position adjustment line segment is a boundary line segment; if there are at least two pure position adjustment line segments, then it includes at least one boundary line segment and at least one non-boundary line segment to be adjusted; if there are at least three pure position adjustment line segments, then it includes at least one boundary line segment and at least one non-boundary line segment to be adjusted.

[0136] 570. Determine the two adjacent second auxiliary line segments of the adjustable broadcast line segment.

[0137] Specifically, the broadcast coverage boundary line of each boundary route segment in the original route plan is overlapped with the corresponding land parcel boundary line, and the route position of each remaining pure position adjustment route segment in the original route plan is adjusted based on the original broadcast width to obtain candidate route plans. Among them, the route segment to be adjusted is any one of at least one route segment to be adjusted except for the boundary route segment. The 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 plans.

[0138] In this application, when adjustments to non-boundary route segments are permitted, i.e., when at least two route segments to be adjusted include route segments with adjustable spread width, the target auxiliary line segment of the route segment to be adjusted is referred to as the second auxiliary line segment for ease of distinction. The two second auxiliary line segments may be adjacent route segments located on one side of the route segment to be adjusted, and adjacent route segments located on the other side of the route segment to be adjusted; the two second auxiliary line segments may also be the spread coverage boundary line of adjacent route segments located on one side of the route segment to be adjusted, and the spread coverage boundary line of adjacent route segments located on the other side of the route segment to be adjusted; where appropriate, the two second auxiliary line segments may also be boundary route segments located on one side of the route segment to be adjusted, and adjacent route segments located on the other side of the route segment to be adjusted.

[0139] To facilitate understanding, an example is provided for reference. Figure 6(a) The original route plan shown has some uncovered plots, that is, the broadcast coverage boundary line 62 of the 7th route segment 61 does not overlap with the plot boundary line 63. If adjustments to non-boundary route segments are allowed, such as selecting the 6th 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 6th route segment 64 is a broadcast width adjustable route segment.

[0140] Adjust the seeding coverage boundary line 62 of boundary flight segment 61 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 left and right of the route segment 64 to be adjusted, such as the seeding coverage boundary line 65 on the left side of the adjusted boundary route segment 61 and the seeding coverage boundary line 66 of the 5th route segment.

[0141] 580. Adjust the original parameters of the adjustable beam flight segment based on the two second auxiliary line segments.

[0142] The original parameters of the route segment to be adjusted in the original route plan are adjusted based on the two second auxiliary line segments to obtain the target route plan. Among them, the route segment to be adjusted is the route segment with adjustable broadcast width.

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

[0144] Continue above Figure 6 For example, the flight path segment 64 to be adjusted, that is, the flight path segment with adjustable spread width, is adjusted to the center line position between the spread coverage boundary line 65 and the spread coverage boundary line 66, that is, it is moved to the right to the center line position, and the distance between the spread coverage boundary line 65 and the spread coverage boundary line 66 is determined as the target spread width S2.

[0145] The two second auxiliary line segments mentioned above are two adjacent line segments to the left and right of the adjustable spread line segment, or they can be the spread coverage boundary lines of two adjacent line segments to the left and right of the adjustable spread line segment. The adjusted target position is the center line between the two second auxiliary line segments. The adjusted target spread is the distance between each position of the two second auxiliary line segments. In the regular plot scenario, the target spread is a fixed value. In the irregular plot scenario, the target spread increases or decreases with the direction of the line forward.

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

[0147] In this embodiment, the number of adjustable broadcast line segments can be set to only one, that is, only the broadcast width of one line segment is adjusted, while the positions of other line segments are adjusted. Alternatively, the number of adjustable broadcast line segments can be set according to the actual situation.

