Agricultural plant protection unmanned aerial vehicle and sowing control method

Abstract

The invention provides an agricultural plant protection unmanned aerial vehicle and a sowing control method, and the method comprises the steps that a driving device is controlled to drive a throwing disc of a sowing disc to rotate, the included angle between the rotating plane of the throwing disc and the course axis of the agricultural plant protection unmanned aerial vehicle is larger than or equal to 0 degree and smaller than 90 degrees, and sown objects enter the throwing disc through a feeding port of the sowing disc; under the action of centrifugal force, the seeds are thrown out towards the lower side or the inclined lower side of the agricultural plant protection unmanned aerial vehicle through a sowing opening of the sowing disc; and the driving parameters of the driving device are adjusted to adjust the downward throwing inclination angle of the to-be-sown object in the throwing disc, so that the directional sowing capability of the sowing equipment can be improved, and the directional sowing equipment has the advantages of high efficiency and convenience.

Description

[0001] This application is a divisional application of the invention patent application with application number CN202080016421.7 and application date September 25, 2020. The invention name of the original invention patent application is an agricultural plant protection drone, sowing control method and storage medium. Technical Field

[0002] At least one embodiment of the present disclosure relates to the technical field of agricultural equipment design, and in particular to an agricultural plant protection UAV and a sowing control method. Background Art

[0003] In recent years, agricultural modernization and precision agriculture have continued to move forward, and the development of agricultural machinery has provided great convenience for agricultural modernization. By equipping drones with a spreading system to achieve the spreading of granular and powdered material particles, such as rice sowing and fertilization, it provides an efficient and convenient operation method for agricultural modernization.

[0004] In the related art, when spreading materials, the spreading system of the drone throws out the material particles horizontally, and the material particles fall to the ground in a horizontal manner. The downward movement of the material particles depends only on gravity, and it is impossible to control the material to be spread in a predetermined direction. Summary of the invention

[0005] In view of the above-mentioned defects in the prior art, an embodiment of the present invention provides an agricultural plant protection UAV and a sowing control method.

[0006] An embodiment of the present invention provides a method for controlling the spreading of an agricultural plant protection UAV, comprising controlling a driving device to drive a spinning disc of a spreading disc to rotate, wherein an angle between a rotation plane of the spinning disc and a heading axis of the agricultural plant protection UAV is greater than or equal to 0° and less than 90°, and the spreading material enters the spinning disc through a feed port of the spreading disc and is thrown out toward the bottom or obliquely below the agricultural plant protection UAV through a spreading port of the spreading disc under the action of centrifugal force; and adjusting driving parameters of the driving device to adjust the inclination angle at which the spreading material in the spinning disc is thrown downward.

[0007] An embodiment of the present invention further provides an agricultural plant protection UAV, comprising a fuselage and a spreading device, wherein the spreading device comprises: a spreading disc, comprising a feed port, a spreading port and a spinner disc, wherein when the spreading device is installed on the fuselage corresponding to the installation state, the angle between the rotation plane of the spinner disc and the heading axis of the agricultural plant protection UAV is greater than or equal to 0° and less than 90°, the spreading material enters the spinner disc through the feed port, and is thrown out toward the bottom or obliquely below the agricultural plant protection UAV through the spreading port, and the spreading material in the spinner disc is thrown out in different directions; and a driving device, used to drive the spinner disc to rotate, thereby generating centrifugal force to apply to the spreading material in the spinner disc, so that the spreading material is thrown out from the spreading port under the action of the centrifugal force.

[0008] The agricultural plant protection UAV and the sowing control method provided by the embodiments of the present invention design the spinner disc of the sowing equipment so that the angle between the rotating plane and the heading axis of the agricultural plant protection UAV is greater than or equal to 0° and less than 90°, and the sowing port on the spinner disc faces the bottom or diagonally below the agricultural plant protection UAV, so that the material particles are directly thrown out by centrifugal force below or diagonally below the agricultural plant protection UAV, rather than being thrown out in the form of horizontal throwing, and the initial velocity in the vertical direction is large, thereby effectively improving the directional sowing ability of the sowing equipment, and having the advantages of high efficiency and convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 A simplified structural diagram of an agricultural plant protection drone provided by an embodiment of the present invention;

[0011] Figure 2 A schematic diagram of a first sowing state of a sowing device of an agricultural plant protection UAV provided in another embodiment of the present invention;

[0012] Figure 3 A schematic diagram of a second sowing state of a sowing device of an agricultural plant protection UAV provided by another embodiment of the present invention;

[0013] Figure 4 A schematic diagram of a third sowing state of a sowing device of an agricultural plant protection UAV provided by another embodiment of the present invention;

[0014] Figure 5 A schematic diagram of a fourth sowing state of a sowing device of an agricultural plant protection UAV provided by another embodiment of the present invention;

[0015] Figure 6 The electronic control principle of the agricultural plant protection drone provided by the embodiment of the present invention Figure 1 ;

[0016] Figure 7 The electronic control principle of the agricultural plant protection drone provided by the embodiment of the present invention Figure 2 ;

[0017] Figure 8 A control flow chart of an agricultural plant protection UAV provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0020] The term "including" mentioned throughout the specification and claims is an open term and should be interpreted as "including but not limited to". "Substantially" means that within an acceptable error range, a person skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0021] In addition, the term "connect" includes any direct and indirect connection means. Therefore, if a first device is described as being connected to a second device, it means that the first device can be directly connected to the second device or indirectly connected to the second device through other devices.

