Unmanned aerial vehicle takeoff control method, unmanned aerial vehicle landing control method and related equipment

Abstract

The invention provides an unmanned aerial vehicle take-off control method, an unmanned aerial vehicle landing control method and related equipment, and relates to the technical field of unmanned aerial vehicles. When the multi-rotor unmanned aerial vehicle receives the take-off instruction and detects that the original fuselage posture of the multi-rotor unmanned aerial vehicle on the unmanned aerial vehicle parking site is in the inclined state, the driving device is controlled to drive the seedling feeding disc to transversely move relative to the fuselage frame of the multi-rotor unmanned aerial vehicle; the offset of the gravity center of the multi-rotor unmanned aerial vehicle relative to the horizontal state in the takeoff process is compensated through transverse movement of the seedling feeding disc, the actual offset of the gravity center of the unmanned aerial vehicle in the takeoff process is reduced, and the takeoff load needing to be overcome by low-side rotors is reduced. And then the multi-rotor unmanned aerial vehicle is controlled to take off from the unmanned aerial vehicle parking site according to the take-off instruction, so that the low-side rotors can provide enough power to ensure stable take-off of the unmanned aerial vehicle, the overturning risk of the unmanned aerial vehicle during take-off in a site with an obvious slope or a site with an uneven ground is effectively reduced, and the take-off stability of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and more specifically, to a drone takeoff control method, a drone landing control method, and related equipment. Background Art

[0002] With the continuous development of science and technology, drone technology is being used more and more widely in various industries (for example, agriculture, logistics, etc.). However, in the use of drones, due to the limitations of parking spaces, drones are often required to take off in sites with obvious slopes or uneven ground, resulting in drones being able to take off only in a tilted state.

[0003] At present, when a drone takes off directly in a tilted state, the center of gravity of the drone will shift significantly during the takeoff process. To ensure a smooth takeoff, the low-side rotor of the drone needs to output a large or extreme power at the moment the drone takes off to overcome most of the load caused by the tilt of the drone and strive to maintain the drone's attitude balance. However, it is worth noting that the power redundancy of the drone's rotor actually has a limit. The low-side rotor of a drone in a tilted state often cannot provide enough power to overcome the excessive load and ensure the drone takes off, which can easily cause the drone to capsize during the actual takeoff stage. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a UAV take-off control method and device, a UAV landing control method and device, a seedling throwing system and a readable storage medium, which can reduce the actual offset of the center of gravity of the UAV by the lateral movement of the seedling delivery disc of the seedling throwing mechanism during the take-off of the UAV in a tilted state, thereby reducing the take-off load that the low-side rotor needs to overcome, so that the low-side rotor can provide sufficient power to ensure a smooth take-off of the UAV, so as to effectively reduce the risk of overturning of the UAV when taking off in a field with a significant slope or a field with uneven ground, and improve the stability of the UAV's take-off.

[0005] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, the present application provides a method for controlling a take-off of a drone, which is applied to a multi-rotor drone, wherein a seedling throwing mechanism is installed on a fuselage frame of the multi-rotor drone, wherein the seedling throwing mechanism includes a driving device and a seedling delivery tray, wherein the seedling delivery tray is used to deliver blanket seedlings, and the driving device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame; the take-off control method includes:

[0007] In response to the received take-off command, detecting whether the original fuselage posture of the multi-rotor UAV on the current UAV parking site is in a tilted state;

[0008] When it is detected that the original fuselage posture is in a tilted state, the driving device is controlled to drive the seedling delivery tray to move laterally toward the high side, so as to compensate for the current center of gravity offset of the multi-rotor drone relative to the horizontal state;

[0009] The multi-rotor UAV is controlled to take off from the UAV parking site according to the take-off instruction.

[0010] In a second aspect, the present application provides a method for controlling the landing of a drone, which is applied to a multi-rotor drone, wherein a seedling throwing mechanism is installed on a fuselage frame of the multi-rotor drone, wherein the seedling throwing mechanism includes a driving device and a seedling delivery tray, wherein the seedling delivery tray is used to deliver blanket seedlings, and the driving device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame; the landing control method includes:

[0011] In response to the received landing command, detecting whether there is a slope at a drone parking site below the multi-rotor drone;

[0012] When a slope is detected at the parking site of the drone, the multi-rotor drone is controlled to descend until a portion of the fuselage frame contacts the parking site of the drone;

[0013] Controlling the driving device to drive the seedling delivery tray to move laterally toward the high side of the drone parking site, so as to compensate for the center of gravity offset of the multi-rotor drone relative to the horizontal state during the landing process;

[0014] The multi-rotor UAV is controlled to land and dock on the UAV parking site according to the landing instruction.

[0015] In a third aspect, the present application provides a take-off control device for a drone, which is applied to a multi-rotor drone, wherein a seedling throwing mechanism is installed on the fuselage frame of the multi-rotor drone, wherein the seedling throwing mechanism includes a driving device and a seedling delivery tray, wherein the seedling delivery tray is used to deliver blanket seedlings, and the driving device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame; the take-off control device includes:

[0016] An attitude tilt detection module is used to respond to the received take-off command and detect whether the original fuselage attitude of the multi-rotor UAV on the current UAV parking site is in a tilted state;

[0017] The first lateral movement control module is used to control the driving device to drive the seedling delivery tray to move laterally toward the high side when it is detected that the original fuselage posture is in a tilted state, so as to compensate for the current center of gravity offset of the multi-rotor UAV relative to the horizontal state;

[0018] The fuselage take-off control module is used to control the multi-rotor UAV to take off from the UAV parking site according to the take-off instruction.

[0019] In a fourth aspect, the present application provides a drone landing control device, which is applied to a multi-rotor drone, wherein a seedling throwing mechanism is installed on the fuselage frame of the multi-rotor drone, wherein the seedling throwing mechanism includes a driving device and a seedling delivery tray, wherein the seedling delivery tray is used to deliver blanket seedlings, and the driving device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame; the landing control device includes:

[0020] A site slope detection module is used to respond to the received landing command and detect whether there is a slope in the drone parking site below the multi-rotor drone;

[0021] A fuselage flight control module, used to control the multi-rotor drone to descend until a portion of the fuselage frame contacts the drone parking site when a slope is detected in the drone parking site;

[0022] A second lateral movement control module is used to control the driving device to drive the seedling delivery tray to move laterally toward the high side of the drone parking site, so as to compensate for the center of gravity offset of the multi-rotor drone relative to the horizontal state during landing;

[0023] The fuselage landing control module is used to control the multi-rotor UAV to land and dock on the UAV parking site according to the landing instruction.