[0148] The following is an example of a scenario where the target flight path to be adjusted is a non-boundary flight path segment when the boundary flight path segment is not parallel to the land parcel boundary line, i.e., adjustment of non-boundary flight path segments is allowed: In scenarios where the boundary flight path segment is not parallel to the land parcel boundary line, if the selected flight path segments to be adjusted include a non-boundary flight path segment, this is designated as an adjustable-width flight path segment. Other flight path segments requiring position adjustment are designated as pure-position-adjustment flight path segments. The original positions of each boundary flight path segment must first be adjusted until the broadcast coverage boundary line of each boundary flight path segment exactly overlaps with the land parcel boundary line. The adjusted edge... The boundary line segment is used as the baseline line segment, and the position of each line segment is adjusted sequentially according to the original parameters of the broadcast width segment until the nearest adjacent position to the above-mentioned adjustable broadcast width line segment is adjusted to determine the two second auxiliary line segments adjacent to the left and right of the adjustable broadcast width line segment. The adjustable broadcast width line segment is located between the two second auxiliary line segments, and the adjusted pure position adjustment line segment is parallel to the land boundary line. The adjusted adjustable broadcast width line segment is located on the center line between the two second auxiliary line segments, and the adjusted adjustable broadcast width line segment is not parallel to either of the two second auxiliary line segments.

[0149] 590. Controlling UAV operations based on target flight path planning.

[0150] Step 590 can be performed by referring to step 360, and will not be repeated here.

[0151] In the technical solution provided in this embodiment, the original parameters are adjusted when the original flight path plan does not meet the land parcel coverage conditions. The seeding width can be adaptively adjusted for different land parcels, effectively avoiding the problems of seeding beyond the boundary of the work land parcel or missing seeding under the traditional fixed seeding width setting. When the seeding coverage boundary line of the boundary flight path segment does not overlap with the land parcel boundary line, at least one flight path segment to be adjusted is determined based on whether the adjustment of the non-boundary flight path segment is allowed. The original flight path plan optimization scheme is provided for two scenarios: one where only the boundary flight path segment can be adjusted and the other where the non-boundary flight path segment can be adjusted. This improves the flexibility and adaptability of the optimization method and the accuracy of the optimization results, so that the adjusted target flight path plan is adapted to the target land parcel and ensures that the adjusted work area covers the target land parcel without the need for reseeding. The real-time adjustment of the seeding width during the operation is realized, which improves the efficiency of seeding operations and enhances the robustness of the UAV operation method.

[0152] Reference Figure 7In practical applications, to minimize turns, original route planning typically uses the longest side to plan parallel routes. However, the target plot may be regular or irregular. For regular plot scenarios, such as... Figure 2 For rectangular plots, the original flight path plan placed each boundary segment parallel to the plot boundary line; however, for irregular plots, such as... Figure 8 For irregular quadrilateral plots, where at least one boundary flight segment in the original flight plan is not parallel to the plot boundary line, there may be issues of exceeding the plot and / or not covering the plot. This embodiment provides a fourth embodiment of the UAV operation method for both regular and irregular plots, taking the example of allowing only adaptation parameter adjustments to the boundary flight segment:

[0153] 710. Obtain the original flight path plan and land information of the target plot.

[0154] 720. Determine whether the seeding coverage boundary line of the boundary flight segment overlaps with the land parcel boundary line.

[0155] Steps 710 and 720 above are performed in accordance with steps 310 and 320, and will not be repeated here.

[0156] 730. If the seeding coverage boundary line of the boundary flight segment does not overlap with the land parcel boundary line, then determine whether the seeding coverage boundary line is parallel to the land parcel boundary line.

[0157] Specifically, if the broadcast coverage boundary line of the boundary flight segment does not overlap with the land parcel boundary line, then it is determined whether the broadcast coverage boundary line is parallel to the land parcel boundary line, that is, whether the boundary flight segment is parallel to the land parcel boundary line.

[0158] Understandably, in practical applications, the original route plan is generated based on the target plot and the user-defined original parameters. By determining whether the boundary route segment of the original route plan is parallel to the plot boundary line, it can be determined whether the target plot is a regular plot or an irregular plot. This allows for the implementation of corresponding boundary route segment adjustment schemes for regular and irregular plots when the original route plan does not meet the plot coverage conditions and cannot achieve full coverage of the plot. If it is a regular plot, the boundary route segment can be adjusted according to steps 740-750 below. If it is an irregular plot, the boundary route segment can be adjusted according to steps 760-770 below. The following provides a detailed explanation of the boundary route segment adjustment in the two scenarios.

[0159] 740. If the coverage boundary line of a boundary flight segment is parallel to the land parcel boundary line, the position of the boundary flight segment shall be set on the midline between the coverage boundary line of the adjacent flight segment and the land parcel boundary line.