[0022] It should be understood that the terms "and / or, and / or" used in this article are only a way to describe the association relationship of associated objects, indicating that there can be three relationships. For example, A1 and / or B1 can represent: A1 exists alone, A1 and B1 exist at the same time, and B1 exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0023] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of mutual contradiction, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification.

[0024] The inventors have found through creative work that the conventional spreading methods for spreading agricultural materials in the prior art are usually as follows: 1. A wheeled tractor equipped with a spreader, which is inefficient and easily crushes crops. 2. A manual backpack spreader, which has high labor intensity, toxic materials that can damage the human body, and low efficiency. 3. A hand-throwing method, which has high labor intensity, toxic materials that can damage the human body, and low efficiency.

[0025] In order to solve the drawbacks of the above-mentioned traditional sowing methods, there is a method of using agricultural plant protection drones to sow materials in related technologies. However, it uses high-speed airflow to spray solid particles such as seeds and fertilizers onto the ground. However, when the drone is flying, the propeller rotates at high speed and the airflow is large. The airflow of the sowing system is not as strong as the airflow of the drone propeller. The airflow of the propeller will hinder the sowing of the sowing material in the preset direction, causing the particles to be reflected back to the ground, and the purpose of precise directional sowing cannot be achieved.

[0026] In order to solve the above technical problems in the prior art, the present invention provides an agricultural plant protection UAV and a control method of the agricultural plant protection UAV, which can improve the ability of directional seeding and have the advantages of high efficiency and convenience.

[0027] Embodiment 1

[0028] Figure 1 A simplified structural diagram of an agricultural plant protection drone provided by an embodiment of the present invention; Figure 6 The electronic control principle of the agricultural plant protection drone provided by the embodiment of the present invention Figure 1 Please refer to the attached Figure 1 and attached Figure 6 The agricultural plant protection drone provided in this embodiment includes a fuselage 10 and a sowing device 20. The sowing device 20 is installed on the fuselage 10 of the agricultural plant protection drone. The sowing device 20 includes: a sowing disc 21 and a driving device 30. Specifically, the sowing device 20 can be fixedly mounted below the agricultural plant protection drone to ensure that the center of gravity of the agricultural plant protection drone is stable. The sowing device 20 can be removed from the agricultural plant protection drone separately to facilitate the repair or replacement of the sowing device 20.

[0029] Specifically, the spreading disc 21 includes a feed inlet 211, a spreading outlet 212, and a spinning disc 213. The spreading material enters the spinning disc 213 through the feed inlet 211 and is thrown out through the spreading outlet 212. The spreading outlet 212 faces downward or obliquely downward of the agricultural plant protection UAV. The driving device 30 is connected to the spreading disc 21 to drive the spinning disc 213 to rotate, thereby generating centrifugal force to the spreading material in the spinning disc 213, so that the spreading material is thrown out from the spreading outlet 212 under the action of the centrifugal force.

[0030] Specifically, the spreading material described in this embodiment may include at least one of the following: powdered fertilizer, seed particles, pesticides, etc.

[0031] In this embodiment, the shape, size and material of the spinning tray 213 are not limited, and those skilled in the art can select or design according to actual needs. In a preferred embodiment, the overall shape of the spinning tray 213 can be disc-shaped, and the entire spinning tray 213 can be made of metal material, which has good strength, stable performance and is not easy to deform. Of course, in some other embodiments, the spinning tray 213 can also be made of plastic material.

[0032] It should be noted that the spreading disc 21 at least includes a rotatable spinning disc 213. In some other embodiments, the spreading disc 21 may include a non-rotatable fixed disc (not shown in the figure) in addition to the rotatable spinning disc 213. The fixed disc may include two, and the spinning disc 213 may be arranged between the two fixed discs. The fixed disc may be used to block the spreading material to prevent the spreading material from splashing on both sides of the spinning disc 213, and further ensure that the spreading material is spread in a predetermined direction. The structural shape of the fixed disc may be the same as the size and shape of the spinning disc 213, and the material of the fixed disc may be the same as that of the spinning disc 213, so as to facilitate molding and simplify the processing technology.