[0024] In a fifth aspect, the present application provides a seedling throwing system, the seedling throwing system comprising a multi-rotor drone and a seedling throwing mechanism, the multi-rotor drone comprising a main control unit, a fuselage frame, a plurality of drone rotors and a plurality of rotor drive motors, the main control unit, the plurality of drone rotors and the plurality of rotor drive motors are all mounted on the fuselage frame; wherein each rotor drive motor is correspondingly connected to a drone rotor, and is used to drive the correspondingly connected drone rotor to rotate;

[0025] The seedling throwing mechanism is mounted on the multi-rotor UAV, and the seedling throwing mechanism includes a driving device and a seedling delivery tray, wherein the seedling delivery tray is used to transport blanket seedlings, and the driving device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame;

[0026] The main control unit is electrically connected to the plurality of rotor drive motors respectively, and is used to control each rotor drive motor to adjust the rotation state of the connected UAV rotor;

[0027] The main control unit is also electrically connected to the driving device, and is used to control the driving device to drive the seedling delivery tray to move laterally relative to the fuselage frame;

[0028] The main control unit stores a computer program and can execute the computer program to implement the drone take-off control method in the aforementioned embodiment and / or the drone landing control method in the aforementioned embodiment by controlling the driving device and the multiple rotor drive motors to operate in coordination with each other.

[0029] In a sixth aspect, the present application provides a readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a multi-rotor drone equipped with a seedling throwing mechanism, the drone takeoff control method in the aforementioned embodiment and / or the drone landing control method in the aforementioned embodiment are implemented;

[0030] Among them, the seedling throwing mechanism is installed on the fuselage frame of the multi-rotor drone, and the seedling throwing mechanism includes a driving device and a seedling delivery tray. The seedling delivery tray is used to transport the blanket seedlings, and the driving device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame.

[0031] In this case, the beneficial effects of the embodiments of the present application may include the following:

[0032] When the multi-rotor UAV receives a take-off command and detects that its original fuselage posture on the UAV parking site is in a tilted state, the present application controls the driving device to drive the seedling delivery tray to move laterally relative to the fuselage frame of the multi-rotor UAV, so as to compensate for the center of gravity offset of the multi-rotor UAV relative to the horizontal state during take-off through the lateral movement of the seedling delivery tray, reduce the actual offset of the center of gravity of the UAV during take-off, and reduce the take-off load that the low-side rotor needs to overcome. Then, the multi-rotor UAV is controlled to take off from the UAV parking site according to the take-off command, so that the low-side rotor can provide sufficient power to ensure a smooth take-off of the UAV, thereby effectively reducing the risk of overturning of the UAV when taking off in a site with a significant slope or a site with uneven ground, and improving the stability of the UAV's take-off.

[0033] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the structure of a seedling throwing system provided in one embodiment of the present application;

[0036] Figure 2 A schematic diagram of the structure of a seedling throwing mechanism provided in an embodiment of the present application at a first viewing angle;

[0037] Figure 3 A schematic diagram of the structure of the seedling throwing mechanism provided in one embodiment of the present application at a second viewing angle;

[0038] Figure 4 A schematic structural diagram of a seedling throwing system provided in yet another embodiment of the present application at a first viewing angle;

[0039] Figure 5 A schematic structural diagram of a seedling throwing system provided in yet another embodiment of the present application at a second viewing angle;

[0040] Figure 6 A schematic diagram of the circuit connection of a multi-rotor drone provided in an embodiment of the present application;

[0041] Figure 7 A flowchart of a method for controlling the take-off of a drone provided in one embodiment of the present application;

[0042] Figure 8 A flowchart of a drone takeoff control method provided by another embodiment of the present application;

[0043] Fig. 9 A schematic diagram of a takeoff of a multi-rotor UAV provided in an embodiment of the present application executing a UAV takeoff control method;

[0044] Fig.10 A flowchart of a method for controlling the landing of a drone provided in one embodiment of the present application;

[0045] Fig.11 The multi-rotor drone provided in the embodiment of the present application performs Fig.10 The landing schematic diagram of the UAV landing control method shown;

[0046] Fig.12 A flowchart of a method for controlling the landing of a drone provided in another embodiment of the present application;

[0047] Fig.13 The multi-rotor drone provided in the embodiment of the present application performs Fig.12 The landing schematic diagram of the UAV landing control method shown;

[0048] Fig.14 A schematic diagram of the composition of a drone takeoff control device provided in an embodiment of the present application;

[0049] Fig.15 A schematic diagram of the composition of the drone landing control device provided in an embodiment of the present application.

[0050] Icons: 1000-seedling throwing system; 100-seedling throwing mechanism; 10-load module; 20-seedling delivery module; 21-seedling support plate; 211-opening; 22-seedling delivery tray; 23-driving device; 24-transport device; 25-seedling pressing device; 251-rotating shaft; 252-pressing bar; 30-seedling removal module; 31-driving source; 32-transmission box; 33-cutter head; 331-installation part; 332-cutter body; 333-notch; 40-support module; 43-first bracket; 46-second bracket; 47-third bracket; 200-multiple Rotary-wing UAV; 300-blanket seedlings; 310-seedlings; 201-main control unit; 202-rotor drive motor; 400-UAV take-off control device; 500-UAV landing control device; 410-attitude tilt detection module; 420-first lateral movement control module; 430-fuselage take-off control module; 440-first offset calculation module; 510-site slope detection module; 520-fuselage flight control module; 530-second lateral movement control module; 540-fuselage landing control module; 550-second offset calculation module. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0052] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0053] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0054] In the description of the present application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0055] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0056] In addition, in the description of the present application, it is understood that the relational terms such as the term "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements that are not clearly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements defined by the sentence "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood by specific circumstances.