[0160] Optionally, if the broadcast coverage boundary line is parallel to the land parcel boundary line, that is, the boundary line segment is parallel to the land parcel boundary line, and the target land parcel is a regular land parcel, then the adjacent line segment of the line segment to be adjusted is determined, and the centerline position of the broadcast coverage boundary line and the land parcel boundary line of the adjacent line segment is determined, and the original position of the line segment to be adjusted is adjusted to the centerline position.

[0161] Among them, the flight path segment to be adjusted is the boundary flight path segment where the broadcast coverage boundary line does not overlap with the land parcel boundary line, and the adjacent flight path segment is the flight path segment closest to the boundary flight path segment, for example... Figure 2 (b) The boundary line segment is the 7th line segment, and its adjacent line segment is the previous line segment, namely the 6th line segment. The 7th line segment is set at the midline between the 6th line segment and the right parcel boundary line, that is, the 7th line segment is shifted to the left.

[0162] 750. The distance between the seeding coverage boundary line of the adjacent flight line segment and the land parcel boundary line is determined as the seeding width of the boundary flight line segment, which is a fixed value.

[0163] The distance between adjacent flight segments and the land parcel boundary line is determined as the target span; the original span of the flight segment to be adjusted is set as the target span to obtain the target flight plan; wherein, the target span is a fixed value.

[0164] 760. If the coverage boundary line of the boundary flight segment is not parallel to the land parcel boundary line, the position of the boundary flight segment shall be set on the centerline between the coverage boundary line of the adjacent flight segment and the land parcel boundary line.

[0165] If the boundary flight line segment is not parallel to the land parcel boundary line, i.e. the target land parcel is an irregular land parcel, then determine the broadcast coverage boundary line of the adjacent flight line segment to be adjusted; determine the centerline position of the broadcast coverage boundary line and the land parcel boundary line, and adjust the original position of the flight line segment to be adjusted to the centerline position.

[0166] Among them, the flight path segment to be adjusted is the boundary flight path segment where the broadcast coverage boundary line does not overlap with the land parcel boundary line, and the adjacent flight path segment is the flight path segment closest to the boundary flight path segment.

[0167] Reference Figure 8 (a) The spreading coverage boundary line 82 of the boundary line segment 81 corresponding to the end point of the operation does not overlap with the land parcel boundary line 83, and the boundary line segment 81 is not parallel to the land parcel boundary line 83. This results in the phenomenon that the spreading range of the last boundary line segment exceeds the land parcel range and the uncovered land parcel range. Before the adjustment, the boundary line segment 81 was parallel to the previous line segment 84.

[0168] Boundary line segment 81 is designated as the line segment to be adjusted. The preceding line segment 84 and the land parcel boundary line 83 are two target auxiliary line segments. A centerline 88 is determined between the seeding coverage boundary line 85 and the land parcel boundary line segment 83. Each point on the centerline is equidistant from both target auxiliary lines. Boundary line segment 81 is placed on the centerline 86. The adjusted boundary line segment is not parallel to the land parcel boundary line or adjacent line segments. Figure 8 As shown in (b).

[0169] 770. The sowing width of the boundary line segment is determined based on the distance between the sowing coverage boundary line and the land parcel boundary line at different positions of the adjacent flight line segment. The sowing width increases or decreases with the direction of advance.

[0170] The distance between each position of the adjacent flight line segment and the boundary line of the land parcel is determined as the target broadcast width at that position; the original broadcast width of the flight line segment to be adjusted is set as the target broadcast width to obtain the target flight line plan; wherein, the target broadcast width increases or decreases with the forward direction of the flight line segment to be adjusted.

[0171] like Figure 8 (b) The spacing between different points on the sowing coverage boundary line 85 and the plot boundary line segment 83 is different. For example, the spacing between two points is D4 and D5D5, respectively, where D4 < D5D4 < D5. After adjustment, the sowing width of the boundary line segment increases with the direction of the line segment, so that the sowing range can better cover the plot and there will be no phenomenon of exceeding the plot or not covering the plot.

[0172] 780. Controlling UAV operations based on target flight path planning.

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

[0174] Continue with Figure 8 (b) Taking this as an example, during operation, when the UAV is seeding along the first 6 flight paths, it uses the first seeding width (i.e., the original seeding width). The first swing angle range corresponding to the first seeding width is determined, and the motor of the seeding disc assembly is controlled to drive the seeding disc to move within the determined first swing angle range, thus achieving seeding with the first seeding width. When switching to the 7th flight path, the corresponding swing angle range of the seeding disc is determined based on the seeding width at each location point. The seeding disc is controlled to move within the determined swing angle range. As the flight path moves, the swing angle range increases with the seeding width.