[0033] In this embodiment, the spreading port 212 can be located at the edge of the spreading disc 21, or near the edge, and there can be only one spreading port 212. During the rotation of the throwing disc 213, the spreading material can be thrown out only when the spreading port 212 rotates downward. The feeding port 211 can be located at the center of the throwing disc 213, so that when the spreading disc 21 rotates, the feeding port 211 will not rotate with it, and will not affect the feeding of the feeding port 211.

[0034] Furthermore, in the present embodiment, preferably, the radial edge of the spinner 213 has an opening, which forms a spreading port 212 , and the spinner 213 has a spreading channel (not shown in the figure) connected to the spreading port 212 , which is also connected to the feed port 211 .

[0035] Of course, in some other embodiments, a spreading channel may be formed between the spinning disc 213 and the fixed disc, and the spreading port 213 may be formed at the end of the spreading channel.

[0036] In the installed state, the angle between the rotation plane of the spinner 213 and the heading axis of the agricultural plant protection UAV is greater than or equal to 0° and less than 90°. In other words, the rotation plane of the spinner 213 is not horizontally arranged, and the spinner 213 can rotate at a high speed under the drive of a drive device 30 such as a motor to generate a large centrifugal force to throw the sowing material of the sowing disc 21 out through the sowing port 212. Specifically, the sowing material can be thrown out in a direction tangent to the contour of the spinner 213 at the sowing port 212. Since the spinner 213 is not horizontally arranged, the sowing material has a vertical initial velocity when it is thrown out, so that the directional sowing ability of the sowing material is improved.

[0037] It is worth noting that when the rotation speed of the spinning disc 213 is high, the spreading port 212 can throw out the sowing material along the oblique tangent line before it completely reaches the bottom, and when the rotation speed of the spinning disc 213 is low, the spreading port 212 throws out the sowing material when it is close to or located directly below. Therefore, the sowing distance of the sowing material can be controlled by controlling the rotation speed of the spinning disc 213. And it is understandable that when the rotation direction of the spinning disc 213 is different, the direction in which the sowing material is thrown out is also different. For example, Figure 1 As shown, the spinning disc 213 rotates counterclockwise, and the sowing material is thrown out along the lower right side (as shown in FIG. Figure 1 The dotted line shows the trajectory of the spreading material being thrown out), and when the spinning disc 213 rotates clockwise, the spreading material will be thrown out along the lower left side. Thereby, the purpose of directional spreading can be achieved by controlling the rotation speed and / or steering of the spinning disc 213 through the driving device.

[0038] Preferably, in the present embodiment, in the installed state, the angle between the rotation plane of the spinning disc 213 and the heading axis of the agricultural plant protection UAV is less than or equal to 45 degrees. The angle between the rotation plane of the spinning disc 213 and the heading axis of the agricultural plant protection UAV is small, so that when the centrifugal force generated by the spinning disc 213 when rotating at high speed throws out the sowing material, the throwing direction of the sowing material is as downward as possible, and the vertical initial velocity is as large as possible, and the horizontal initial velocity is as small as possible. It is understandable that, under the premise that the spinning disc 213 rotates at the same speed, the smaller the angle between the rotation plane of the spinning disc 213 and the heading axis of the agricultural plant protection UAV, the greater the vertical initial velocity when the sowing material is thrown out, and the stronger the directional sowing ability.

[0039] The agricultural plant protection UAV provided in the embodiment of the present invention designs the spinner disc of the spreading equipment in a form in which the angle between the rotating plane and the heading axis of the agricultural plant protection UAV is greater than or equal to 0° and less than 90°, and the spreading port on the spinner disc faces the bottom or obliquely below the agricultural plant protection UAV, so that the material particles are directly thrown out by centrifugal force below or obliquely below the agricultural plant protection UAV, rather than being thrown out in the form of horizontal throwing. The initial velocity in the vertical direction is large and its motion trajectory is close to a straight line, thereby improving the directional spreading ability of the spreading equipment and having the advantages of high efficiency and convenience.

[0040] More preferably, in the installed state, the rotation plane of the spinner 213 can be basically parallel to the heading axis of the agricultural plant protection UAV. It should be noted that the so-called basically parallel means that within the range allowed by the installation or manufacturing error, the angle between the two can be in the range of -5° to +5°. At this time, the rotation plane of the spinner 213 is roughly parallel to the heading axis of the agricultural plant protection UAV, and the spinner 213 is basically arranged vertically, so that the sowing material can be basically thrown out from the spinner 213 according to the predetermined landing direction, so that the sowing range is the most controllable and the directional sowing ability is the strongest.

[0041] Figure 2 A schematic diagram of a first sowing state of a sowing device of an agricultural plant protection UAV provided in another embodiment of the present invention; Figure 3 A schematic diagram of a second sowing state of a sowing device of an agricultural plant protection UAV provided by another embodiment of the present invention; Figure 4 A schematic diagram of a third sowing state of a sowing device of an agricultural plant protection UAV provided by another embodiment of the present invention; Figure 5 A schematic diagram of a fourth spreading state of a spreading device of an agricultural plant protection drone provided by another embodiment of the present invention. Figure 2 -Attached Figure 5 The spreading disc 21 provided in this embodiment includes at least two ( Figures 2 to 5 There are two spreading discs 21 shown in the figure), in the installed state, at least two spreading discs 21 are arranged side by side or staggered in the roll axis direction of the agricultural plant protection drone. In some embodiments, in the installed state, at least two spreading discs 21 are arranged side by side or staggered in the pitch axis direction of the agricultural plant protection drone.