[0057] As described in the background technology, when a UAV is tilted and directly uses the low-side rotor to provide power to achieve the take-off effect, it is very easy for the UAV to capsize during the actual take-off stage due to insufficient power. Therefore, it is urgent to provide a UAV take-off control method to reduce the risk of the UAV capsizing when taking off in a site with a significant slope or an uneven ground, and effectively ensure the stability of the UAV's take-off.

[0058] At the same time, the applicant found through investigation that during the use of drones, the drones are often required to make an emergency landing in a site with a significant slope or an uneven ground due to some special circumstances (for example, insufficient battery power, loss of positioning signals, disconnection of communications, etc.). However, since the drones usually maintain a horizontal posture when suspended in the air, the output power of each rotor of the drone is almost the same. Therefore, during the vertical descent of the drone, part of the fuselage frame will preferentially contact the slope of the site, causing the drone to generate a strong horizontal inertial force under the influence of the reaction force of the slope of the site. At the same time, the drone will also apply an excessive load to the low-side rotor during the process of tilting and docking on the slope of the site, causing the drone to overturn. Therefore, it is urgent to provide a drone landing control method to reduce the risk of overturning when the drone lands in a site with a significant slope or an uneven ground, and effectively ensure the landing stability of the drone.

[0059] To this end, the embodiments of the present application provide a drone take-off control method and device, a drone landing control method and device, a rice seedling throwing system and a readable storage medium, so that the drone take-off control method provided can effectively reduce the risk of the drone overturning when taking off in a field with a significant slope or a field with uneven ground, and simultaneously improve the take-off stability of the drone, and the drone landing method provided can effectively reduce the risk of the drone overturning when landing in a field with a significant slope or a field with uneven ground, and effectively ensure the landing stability of the drone.

[0060] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0061] Please refer to Figure 1 and Figure 2 The embodiment of the present application provides a seedling throwing mechanism 100 and a seedling throwing system 1000. Specifically, the seedling throwing system 1000 includes a multi-rotor drone 200 and at least one set of seedling throwing mechanisms 100, and the seedling throwing mechanisms 100 are mounted on the multi-rotor drone 200, so as to separate the blanket seedlings 300 by using the seedling throwing mechanisms 100, and the separated seedlings 310 are thrown out by centrifugal force and / or ejection force to realize the seedling throwing operation, and at the same time cooperate with the flight of the multi-rotor drone 200 to realize the flying seedling throwing operation.

[0062] There are many ways for the seedling throwing mechanism 100 to throw the seedlings 310. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the seedlings 310 can be thrown out by centrifugal force. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the separated seedlings 310 can be ejected and thrown out by an ejection force (the seedling throwing mechanism 100 can be provided with an ejection member, and the ejection member can provide an ejection force). In one embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and ejection force to throw out the separated seedlings 310.

[0063] The seedling throwing mechanism 100 may include a load module 10, a seedling delivery module 20 and a seedling retrieval module 30. The load module 10 is used to be arranged on the fuselage frame of the multi-rotor drone 200. The seedling delivery module 20 is arranged on the load module 10, and the seedling delivery module 20 is used to transport the blanket seedlings 300. The seedling retrieval module 30 is arranged on the load module 10, and the seedling retrieval module 30 is used to separate the seedlings 310 from the blanket seedlings 300 on the seedling delivery module 20 and then throw them out through centrifugal force and / or ejection force. In this way, the multi-rotor drone 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation in flight, and the blanket seedlings 300 are transported by the seedling delivery module 20, and the seedling retrieval module 30 separates the blanket seedlings 300 and then throws out the seedlings 310, so as to realize the flying seedling throwing operation of the blanket seedlings 300.

[0064] It should be noted that there are many ways to separate, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling removal method is not limited.

[0065] In the embodiment of the present application, the multi-rotor drone 200 is specifically a quad-rotor drone. Of course, it can also be a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The multi-rotor drone 200 can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. For ease of description, the drawings show the front, back, left, right, up, and down directions, which are all relative positional relationships that can be clearly known to those skilled in the art when the multi-rotor drone 200 is conventionally placed or flying.

[0066] Figure 1What is shown is a split-type seedling throwing system 1000. Specifically, the load module 10 of the seedling throwing mechanism 100 can be detachably mounted on the lower part of the multi-rotor UAV 200, that is, the multi-rotor UAV 200 and the seedling throwing mechanism 100 adopt an upper and lower split design, and the multi-rotor UAV 200 serves as a mobile platform, and is a split design with the seedling throwing mechanism 100. In other words, this form of seedling throwing mechanism 100 is an independent structure, which does not rely on the fuselage frame of the multi-rotor UAV 200. Based on this type, in a specific operation scene, the corresponding device can be replaced according to actual operation requirements. For example, after the seedling throwing mechanism 100 is disassembled, a spreading device is installed to achieve the spreading of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled, and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0067] Please refer to Figure 2 and Figure 3 , each module of the seedling throwing mechanism 100 will be described in detail below.

[0068] Specifically, the seedling removal module 30 may include a driving source 31 and a cutter head 33. The driving source 31 is connected to the cutter head 33, and is used to drive the cutter head 33 to separate the seedling blanket 300 on the seedling delivery module 20, and to eject the separated seedlings 310 by centrifugal force and / or ejection force. Generally, the driving source 31 is a motor, which drives the cutter head 33 along the Figure 2 The cutter head 33 rotates in the direction indicated by the arrow A, thereby separating the seedling blanket 300 during the contact process. The separated seedling 310 follows the cutter head 33 to rotate in the direction of the arrow A. When the cutter head 33 rotates to a specific position, the seedling 310 is ejected under the action of the centrifugal force and / or the ejection force. The cutter head 33 may be provided with an ejection member, which can complete energy storage and energy release through the cam member during the rotation of the cutter head. When the ejection member releases energy, the seedling 310 is ejected under the ejection force provided by the ejection member.