[0175] In the technical solution provided in this embodiment, the original parameters are adjusted when the original flight path plan does not meet the land parcel coverage conditions. The seeding width can be adaptively adjusted for different land parcels, effectively avoiding the problems of seeding beyond the boundary of the work land parcel or missing seeding under the traditional fixed seeding width setting. For regular land parcels, the seeding width of the adjusted boundary flight path segment can achieve full coverage operation, while for irregular land parcels, the seeding width of the adjusted boundary flight path segment increases or decreases with the direction of flight path movement, realizing the adaptation of the target flight path plan to the target land parcel, ensuring that the adjusted operation range covers the target land parcel without the need for reseeding. The real-time adjustment of the swaying angle of the seeding disc during the operation improves the seeding operation efficiency and enhances the robustness of the UAV operation method.

[0176] The above describes the drone operation method in this embodiment. The following describes the drone operation device in this embodiment. Please refer to [link / reference]. Figure 9 One embodiment of the unmanned aerial vehicle (UAV) operation device in this embodiment includes:

[0177] The acquisition module 901 is used to acquire the original flight path plan and land information of the target land parcel. The original flight path plan includes multiple parallel flight path segments with equal spacing.

[0178] The judgment module 902 is used to determine whether the original route plan meets the land cover conditions based on the original route plan and land parcel information.

[0179] The determination module 903 is used to determine at least one route segment to be adjusted from multiple 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 the target route plan, wherein the original parameters include at least the broadcast width;

[0181] Job module 905 is used for target route planning operations.

[0182] Optionally, the drone payload dispersing device includes a spinning disc, which can swing back and forth with the forward and reverse rotation of the motor under the drive of the motor. The operation module 905 is specifically used to: control the drone to move according to the target route plan; when the drone enters the target route segment, determine the target swing angle range of the spinning disc according to the corresponding spreading width of the target route segment, and control the spinning disc 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 broadcast coverage boundary line of the boundary route segment in the original route plan overlaps with the corresponding land parcel boundary line, wherein the boundary route segment is the route segment closest to the land parcel boundary line.

[0184] Optionally, the determining module 903 includes:

[0185] The first processing unit is used to determine the coverage of the corresponding boundary line segment if it does not overlap with the boundary line of the land parcel.

[0186] The second processing unit is used to determine the route segment to be adjusted based on the coverage level and the preset target level threshold.

[0187] Optionally, the second processing unit is specifically used to: if it does not overlap with the land parcel boundary line, determine whether the corresponding boundary line segment is parallel to the land parcel boundary line;

[0188] If so, at least one route segment shall be selected from multiple route segments as the route segment to be adjusted. The route segment to be adjusted shall be either a non-boundary route segment or a boundary route segment. A non-boundary route segment shall be a route segment located between two land parcel boundary lines, excluding the boundary route segment.

[0189] If not, then the boundary line segment that is not parallel to the land parcel boundary line is identified as the line segment to be adjusted.

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

[0191] The first auxiliary line determination unit is used to determine the two first auxiliary line segments that are adjacent to the left and right of the route segment to be adjusted based on the original route plan and land parcel information.

[0192] The first adjustment unit is used to adjust the original parameters of the route segment to be adjusted in the original route plan based on the two first auxiliary line segments, so as to obtain the target route plan.

[0193] Optionally, the first auxiliary line determining unit is specifically used for:

[0194] Determine whether the flight path segment to be adjusted is parallel to the land parcel boundary line;

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

[0196] If not, then determine the broadcast coverage boundary line of the adjacent flight route segment, and determine the broadcast coverage boundary line and the land parcel boundary line corresponding to the flight route segment to be adjusted as two first auxiliary line segments.

[0197] Optionally, the first adjustment unit may also include:

[0198] The broadcast width adjustment subunit is used to: if the flight line segment to be adjusted is parallel to the boundary line of the land parcel, then the distance between the two first auxiliary line segments is determined as the target broadcast width of the flight line segment to be adjusted, and the target broadcast width is a fixed value;

[0199] If the route segment to be adjusted is not parallel to the boundary line of the land parcel, the target broadcast width of the route segment to be adjusted is determined according to the distance between the two first auxiliary line segments at different positions. The target broadcast width increases or decreases with the 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 line segment to be adjusted to the centerline position.