[0042] It should be noted that the so-called staggered arrangement means that at least two spreading discs 21 are arranged to be tilted relative to the heading axis, so that the rotation planes where the at least two spreading discs 21 are located have an intersection line.

[0043] When at least two spreading discs 21 are arranged in parallel or staggered in the roll axis direction, and the two spreading discs 21 have different directions of rotation, the spreading material can be spread in the front and rear direction of the fuselage 10 of the agricultural plant protection UAV. When at least two spreading discs 21 are arranged in parallel or staggered in the pitch axis direction, and the two spreading discs 21 have different directions of rotation, the spreading material can be spread in the left and right direction of the fuselage 10 of the agricultural plant protection UAV. By providing at least two spreading discs 21, the spreading efficiency can be effectively improved.

[0044] When the number of the spreading discs 21 includes at least two, the number of the swinging discs 213 includes at least two. In the installed state, at least two spreading discs 21 are arranged in the roll axis direction of the agricultural plant protection drone, and the angles between the rotation planes of at least two swinging discs 213 and the heading axis of the agricultural plant protection drone are substantially equal, and the inclination directions of the rotation planes of at least two swinging discs 213 are opposite. At least two spreading discs 21 are arranged in the roll axis direction of the agricultural plant protection drone, and the inclination directions of the rotation planes of at least two swinging discs 213 are opposite, and the inclination angles are substantially equal, so that the spreading materials of at least two swinging discs 213 are symmetrically thrown out in the front and rear directions of the fuselage 10 as much as possible, thereby improving the spreading uniformity of the agricultural plant protection drone.

[0045] Optionally, the number of the spreading discs 21 includes at least two, and correspondingly, the number of the spinning discs 213 includes at least two. In the installed state, at least two spreading discs 21 are arranged in the pitch axis direction of the agricultural plant protection UAV, and at least two spreading discs 21 are respectively tilted in the roll axis direction, and the inclination directions of the rotation planes of at least two spinning discs 213 are opposite. Similarly, the inclination directions of the rotation planes of at least two spinning discs 213 are opposite, and the inclination angles are basically the same, so that the sowing materials of at least two spinning discs 213 are symmetrically thrown out on the fuselage 10 about the roll axis and the pitch axis as much as possible, thereby improving the sowing uniformity of the agricultural plant protection UAV.

[0046] Furthermore, the driving device 30 can drive at least two spreading discs 21 to rotate at different speeds and directions, so that the agricultural plant protection UAV can throw out the spreading material in different spreading modes, thereby improving the operational flexibility of the agricultural plant protection UAV.

[0047] The following is a specific combination Figures 2 to 5 , giving examples to illustrate the different spreading modes of agricultural plant protection drones.

[0048] like Figure 2 As shown, the two spreading discs 21 are arranged along the rolling axis, and the rotation planes of the swinging discs 213 of the two spreading discs 21 are parallel to the heading axis. The left spreading disc 21 rotates counterclockwise, and the spreading material is thrown out from the spreading opening 212 of the left spreading disc 21 along the lower right side. The right spreading disc 21 rotates clockwise, and the spreading material is thrown out from the spreading opening 212 of the right spreading disc 21 along the lower left side, so that the spreading material under the two spreading discs 21 is close to each other and concentratedly spread toward the middle.

[0049] like Figure 3As shown, the two spreading discs 21 are arranged along the rolling axis, and the rotation planes of the swinging discs 213 of the two spreading discs 21 are parallel to the heading axis. The left spreading disc 21 rotates clockwise, and the spreading material is thrown out from the spreading opening 212 of the left spreading disc 21 along the lower left side, and the right spreading disc 21 rotates counterclockwise, and the spreading material is thrown out from the spreading opening 212 of the left spreading disc 21 along the lower right side, so that the spreading material under the two spreading discs 21 is thrown away from each other toward the two sides below the fuselage 10.

[0050] like Figure 4 As shown, the two spreading discs 21 are arranged along the rolling axis direction, and the rotation planes of the swinging discs 213 of the two spreading discs 21 are parallel to the heading axis. The left spreading disc 21 rotates counterclockwise, and the spreading material is thrown out from the spreading opening 212 of the left spreading disc 21 along the lower right direction. The right spreading disc 21 rotates counterclockwise, and the spreading material is thrown out from the spreading opening 212 of the right spreading disc 21 along the lower right direction, so that the spreading material under the two spreading discs 21 is thrown out in the same direction, realizing fixed-point spreading on the right side.