[0069] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the driving source 31, and the driving source 31 directly drives the cutter head 33 to rotate, or the cutter head 33 can be rotatably mounted on the load module 10, and the driving source 31 is mounted on the load module 10, and connected to the cutter head 33 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force. Of course, the driving source 31 can also be other than a motor, for example, a pneumatic motor, a gasoline engine, etc.

[0070] In order to facilitate the throwing out of the rice seedling 310, in the embodiment of the present application, the cutter head 33 includes a mounting portion 331 and a cutter body 332 disposed on the mounting portion 331, the mounting portion 331 is connected to the driving source 31, and a notch 333 is formed on the cutter body 332, the notch 333 is used to clamp the rice seedling 310 after the cutter body 332 separates the lower rice seedling 310, so that the rice seedling 310 follows the rotation and is thrown out under the action of centrifugal force and / or ejection force. It can be understood that in the specific operation process, the notch 333 on the cutter body 332 will clamp the soil part at the root of the rice seedling 310, and then drive it to rotate during the rotation process, so as to throw it out. Of course, the specific structure of the cutter head 33 can also be selected as a seedling needle.

[0071] Combination Figure 2 and Figure 3 In this embodiment, the seedling removal module 30 may further include a transmission box 32, the driving source 31 is connected to the transmission box 32, and is used to drive the transmission box 32 to rotate, and at least one cutter head 33 is arranged on each transmission box 32. The transmission box 32 can give the cutter head 33 a specific motion trajectory. Generally, a plurality of mutually meshing gears can be arranged inside the transmission box 32, the driving source 31 meshes with a gear in the transmission box 32, and the cutter head 33 meshes with another gear. The transmission box 32 can make the motion trajectory of the cutter head 33 and the posture of the cutter head 33 during the motion process meet the requirements.

[0072] In order to improve the efficiency of removing seedlings, the rotation speed of the cutter head 33 is usually increased. Of course, too fast a speed may cause other problems such as heat dissipation and unstable separation. In order to solve this problem, in this embodiment, at least two cutter heads 33 are arranged on each transmission box 32, thereby expanding the number of cutter heads 33 at the same separation and throwing position.

[0073] In this embodiment, two cutter heads 33 are distributed on one transmission box 32. Of course, in other embodiments, only one cutter head 33 may be distributed, or three, four or more cutter heads 33 may be distributed. When two cutter heads 33 are distributed on one transmission box 32, the angle between the two cutter heads 33 and the center of the transmission box 32 may be 180 degrees, three cutter heads 33 may be spaced 120 degrees apart, and four cutter heads 33 may be spaced 90 degrees apart. In other words, the cutter heads 33 may be arranged in a uniform distribution. Of course, it is not excluded that the cutter heads 33 may be arranged in an uneven distribution in a certain scenario.

[0074] By designing a larger number of cutter heads 33 on the transmission box 32, the efficiency of removing seedlings can be improved at the same rotation speed. In addition, in terms of installation, the transmission box 32 can be directly installed on the output shaft of the driving source 31, or the transmission box 32 can be rotatably installed on the load module 10, the driving source 31 is installed on the load module 10, and is connected to the transmission box 32 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force.

[0075] On the other hand, the efficiency of the seedling throwing operation can also be improved by increasing the number of seedling delivery modules 20. Figure 3 In this embodiment, there are multiple seedling delivery modules 20 , and there are multiple seedling taking modules 30 , which correspond one to one with the multiple seedling delivery modules 20 .

[0076] Specifically, Figure 3 The number of the seedling delivery modules 20 is three, and correspondingly, the number of the seedling taking modules 30 is also three. Of course, when the number of the seedling delivery modules 20 is greater than three, the number of the seedling taking modules 30 can also be increased accordingly. Generally, the seedlings 310 transported by the multiple seedling delivery modules 20 are the same kind of seedlings 310, and the seedling throwing operation is carried out in the same farmland. Therefore, the multiple seedling taking modules 30 can be controlled to work synchronously by a control device arranged on the load module 10, or by the flight control of the multi-rotor UAV 200. Of course, it is not ruled out that the multiple seedling delivery modules 20 work independently, for example, the seedling taking efficiencies of the multiple seedling taking modules 30 are controlled to be unequal, or some of the seedling taking modules 30 are controlled to work while the other seedling taking modules 30 do not work.

[0077] In order to achieve the separation and throwing of the blanket seedlings 300 row by row and bunch by bunch, in the present embodiment, the seedling delivery module 20 may include a seedling supporting plate 21 and a seedling delivery tray 22, the seedling supporting plate 21 is arranged on the load module 10, the seedling supporting plate 21 is provided with an opening 211, the seedling delivery tray 22 is used to transport the blanket seedlings 300, the lower part of the seedling delivery tray 22 is located in the seedling supporting plate 21, and the seedling delivery tray 22 can move laterally relative to the seedling supporting plate 21; wherein, the seedling taking module 30 is used to separate the blanket seedlings 300 through the opening 211, and throw out the separated seedlings 310.

[0078] In other words, the positions of the seedling taking module 30, the opening 211 of the seedling supporting plate 21, etc. remain unchanged relative to the load module 10, and the seedling delivery tray 22 can reciprocate in the left and right directions. In this way, the seedling taking module 30 only separates the blanket seedlings 300 exposed in the opening 211, so that the blanket seedlings 300 can be separated and thrown row by row and bunch by bunch. Of course, in other embodiments, the position of the seedling delivery tray 22 relative to the load module 10 can also remain unchanged, while the seedling supporting plate 21 and the seedling taking module 30 can move horizontally in the left and right directions.

[0079] In this embodiment, the seedling support plate 21 can be understood as an open plate in a long strip shape. The seedling support plate 21 is relatively fixed to the load module 10 and does not move with the left and right reciprocating motion of the seedling delivery tray 22. The seedling support plate 21 has a certain supporting effect on the seedling delivery tray 22. Figure 3 In this embodiment, the number of the seedling taking modules 30 is three and they are distributed at intervals. Therefore, the number of the openings 211 is also three and they are distributed at corresponding intervals, so that each seedling taking module 30 can separate and throw the blanket seedlings 300 in the corresponding opening 211.