[0202] Optionally, the position adjustment subunit is specifically used to: if the flight line segment to be adjusted is parallel to the land parcel boundary line, then determine the centerline position between the adjacent flight line segment to be adjusted and the land parcel boundary line.

[0203] If the flight path segment to be adjusted is not parallel to the land parcel boundary line, then the centerline position is determined between the broadcast coverage boundary line of the adjacent flight path segment and the land parcel boundary line.

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

[0205] The first position moving unit is used to adjust the position of the route segments in the original route plan, except for the route segment to be adjusted, in sequence based on the original broadcast width, until the broadcast coverage boundary line of the boundary route segment overlaps with the corresponding land parcel boundary line to obtain the candidate route plan. The route segment to be adjusted is any route segment other than the boundary route segment.

[0206] The second determining unit is used to determine two second auxiliary line segments that are adjacent to the left and right of the line segment to be adjusted based on the candidate line route planning;

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

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

[0209] In this embodiment, when the original flight path plan does not meet the land cover conditions, at least one flight path segment to be adjusted is determined from the multiple flight path segments in the original flight path plan, and the adaptation parameters of each flight path segment to be adjusted are adjusted so that the adjusted target flight path plan is adapted to the target land plot. The seeding width can be adaptively adjusted for different land plots, effectively avoiding the problem of seeding beyond the boundary of the work plot or missing seeding under the traditional fixed seeding width setting. This improves the flexibility and adaptability of the UAV operation method, ensures that the adjusted operation range covers the target land plot, eliminates the need for reseeding, and improves the efficiency of seeding operations.

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

[0211] See Figure 10 As shown, the drone includes a body 1000, a dispersing device 1001, a processor 1002, and a memory 1003. The body is used to move according to the target route plan. The dispersing device includes a spinning disc, which can swing back and forth with 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. The processor 1002 executes the machine-executable instructions to implement the above-mentioned drone operation method.

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

[0213] The memory 1003 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 1005 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The bus 1004 may be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0214] The processor 1002 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 1002 or by instructions in software form. The processor 1002 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this disclosure can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 1003. Processor 1002 reads information from memory 1003 and, in conjunction with its hardware, completes the method steps of the aforementioned embodiments.

[0215] This application also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, storing instructions that, when executed on a computer, cause the computer to perform the steps of the drone operation method.

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

[0217] If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0218] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for operating unmanned aerial vehicles (UAVs), characterized in that, The method includes: Obtain the original flight path plan and land parcel information of the target land parcel, wherein the original flight path plan includes multiple parallel flight path segments with equal spacing; Determine whether the original route plan meets the land coverage conditions based on the original route plan and the land parcel information; If the original route plan does not meet the land coverage conditions, then the route segment to be adjusted shall be determined from the multiple route segments. The original parameters of the route segment to be adjusted are adjusted to obtain the target route plan, wherein the original parameters include at least the broadcast width and the original position; The drone operation is planned and controlled based on the target flight path; If adjustments to non-boundary route segments are permitted, the adjustment of the original parameters of the route segment to be adjusted to obtain the target route plan includes: Based on the original spread, the positions of the route segments in the original route plan, except for the route segment to be adjusted, are adjusted sequentially until the spread coverage boundary line of the boundary route segment overlaps with the corresponding land parcel boundary line to obtain the candidate route plan. The route segment to be adjusted is any route segment other than the boundary route segment. Based on the candidate route plan, determine the two second auxiliary line segments that are adjacent to the left and right sides of the route segment to be adjusted; Based on the adjusted target positions and original broadcast widths of the two second auxiliary line segments, the target position and target broadcast width of the line segment to be adjusted are determined, and the target line plan is obtained.

2. The UAV operation method according to claim 1, characterized in that, The drone payload dispersing device includes a spinning disc that can swing back and forth in accordance with the forward and reverse rotation of a motor driven by the motor. The drone operation is controlled based on the target flight path planning, including: The drone is controlled to move according to the target route plan. When the drone enters the target route segment, the target swing angle range of the spinning disc is determined according to the broadcast amplitude corresponding to the target route segment, and the spinning disc is controlled to swing back and forth within the target swing angle range.