[0051] like Figure 5 As shown, the two spreading discs 21 are arranged along the rolling axis direction, and the rotation planes of the swinging discs 213 of the two spreading discs 21 are parallel to the heading axis. The left spreading disc 21 rotates clockwise, and the spreading material is thrown out from the spreading opening 212 of the left spreading disc 21 along the lower left direction. The right spreading disc 21 rotates clockwise, and the spreading material is thrown out from the spreading opening 212 of the right spreading disc 21 along the lower left direction, so that the spreading material under the two spreading discs 21 is thrown out in the same direction, realizing fixed-point spreading on the left side.

[0052] In addition, it can be understood that the rotation speed of the spinner 213 is different, and the distance of the sowing material is thrown is also different. The faster the rotation speed, the farther the distance the sowing material is thrown, and the slower the rotation speed, the closer the distance the sowing material is thrown. Therefore, according to different sowing requirements, the direction and rotation speed of the spinner 213 of each sowing disk 21 can be controlled to achieve fixed-point sowing of the sowing material.

[0053] It is worth noting that when the agricultural plant protection drone has only one spreading disc 21, due to the rotation of the spinning disc 213, the spreading material can only be thrown out at any position within the 180° range downward of the spinning disc 213, but not necessarily directly below. In this case, there will be a problem of inconsistent sparseness of the material on the left and right sides, for example Figure 1 As shown, the material falls to the right, which will make the material on the right side denser and the material on the left side sparser. Figure 2 or Figure 3 When the machine rotates in different directions, the material falling on the left and right sides of the machine body will be symmetrical and complementary, and the sparseness of the material falling on the left and right sides will be consistent, thereby improving the uniformity of sowing.

[0054] Of course, it can be understood that the sowing disc 21 of the agricultural plant protection drone of this embodiment is not limited to two, for example, it can also be three, four, etc. When the sowing disc 21 of the agricultural plant protection drone is three, the three sowing discs 21 can be arranged in the direction of the roll axis, and the rotation planes of the sowing discs 213 of the sowing discs 21 at the front and rear ends of the fuselage 10 can be tilted forward and backward respectively, and the tilt angles are equal, and the rotation plane of the sowing disc 213 of the sowing disc 21 in the middle position is vertically downward. When the sowing disc 21 of the agricultural plant protection drone is four, two sowing discs 21 can be arranged in the direction of the roll axis, and two sowing discs 21 can be arranged in the direction of the pitch axis. The connecting line of the four sowing discs 21 can form a square, and the sowing discs 213 of the sowing discs 21 arranged in the direction of the pitch axis can be symmetrically arranged, and the sowing discs 213 of the sowing discs 21 arranged in the direction of the roll axis can be symmetrically arranged. In this way, the sowing width and sowing range are improved while ensuring the uniformity of sowing.

[0055] The sowing equipment of this embodiment also includes an external storage container. The sowing material can be contained in an external storage container independent of the sowing disc 21, and flow into the sowing disc 21 through the discharge port of the external storage container to be thrown out from the sowing disc 21. In this way, the feed port 211 of the sowing disc 21 can be connected with the discharge port of the external storage container. Specifically, the external storage container can be a loading box 22, which is arranged above the sowing disc 21. The loading box 22 is used to hold the sowing material. The loading box 22 can have a discharge port 221, which is connected with the feed port 211 through a feed channel. The feed channel is used to guide the sowing material from the loading box 22 into the sowing channel of the thrower disc 213. By providing the loading box 22, it is ensured that the agricultural plant protection drone can have a large storage capacity for sowing materials without the need to frequently add sowing materials, thereby reducing the degree of labor.

[0056] There is one loading box 22, and at least two spreading trays 21. The number of discharge ports 221 on the loading box 22 is equal to the number of throwing trays 213. Each spreading tray 21 has an inlet 211. Each discharge port 221 on the loading box 22 corresponds to the inlet 211 of a spreading tray 21. Alternatively, the number of loading boxes 22 is equal to the number of spreading trays 21, and the discharge ports 221 of each loading box 22 correspond to the inlet of a spreading tray 21. At least two spreading trays 21 share one loading box 22, so that the spreading material is contained in one space, and the problem of large differences in the amount of spreading material entering each spreading tray 21 due to different amounts of spreading material contained in multiple storage containers is avoided, and the difference in the amount of spreading material entering each spreading tray 21 is effectively reduced, so that the amount of spreading material thrown out from each spreading tray 21 is basically the same, so that the spreading material can be spread more evenly. Of course, in some other embodiments, the number of the loading boxes 22 may be equal to the number of the spinning trays 213 , and one loading box 22 may correspond to one spinning tray 213 .