[0080] In order to facilitate the lateral movement of the seedling delivery tray 22 , in this embodiment, the seedling delivery module 20 further includes a driving device 23 , which is disposed on the load module 10 and is used to drive the seedling delivery tray 22 to move laterally relative to the seedling supporting plate 21 .

[0081] Generally, the driving device 23 can use a motor with a gear rack mechanism to achieve the left and right reciprocating movement of the seedling delivery tray 22, or a motor with a screw mechanism or a synchronous belt. Of course, it is not excluded to use the rotor power of the multi-rotor drone 200 to drive the seedling delivery tray 22 to move left and right.

[0082] Please refer to Figure 2 Generally, the seedling delivery tray 22 is set to be placed in an inclined state. This design allows the seedling blanket 300 to move downward under the action of gravity after the seedling delivery tray 22 moves left and right once, so that the seedling removal module 30 can carry out the next round of seedling removal. Of course, a power source can also be set to drive it, for example, referring to Figure 2 In this embodiment, the seedling delivery module 20 further includes a conveying device 24 , which is disposed on the seedling delivery tray 22 , and is used to drive the seedling blanket 300 to move toward the seedling supporting plate 21 .

[0083] The conveying device 24 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel). In addition, the conveying device 24 can be set at different positions in the height direction of the seedling delivery tray 22. It should be noted that the inclined setting of the seedling delivery tray 22 can also achieve effective utilization of the longitudinal space to reduce the space occupied by the seedling delivery tray 22 in the horizontal width. At the same time, due to the inclined setting, the blanket seedlings 300 can use their gravity to slide down, and the power consumption of the conveying device 24 can also be reduced.

[0084] In addition, considering the possible separation of the blanket seedling 300 after being placed on the seedling delivery tray 22, combined with Figure 2 and Figure 3In this embodiment, the seedling delivery module 20 further includes a seedling pressing device 25, which is disposed on the seedling delivery tray 22, and is used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or a rod, etc. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and a plurality of pressure strips 252, the rotating shaft 251 is rotatably disposed horizontally on the seedling delivery tray 22, and the plurality of pressure strips 252 are vertically and spaced apart from the rotating shaft 251, and the plurality of pressure strips 252 are used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22.

[0085] In this embodiment, in a specific scenario, the rotating shaft 251 can rotate relative to the seedling delivery tray 22 with a certain damping, so the force of the pressure bar 252 on the blanket seedling 300 can be adjusted, and the pressure state can be maintained. Of course, a torsion spring can also be installed on the rotating shaft 251 to provide pressure to rotate in the direction of the blanket seedling 300.

[0086] Please refer to Figure 3 In this embodiment, the seedling delivery tray 22 is a rectangular frame structure, specifically, it includes a load-bearing plate and two baffles arranged on the left and right edges of the load-bearing plate, and no baffles are arranged above or below, so that an upper opening is formed at the top to facilitate placing the seedlings, and a lower opening is formed at the bottom to facilitate taking the seedlings. The width of the seedling delivery tray 22 can match the width of a tray of seedling blankets 300. In addition, the height of the seedling delivery tray 22 is not limited to the height of a tray of seedling blankets 300. During installation, the two ends of the rotating shaft 251 can be rotatably arranged on the two baffles of the seedling delivery tray 22, respectively. Figure 3 Four pressure strips 252 are correspondingly configured on a rotating shaft 251 in the seedling delivery tray 22. In other words, four pressure strips 252 are distributed on a seedling delivery tray 22 to limit the blanket seedlings 300 in the seedling delivery tray 22, so that the blanket seedlings 300 can be pressed on the seedling delivery tray 22 by the pressure strips 252, which greatly ensures that the blanket seedlings 300 will not be blown away during the flight of the multi-rotor drone 200. Of course, the number of pressure strips 252 corresponding to a seedling delivery tray 22 may not be limited to four, for example, it may also be three, five or more. In addition, since in the present embodiment, the number of seedling delivery modules 20 is multiple, the number of seedling pressing devices 25 may also be multiple, and each seedling delivery tray 22 is correspondingly provided with a seedling pressing device 25. In a certain scenario, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 may share a rotating shaft 251.

[0087] In addition, please follow Figure 2 In this embodiment, the seedling delivery tray 22 is supported at multiple positions in the height direction by the load module 10. For example, in this embodiment, the seedling throwing mechanism 100 may further include a support module 40, for example, the support module 40 includes a first bracket 43, one end of the first bracket 43 is connected to the load module 10, and the other end of the first bracket 43 supports the upper part of the seedling delivery tray 22. Figure 2 and Figure 3 Since the seedling delivery tray 22 needs to move horizontally, in order to facilitate support, the support position of the first bracket 43 and the seedling delivery tray 22 can be supported horizontally by the cooperation of a slide rail and a pulley. For example, a pulley is provided at the end of the first bracket 43, and a slide rail is provided on the seedling delivery tray 22, and the two are rollingly matched. Alternatively, a slide rail is provided at the end of the first bracket 43, and a pulley is provided on the seedling delivery tray 22. In addition, in some scenarios, the height of the first bracket 43 is adjustable, and the inclination angle of the seedling delivery tray 22 can also be adjusted.

[0088] At the same time, the lower part of the seedling delivery tray 22 is supported by the seedling support plate 21 to improve the overall compactness of the structure. Of course, the middle part of the seedling delivery tray 22 can also be supported by the load module 10. It should be noted here that the upper part is only to indicate that the position of the support is higher than the middle and lower parts in the height direction.

[0089] Of course, the support module 40 may also include a second bracket 46 and a third bracket 47. One end of the second bracket 46 is connected to the load module 10, and the other end of the second bracket 46 is installed with the above-mentioned seedling support plate 21. One end of the third bracket 47 is connected to the load module 10, and the other end of the third bracket 47 is installed with the above-mentioned seedling removal module 30 (specifically, the driving source 31). Of course, the second bracket 46 and the third bracket 47 may also be a bracket structure, that is, the seedling support plate 21 and the seedling removal module 30 are installed on the load module 10 through the same bracket.