3. The unmanned aerial vehicle (UAV) operation method according to claim 1, characterized in that, The step of determining the route segment to be adjusted from the multiple route segments includes: Based on whether the coverage boundary line of the boundary route segment in the original route plan overlaps with the corresponding land parcel boundary line, the route segment to be adjusted is determined, wherein the boundary route segment is the route segment closest to the land parcel boundary line.

4. The UAV operation method according to claim 3, characterized in that, The step of determining the route segment to be adjusted based on whether the coverage boundary line of the boundary route segment in the original route plan overlaps with the corresponding land parcel boundary line includes: If it does not overlap with the boundary line of the plot, then determine the coverage of the corresponding boundary line segment; The route segment to be adjusted is determined based on the coverage level and the preset target level threshold.

5. The unmanned aerial vehicle (UAV) operation method according to claim 3, characterized in that, The step of determining the route segment to be adjusted based on whether the coverage boundary line of the boundary route segment in the original route plan overlaps with the corresponding land parcel boundary line includes: If it does not overlap with the boundary line of the land parcel, then determine whether the corresponding boundary line segment is parallel to the boundary line of the land parcel; If so, 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 two land parcel boundary lines other than the boundary route segment. If not, then the boundary line segment that is not parallel to the boundary line of the plot is identified as the line segment to be adjusted.

6. The unmanned aerial vehicle (UAV) operation method according to claim 1, characterized in that, If only adjustments to boundary route segments are permitted; The process of adjusting the original parameters of the route segment to be adjusted to obtain the target route plan includes: Based on the original route plan and the land parcel information, determine the two first auxiliary line segments that are adjacent to the left and right sides of the route segment to be adjusted; The original parameters of the route segment to be adjusted in the original route plan are adjusted based on the two first auxiliary line segments to obtain the target route plan.

7. The unmanned aerial vehicle (UAV) operation method according to claim 6, characterized in that, The step of determining the two first auxiliary line segments adjacent to the left and right of the route segment to be adjusted based on the original route plan and the land parcel information includes: Determine whether the flight path segment to be adjusted is parallel to the boundary line of the land parcel; If so, the adjacent route segments and the corresponding land boundary lines corresponding to the route segment to be adjusted are determined as two first auxiliary line segments. If not, then determine the spreading coverage boundary line of the adjacent flight path segment, and determine the spreading coverage boundary line and the land parcel boundary line corresponding to the flight path segment to be adjusted as two first auxiliary line segments.

8. The unmanned aerial vehicle (UAV) operation method according to claim 6, characterized in that, The two first auxiliary line segments include the land parcel boundary lines; The step of adjusting the original parameters of the route segment to be adjusted in the original route plan based on the two first auxiliary line segments to obtain the target route plan includes: If the flight path segment to be adjusted is parallel to the boundary line of the land parcel, then the distance between the two first auxiliary line segments is determined as the target width of the flight path segment to be adjusted, and the target width is a fixed value. If the route segment to be adjusted is not parallel to the boundary line of the land parcel, the target broadcast width of the route segment to be adjusted is determined according to the distance between the two first auxiliary line segments at different positions. The target broadcast width increases or decreases with the direction of the route segment to be adjusted.

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

10. The unmanned aerial vehicle (UAV) operation method according to claim 9, characterized in that, The determination of the centerline position based on the two first auxiliary line segments includes: If the flight path segment to be adjusted is parallel to the boundary line of the land parcel, then the centerline position is determined between the adjacent flight path segment to be adjusted and the boundary line of the land parcel. If the flight path segment to be adjusted is not parallel to the land parcel boundary line, then the centerline position is determined between the spreading coverage boundary line of the adjacent flight path segment and the land parcel boundary line.

11. A drone, characterized in that, The drone includes a body, a dispersing device, a memory, and at least one processor; The aircraft is used to move according to the target route plan; The spreading device includes a spinning disc, which can swing back and forth following the forward and reverse rotation of the motor under the drive of the motor; The memory stores instructions; the at least one processor invokes the instructions in the memory to cause the drone to perform the drone operation method as described in any one of claims 1-10.

12. A computer-readable storage medium storing instructions thereon, characterized in that, The instructions, when read and executed, perform the UAV operation method as described in any one of claims 1-10.

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