[0057] In addition, in some other embodiments, the scattering disc 21 may have a bin for storing and containing the scattering material, and the scattering material may be completely contained in the bin inside the scattering disc 21. In this way, the feed port 211 of the scattering disc 21 may be connected with the discharge port of the internal bin of the scattering disc 21. When the throw-off disc 213 rotates, the scattering material in the bin inside the scattering disc 21 flows out from the discharge port to the feed port of the scattering disc 21, and is thrown out through the scattering port 212 of the scattering disc 21.

[0058] like Figure 6 As shown, based on the above embodiment, the sowing device may further include: an adjusting device 40. The adjusting device 40 is used to adjust the feed amount of the feed port 211. Thus, the feed amount of the feed port 211 can be adjusted according to different sowing requirements, thereby improving the sowing flexibility of the agricultural plant protection drone.

[0059] Specifically, the regulating device 40 can be arranged in the feed channel, and the regulating device 40 can include a regulating valve, and the regulating valve can specifically adjust the opening of the feed port 211, thereby adjusting the feed amount of the feed port 211. The regulating device 40 can be arranged at any position of the feed channel, for example, it can be arranged at the feed port 211, and it can also be arranged in the middle of the feed channel.

[0060] Figure 7 The electronic control principle of the agricultural plant protection drone provided by the embodiment of the present invention Figure 2 ,like Figure 7As shown, the agricultural plant protection UAV of this embodiment also includes a first collecting device 50, which is used to collect particle information of the sowing material. The adjusting device 40 is connected to the first collecting device 50, and the adjusting device 40 is used to adjust the feed amount of the feed port 211 according to the particle information of the sowing material collected by the first collecting device 50.

[0061] Specifically, the particle information of the spread includes at least one of the following: particle mass, particle size, and particle density. It should be noted that the particles referred to in this embodiment are not necessarily solid particles, such as seed particles and powder particles, but may also include liquid particles, such as particles after liquefaction of pesticides.

[0062] In this embodiment, the agricultural plant protection drone can also be connected to an input device (not shown in the figure) for communication. The input device can be a mobile terminal located on the ground, or the input device is located on the fuselage 10. For example, the input device is a touch screen located on the fuselage 10, or a display screen with an operating keyboard. The input device can be connected to the first acquisition device 50, and the first acquisition device 50 can collect the particle information input by the input device. Before using the plant protection drone for sowing, or during the sowing process using the plant protection drone, the user can actively input the particle information. In some optional embodiments, the first acquisition device 50 can include a high-concentration particle counter, a weight sensor, a particle detector, etc. to detect and collect particle information. The first acquisition device 50 sends the particle information to the adjustment device 40, so that the adjustment device 40 adjusts the feed amount of the feed port 211.

[0063] Particles of different weights and densities are thrown out in different trajectories at the same rotation speed of the impeller 213. When the impeller 213 rotates, the sowing port rotates accordingly. According to the number and weight of particles, the feed amount of the feed port 211 is adjusted, that is, the flow rate of the feed port 211 is controlled, so that when the impeller 213 rotates, the sowing material can be thrown out only when the sowing port 212 rotates to the bottom, and the sowing material is prevented from being thrown out from the top of the impeller 213.

[0064] Furthermore, the adjusting device 40 is also connected to the driving device 30, and the adjusting device 40 is also used to adjust the opening of the feed channel according to the particle information of the sowing material and the driving parameters of the driving device 30 to adjust the feeding amount of the feed port 211. Since the driving device 30 is used to drive the impeller 213 to rotate, the different speed, direction, and rotation frequency of the impeller 213 also affect the throwing trajectory of the sowing material. Therefore, the adjusting device 40 of this embodiment adjusts the feeding amount of the feed port 211 according to the driving parameters of the driving device and the particle information of the sowing material, wherein the driving parameters include at least one of the following: motor speed, motor direction, and motor frequency. In this way, the purpose of the sowing material being thrown out when the sowing port 212 rotates to the bottom is achieved. How to adjust the feeding amount of the feed port 211 according to the driving parameters of the driving device and the particle information of the sowing material can be specifically designed according to the actual situation, or obtained through multiple experimental simulations or tests, and this embodiment does not make any special restrictions.

[0065] Furthermore, the agricultural plant protection UAV provided in this embodiment also includes: a processing device 70, which is connected to the driving device 30 and is used to determine the driving parameters of the driving device 30; a control device 60 is connected to the processing device 70 and the driving device 30, and is used to adjust the driving parameters of the driving device 30 according to the target driving parameters determined by the processing device 70, so that the driving device 30 drives the spinner 213 to rotate according to the determined target driving parameters.

[0066] It should be noted that, in the present embodiment, the driving device 30 may be a motor, and the control device 60 may be a control chip in the motor, or may be a control device independent of the motor. This is not limited in the present embodiment. As long as the control device 60 is electrically connected to the driving module in the driving device 30 and can give a control signal to the driving module so that the driving module can be driven, this is not particularly limited in the present embodiment.