[0090] Figure 1-Figure 3 The illustrated embodiment demonstrates the main structure of the seedling throwing mechanism 100 provided in the present application. In addition, the multiple modules mentioned in the present application (load module 10, seedling delivery module 20, seedling retrieval module 30, etc.) can be manufactured and sold separately in the early stage, and then assembled to form an integral structure in the later stage.

[0091] Figure 4 and Figure 5Another embodiment of the seedling throwing system 1000 provided by the present application is shown, wherein the description of the same modules, mechanisms or components can refer to the above text. In this embodiment, the seedling throwing system 1000 is a double system, that is, it has two sets of seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 share a load module 10. The two sets of seedling throwing mechanisms 100 are arranged back to back. Of course, in other embodiments, the two sets of seedling throwing mechanisms 100 can also be arranged in other ways (for example, arranged in the same direction), or three, four or more sets of seedling throwing mechanisms 100 can be arranged. Among them, if the seedling throwing system 1000 is provided with two sets of seedling throwing mechanisms 100, during the flight of the multi-rotor drone 200, the actual lateral movement directions of the seedling delivery trays 22 of the two sets of seedling throwing mechanisms 100 can be controlled to maintain opposite states at the same time, so as to achieve the offset of the lateral movement impact force and improve the flight stability of the multi-rotor drone 200.

[0092] Among them, for the above-mentioned seedling throwing system 1000 provided in the embodiment of the present application, the working principle of the seedling throwing system 1000 is:

[0093] When the multi-rotor drone 200 is flying, the driving source 31 drives the transmission box 32 to rotate, and the transmission box 32 drives the cutter head 33 to achieve high-speed rotation. When the cutter head 33 rotates to the opening 211, it separates and removes the rice seedlings 310, drives the rice seedlings 310 to rotate, and when the rice seedlings 310 rotate to a certain angle, the rice seedlings 310 are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thereby realizing the flying and throwing of the blanket seedlings 300. At the same time, the rice seedling delivery tray 22 moves horizontally, driving the blanket seedlings 300 to move left and right, so that the blanket seedlings 300 are separated and thrown row by row. After a row of rice seedlings 310 in the left and right directions of the blanket seedlings 300 is separated, the entire blanket seedlings 300 moves downward under the action of gravity and the driving force of the conveying device 24, so that in the process of the rice seedling delivery tray 22 moving horizontally again, it is separated and thrown row by ...

[0094] Please refer to Figure 1 and Figure 6 In an embodiment of the present application, the multi-rotor UAV 200 may include a main control unit 201, a fuselage frame, a plurality of UAV rotors and a plurality of rotor drive motors 202, wherein the main control unit 201, the plurality of UAV rotors and the plurality of rotor drive motors 202 are all mounted on the fuselage frame, wherein each rotor drive motor 202 is connected to a corresponding UAV rotor, and is used to drive the correspondingly connected UAV rotor to rotate, so as to provide lift for the multi-rotor UAV 200; the number of rotor drive motors of the multi-rotor UAV 200 is consistent with the number of UAV rotors.

[0095] The main control unit 201 is electrically connected to the plurality of rotor drive motors 202, respectively, and is used to control each rotor drive motor 202 to adjust the rotation state of the connected UAV rotor. The main control unit 201 is also electrically connected to the driving device 23 included in the seedling throwing mechanism 100, and is used to control the driving device 23 to drive the seedling delivery tray 22 to move laterally relative to the fuselage frame of the multi-rotor UAV 200.

[0096] In an embodiment of the present application, the above-mentioned main control unit 201 may include at least one software function module that can be stored in the form of software or firmware, and can run the software program logic corresponding to the UAV take-off control device 400 by executing the computer program corresponding to the aforementioned software function module, so as to control the multi-rotor UAV 200 equipped with the seedling throwing mechanism 100 to take off safely and smoothly in a field with a significant slope or a field with uneven ground, reduce the risk of overturning of the multi-rotor UAV 200 when taking off in a field with a significant slope or a field with uneven ground, and improve the stability of the UAV take-off.

[0097] In an embodiment of the present application, the above-mentioned main control unit 201 may include at least one software function module that can be stored in the form of software or firmware, and can run the software program logic corresponding to the UAV landing control device 500 by executing the computer program corresponding to the aforementioned software function module, so as to control the multi-rotor UAV 200 equipped with the seedling throwing mechanism 100 to land safely and smoothly in a field with a significant slope or a field with uneven ground, reduce the risk of overturning of the multi-rotor UAV 200 when landing in a field with a significant slope or a field with uneven ground, and improve the landing stability of the UAV.

[0098] It can be understood that the above-mentioned main control unit 201 can store software function modules and computer programs included in at least one of the control devices of the UAV take-off control device 400 and the UAV landing control device 500, so as to ensure that the multi-rotor UAV 200 equipped with the seedling throwing mechanism 100 can realize the corresponding UAV control functions of the above-mentioned UAV take-off control device 400 and / or the above-mentioned UAV landing control device 500 through the stored software function modules and computer programs.

[0099] In the present application, in order to ensure that the multi-rotor drone 200 in the above-mentioned seedling throwing system 1000 can carry the seedling throwing mechanism 100 to take off safely and smoothly in a field with a significant slope or a field with uneven ground, the embodiment of the present application provides a drone takeoff control method applied to the above-mentioned multi-rotor drone 200 to achieve the above-mentioned purpose. The drone takeoff control method provided by the present application is described in detail below.

[0100] Please refer to Figure 7 In the embodiments of the present application, Figure 7The drone takeoff control method shown may include steps S610 to S630.

[0101] Step S610, in response to the received take-off command, detecting whether the original fuselage posture of the multi-rotor UAV on the current UAV parking site is in a tilted state.

[0102] In this embodiment, the take-off instruction is used to instruct the multi-rotor drone 200 to take off from the current drone parking site with the rice seedling throwing mechanism 100. The take-off instruction can be a control instruction automatically generated by the multi-rotor drone 200 at a specific time point according to a preset automatic operation strategy, or a control instruction directly sent to the multi-rotor drone 200 by an operator through a remote control terminal.

[0103] After receiving the take-off command, the multi-rotor drone 200 can detect its original body posture in the current drone parking site through the built-in attitude sensor, and detect whether the original body posture is in a tilted state relative to the horizontal plane, so as to determine whether the multi-rotor drone 200 is currently located in a site with a significant slope or a site with uneven ground. In one implementation of this embodiment, the built-in attitude sensor of the multi-rotor drone 200 can be implemented using an inertial measurement unit (IMU).

[0104] Step S620, when it is detected that the original fuselage posture is in a tilted state, the driving device is controlled to drive the seedling delivery tray to move laterally toward the high side to compensate for the lateral center of gravity offset of the multi-rotor drone relative to the horizontal state.

[0105] In this embodiment, when the multi-rotor UAV 200 detects that its original fuselage posture is in a tilted state relative to the horizontal plane, it indicates that the multi-rotor UAV 200 is currently located on a site with a significant slope or an uneven ground. At this time, it is necessary to detect the directional intersection between the lateral movement direction of the seedling delivery tray in the seedling throwing mechanism 100 and the slope inclination direction of the UAV parking site, and determine whether the lateral movement of the seedling delivery tray of the seedling throwing mechanism 100 can reduce the actual offset of the center of gravity of the UAV during take-off based on the detected directional intersection. When it is determined that the lateral movement of the seedling delivery tray of the seedling throwing mechanism 100 can reduce the actual offset of the center of gravity of the drone during takeoff, the main control unit 201 can drive the seedling delivery tray 22 to move laterally toward the extreme lateral movement position with a higher current height by controlling the driving device 23 of the seedling throwing mechanism 100, that is, drive the seedling delivery tray 22 to move laterally toward the high side direction, thereby effectively compensating the offset of the center of gravity of the multi-rotor drone 200 relative to the expected fuselage posture in the current original fuselage posture through the lateral movement of the seedling delivery tray, reducing the actual offset of the center of gravity of the drone during takeoff, and reducing the takeoff load that the low-side rotor needs to overcome. Among them, the expected fuselage posture is the fuselage posture that the multi-rotor drone 200 is expected to have when it is in a horizontal state, and the low-side rotor is the drone rotor with a relatively low current height among all the drone rotors of the multi-rotor drone 200.

[0106] In this process, in order to ensure that the main control unit 201 can effectively detect whether the seedling delivery tray 22 can play a role in balancing the center of gravity of the drone under the current original fuselage posture, and drive the seedling delivery tray 22 to achieve the effect of balancing the center of gravity of the drone, the main control unit 201 controls the driving device 23 to drive the seedling delivery tray 22 to move laterally toward the high side, which may include:

[0107] Determine whether a first direction angle between a fuselage tilt direction corresponding to a current original fuselage posture of the multi-rotor UAV 200 and a lateral movement direction of the seedling delivery tray 22 is less than a first preset angle threshold;

[0108] When it is determined that the first direction angle is less than the first preset angle threshold, the control driving device 23 moves the seedling delivery tray 22 laterally toward the high side to compensate for the current center of gravity offset of the multi-rotor drone 200 relative to the horizontal state.

[0109] The specific angle value of the first preset angle threshold can be 10°, 15°, or 8°, and its value can be configured differently by the R&D personnel or the operator of the multi-rotor UAV 200 according to different requirements; if the first direction angle is less than the first preset angle threshold, it means that the lateral movement direction of the seedling delivery tray 22 is close to the actual inclination direction of the UAV parking site. At this time, the multi-rotor UAV 200 is in a state of parallelism. Fig. 9(a) shows the "drone not taking off state", the fuselage frame of the multi-rotor drone 200 is in full contact with the slope of the drone parking site, and the corresponding seedling delivery tray 22 can assist the multi-rotor drone 200 to take off by lateral movement in the current original fuselage posture, so as to play a role in balancing the center of gravity of the drone during the take-off process, and put the multi-rotor drone 200 into Fig. 9 (b) shows the “drone starts taking off”.

[0110] In one implementation of this embodiment, the seedling delivery tray 22 can be directly driven to move laterally to a maximum lateral movement position at a higher current height, so as to reduce the takeoff load on the low-side rotor during the takeoff of the UAV.

[0111] In another implementation of this embodiment, the actual lateral movement distance of the seedling delivery tray 22 can be associated with the current center of gravity offset of the multi-rotor drone 200 relative to the horizontal state, so that the corresponding lateral movement of the seedling delivery tray can be accurately compensated for the actual center of gravity offset, avoiding unnecessary power consumption of the lateral movement of the seedling delivery tray. At this time, the step of "controlling the driving device 23 to move the seedling delivery tray 22 horizontally in the high side direction" can include:

[0112] Calculate the expected lateral position of the seedling delivery tray 22 in the high side direction according to the current center of gravity offset of the multi-rotor drone 200 relative to the horizontal state;

[0113] The control driving device 23 moves the seedling delivery tray 22 laterally toward the high side to a desired lateral shift position.

[0114] It is understandable that, because the lateral movement operation of the seedling delivery tray 22 relative to the fuselage frame actually has two extreme lateral movement positions, it means that the seedling delivery tray 22 cannot be infinitely moved laterally in the high side direction, and the farthest lateral movement position of the seedling delivery tray 22 moving laterally in the high side direction is the relatively high extreme lateral movement position of the two extreme lateral movement positions. Therefore, the seedling delivery tray 22 has an upper limit of the center of gravity offset compensation in the original fuselage posture; if the current center of gravity offset of the multi-rotor drone 200 relative to the horizontal state does not exceed the upper limit of the center of gravity offset compensation, then the larger the center of gravity offset, the higher the corresponding expected lateral movement position, and the closer it is to the relatively high extreme lateral movement position; if the current center of gravity offset of the multi-rotor drone 200 relative to the horizontal state exceeds the upper limit of the center of gravity offset compensation, then the corresponding expected lateral movement position is the relatively high extreme lateral movement position.