[0067] Further, the agricultural plant protection drone of this embodiment also includes: a second collection device 80. The second collection device 80 can be used to collect the driving parameters input by the user; the processing device 70 is connected to the second collection device 80, and the processing device 70 can be specifically used to determine the target driving parameters of the driving device 30 according to the driving parameters input by the user. In addition to the particle information of the particulate matter that the user can input, similarly, the user can also input the driving parameters of the desired driving device through the input device. For example, the user can directly input the rotation speed, steering and other parameters of the spinner 213 in the input device. It should be noted that "+" can be pre-defined as forward rotation (clockwise rotation) and "-" can be pre-defined as reverse rotation (counterclockwise rotation). The user can directly input "+" or "-" to select the steering direction of the spinner 213. The processing device 70 can determine the driving parameters input by the user as the driving parameters of the driving device 30, and the control device 60 controls the driving device 30 to drive the spinner 213 to rotate with the determined target driving parameters.

[0068] It should be noted that the input device in this embodiment may be an input device corresponding to the input particle information, or may be another input device provided separately, and this embodiment does not limit this.

[0069] Furthermore, the processing device 70 is also connected to the flight control system 90 of the agricultural plant protection UAV and the shooting equipment 100 of the agricultural plant protection UAV; the processing device 70 is specifically used to determine the driving parameters of the driving device based on at least one of the trajectory information of the agricultural plant protection UAV, the posture information of the agricultural plant protection UAV, and the image information captured by the shooting equipment.

[0070] When the agricultural plant protection UAV flies in different postures, the landing points of the sowing materials thrown out by the sowing equipment will be different, and when the agricultural plant protection UAV is in different positions (that is, the flight trajectory of the UAV), the landing points of the sowing materials thrown out by the sowing equipment will also be different. The image information captured by the shooting equipment can accurately reflect the ground image below the agricultural plant protection UAV, so the area to be sown can be accurately known, and the driving parameters of the driving device determine the rotation speed and direction of the disk, thereby determining the trajectory of the sowing materials and the final sowing point. Therefore, by determining the driving parameters of the driving device through at least one of the trajectory information of the agricultural plant protection UAV, the posture information of the agricultural plant protection UAV, and the image information captured by the shooting device, the sowing equipment can be sown according to the actual sowing needs, so as to achieve the purpose of accurate and directional sowing.

[0071] Embodiment 2

[0072] Figure 7 This is a control flow chart of the agricultural plant protection drone provided by the embodiment of the present invention. Figure 7 As shown, this embodiment provides a sowing control method for an agricultural plant protection UAV, comprising:

[0073] S101, control the driving device to drive the spinner of the spreading disc to rotate, wherein the angle between the rotation plane of the spinner and the heading axis of the agricultural plant protection UAV is greater than or equal to 0° and less than 90°, and the spreading material enters the spinner through the spreading disc feed port and is thrown out through the spreading disc spreading port, and the spreading port faces downward or obliquely downward of the agricultural plant protection UAV.

[0074] S102, adjusting the driving parameters of the driving device to adjust the inclination angle at which the sowing material is thrown downward.

[0075] The control method of the agricultural plant protection UAV provided in the embodiment of the present invention can be implemented by the control device of the agricultural plant protection UAV provided in the embodiment of the present invention.

[0076] Furthermore, the driving device in this embodiment includes a motor, and the driving parameters include at least one of the following: motor speed, motor direction, and motor frequency.

[0077] The drive parameters of the drive device adjusted in S102 include:

[0078] determining the driving parameters input by the user as target driving parameters of the driving device;

[0079] The driving parameters of the driving device are adjusted according to the determined target driving parameters.

[0080] Optionally, the driving parameters of the adjusting driving device in S102 include:

[0081] Determine a target driving parameter of the driving device according to at least one of the trajectory information of the agricultural plant protection UAV, the posture information of the agricultural plant protection UAV, and the image information taken by the shooting device;

[0082] The control method of the agricultural plant protection UAV provided in the embodiment of the present invention is the same as the implementation process of the agricultural plant protection UAV embodiment of embodiment 1. For details, please refer to the description of the above agricultural plant protection UAV embodiment, which will not be repeated here.

[0083] The control method of the agricultural plant protection UAV provided in the embodiment of the present invention has the following advantages: since the rotation speed and steering of the spinner affect the inclination angle of the sowing material thrown downward, and the spinner is controlled to rotate by a driving device, the inclination angle of the sowing material thrown downward can be effectively adjusted by adjusting the driving parameters of the driving device, thereby realizing the switching and adjustment of the sowing mode and improving the flexibility of the sowing operation.

[0084] Embodiment 3

[0085] This embodiment provides a computer-readable storage medium, on which a computer program is stored. The computer program can be executed by a processor to perform the following method:

[0086] The control driving device drives the spinning disc of the spreading disc to rotate, wherein the angle between the rotation plane of the spinning disc and the heading axis of the agricultural plant protection UAV is an acute angle, and the spreading material enters the spinning disc through the feeding port of the spreading disc and is thrown out through the spreading port of the spreading disc, and the spreading port is directed downward or obliquely downward to the agricultural plant protection UAV;

[0087] The drive parameters of the drive device are adjusted to adjust the inclination angle at which the spread material is thrown downward.

[0088] The method executed by the processor in this embodiment is the control method described in the second embodiment. For details, please refer to the description of the second embodiment, which will not be repeated in this embodiment.

[0089] In several embodiments provided in the present invention, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices or units, which may be electrical, mechanical or other forms.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sowing control method for an agricultural plant protection UAV, characterized in that: include: The driving device is controlled to drive the spinning disk of the spreading disk to rotate, wherein the angle between the rotation plane of the spinning disk and the heading axis of the agricultural plant protection UAV is greater than or equal to 0° and less than 90°, and the spreading material enters the spinning disk through the feeding port of the spreading disk, and is thrown out toward the bottom or obliquely below the agricultural plant protection UAV through the spreading port of the spreading disk under the action of centrifugal force; as well as The driving parameters of the driving device are adjusted to adjust the inclination angle at which the spreading material in the spinning disc is thrown downward.

2. The sowing control method of the agricultural plant protection UAV according to claim 1, characterized in that: The angle between the rotation plane of the spinneret and the heading axis of the agricultural plant protection UAV is less than or equal to 45 degrees.

3. The sowing control method of the agricultural plant protection UAV according to claim 1, characterized in that: The rotation plane of the spinneret is substantially parallel to the heading axis of the agricultural plant protection UAV.

4. The sowing control method of the agricultural plant protection UAV according to claim 1, characterized in that: The spreading material is thrown out from the spreading opening along the direction of the tangent line of the contour of the spinning disc, so that the spreading material has an initial vertical velocity.

5. The sowing control method of the agricultural plant protection UAV according to claim 1, characterized in that: The spinning disks include at least two, and the inclination directions of the rotation planes of the at least two spinning disks are opposite.

6. The sowing control method of the agricultural plant protection UAV according to claim 5, characterized in that: The sowing materials thrown out from at least two spinning discs are thrown close to each other and concentratedly toward the center, or the sowing materials thrown out from at least two spinning discs are thrown away from each other and toward both sides.

7. The sowing control method of the agricultural plant protection UAV according to claim 1, characterized in that: The driving device includes a motor, and the driving parameters include at least one of the following: motor speed, motor direction, and motor frequency.

8. The sowing control method of the agricultural plant protection UAV according to claim 1, characterized in that: The method also includes adjusting the driving parameters of the driving device to adjust the spreading distance of the spreading material in the spinning disc.

9. The sowing control method of an agricultural plant protection UAV according to claim 1, characterized in that: The adjusting the driving parameters of the driving device comprises: The driving parameters of the driving device are adjusted according to the driving parameters input by the user.

10. The sowing control method of an agricultural plant protection UAV according to claim 1, characterized in that: The adjusting the driving parameters of the driving device comprises: The driving parameters of the driving device are adjusted according to at least one of the trajectory information of the agricultural plant protection UAV, the posture information of the agricultural plant protection UAV, and the image information taken by the agricultural plant protection UAV.

11. The sowing control method of an agricultural plant protection UAV according to claim 1, characterized in that: The method also includes adjusting the opening of the feed port to adjust the feed amount of the feed port.

12. The sowing control method of the agricultural plant protection UAV according to claim 11, characterized in that: The step of adjusting the opening of the feed port comprises: The opening of the feed port is adjusted according to the particle information of the sowing material input by the user or the particle information of the sowing material input by the collection device.

13. An agricultural plant protection drone, characterized in that: The invention comprises a body and a spreading device, wherein the spreading device comprises: A spreading plate, comprising a feed inlet, a spreading port and a spinning plate, wherein when the spreading device is installed on the fuselage, the angle between the rotation plane of the spinning plate and the heading axis of the agricultural plant protection UAV is greater than or equal to 0° and less than 90°, the spreading material enters the spinning plate through the feed inlet, and is thrown out toward the bottom or obliquely below the agricultural plant protection UAV through the spreading port, and the spreading material in the spinning plate is thrown out in different directions; and The driving device is used for driving the spinning disc to rotate, thereby generating centrifugal force to be applied to the sowing objects in the spinning disc, so that the sowing objects are thrown out from the sowing port under the action of the centrifugal force.

14. The agricultural plant protection drone according to claim 13, characterized in that: The spinning discs include at least two, and the rotation directions of the at least two spinning discs are opposite.

15. The agricultural plant protection drone according to claim 13, characterized in that: The spinning disc comprises at least two, wherein: In the installation state, at least two spinning discs are arranged in parallel or staggered in the rolling axis direction of the agricultural plant protection UAV; or, In the installation state, at least two spinners are arranged in parallel or staggered in the pitch axis direction of the agricultural plant protection UAV.

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