[0115] At the same time, the main control unit 201 may be configured with a gravity center offset calculation function to achieve an accurate compensation effect of the lateral movement of the seedling delivery tray on the actual gravity center offset. Specifically, the main control unit 201 calculates the gravity center offset of the multi-rotor drone 200 relative to the horizontal state, which may include:

[0116] Obtaining the actual lateral position of the seedling delivery tray 22 in the original fuselage posture;

[0117] The center of gravity offset is calculated based on the actual lateral position, the original fuselage posture and the expected fuselage posture in the horizontal state to obtain the center of gravity offset of the original fuselage posture relative to the expected fuselage posture, that is, the current center of gravity offset of the multi-rotor drone 200 relative to the horizontal state.

[0118] Among them, the main control unit 201 can pre-construct the system structure model of the seedling throwing system 1000 according to the actual seedling throwing mechanism composition of the seedling throwing system 1000 (that is, how many seedling throwing mechanisms 100 exist in the corresponding seedling throwing system 1000, and the specific deployment position of each seedling throwing mechanism 100 on the multi-rotor UAV 200), and then when it is necessary to calculate the center of gravity offset, the corresponding actual lateral position, original fuselage posture and expected fuselage posture are combined with the system structure model for kinematic analysis to obtain the current center of gravity offset of the multi-rotor UAV 200 relative to the horizontal state.

[0119] Step S630, controlling the multi-rotor UAV to take off from the UAV parking site according to the take-off instruction.

[0120] In this embodiment, the above take-off instruction can be used to indicate the lift distribution condition of the drone rotor that needs to be met when the multi-rotor drone 200 starts to take off from the tilted state, and the drone rotor lift distribution condition is used to indicate that the output lift of the low-side rotor of the multi-rotor drone 200 needs to be greater than the output lift of the high-side rotor, wherein the high-side rotor is the drone rotor with a relatively high current height among all the drone rotors of the multi-rotor drone 200. Therefore, after executing step S620, the main control unit 201 can adjust the output lift of each drone rotor of the multi-rotor drone 200 to a state that meets the above-mentioned drone rotor lift distribution condition, so that the low-side rotor can provide sufficient power to ensure that the multi-rotor drone 200 gradually takes off stably from the drone parking site, so as to reduce the risk of the drone overturning when taking off in a site with a significant slope or a site with uneven ground, and improve the stability of the drone's take-off.

[0121] It can be understood that the main control unit 201 can increase its own rotation speed by controlling the rotor drive motor 202 connected to the low-side rotor, and control the rotor drive motor 202 connected to the high-side rotor to maintain the current rotation speed, so as to adjust the output lift of the low-side rotor to a state greater than the output lift of the high-side rotor, so that the part of the fuselage frame of the multi-rotor UAV 200 close to the low-side rotor can be gradually lifted up under the output lift of the low-side rotor, and leave the UAV parking site, and then gradually take off stably from the UAV parking site.

[0122] In one implementation of this embodiment, when the multi-rotor drone 200 receives a take-off command, it can simultaneously give the low-side rotor and the high-side rotor the same non-zero initial rotation speed, so that the multi-rotor drone 200 can quickly reach the desired flight state when leaving the drone parking site.

[0123] In another implementation of this embodiment, the multi-rotor UAV 200 may not start the high-side rotor upon receiving a take-off command, so that the current rotation speed of the high-side rotor is zero.

[0124] Therefore, the present application can execute the above-mentioned steps S610 to S630, and during the take-off process of the multi-rotor UAV 200 in a tilted state, reduce the actual offset of the center of gravity of the UAV by the lateral movement of the seedling delivery disc of the seedling throwing mechanism 100, thereby reducing the take-off load that the low-side rotor needs to overcome, so that the low-side rotor can provide sufficient power to ensure a smooth take-off of the UAV, thereby effectively reducing the risk of overturning of the multi-rotor UAV 200 when taking off in a field with a significant slope or a field with uneven ground, and improving the stability of the UAV take-off.

[0125] Optionally, see Figure 8 , in the embodiment of the present application, with Figure 7 Compared with the UAV takeoff control method shown in Figure 8 The drone takeoff control method shown may also include step S640 to ensure that when the multi-rotor drone 200 takes off to the desired fuselage posture corresponding to the horizontal state, it just enters a stable center of gravity state, making it convenient for the multi-rotor drone 200 to directly carry the seedling throwing mechanism 100 to perform flying seedling throwing operations.

[0126] Step S640, during the state change of the multi-rotor UAV from the tilted state to the horizontal state, the driving device is controlled to drive the seedling delivery tray to gradually return to the center.

[0127] In this embodiment, during the process of the main control unit 201 executing step S630, the multi-rotor UAV 200 will gradually change from an inclined state to a horizontal state under the action of the low-side rotor. Only a portion of the fuselage frame of the multi-rotor UAV 200 close to the high-side rotor will be in contact with the UAV parking site. In the process of changing from an inclined state to a horizontal state, the driving device 23 can be controlled to drive the seedling delivery tray 22 to gradually move laterally toward the direction (i.e., the return direction) of the lateral middle position (i.e., the lateral position corresponding to the seedling delivery tray 22 at the middle position of the fuselage frame) to place the multi-rotor UAV 200 in the horizontal state. Fig. 9The "UAV horizontal take-off preparation state" shown in (c) enables the actual fuselage posture of the multi-rotor UAV 200 to change to a horizontal state, and the corresponding seedling delivery tray 22 just moves back to the aforementioned middle position of the lateral movement, thereby ensuring that the multi-rotor UAV 200 can just enter a stable center of gravity state when taking off to a horizontal state, making it convenient for the multi-rotor UAV 200 to directly carry the seedling throwing mechanism 100 to perform flying seedling throwing operations.

[0128] Optionally, in one implementation of this embodiment, the seedling delivery tray centering action can be associated and matched with the change in the center of gravity offset of the multi-rotor drone 200, so that the corresponding seedling delivery tray centering action can perform high-precision real-time compensation for the change in the center of gravity offset. At this time, the step of "controlling the driving device 23 to drive the seedling delivery tray 22 to gradually return to the center" may include:

[0129] Acquire the real-time body posture of the multi-rotor UAV 200 during the state change from the tilted state to the horizontal state, and the real-time lateral position of the seedling delivery tray 22 during the aforementioned state change;

[0130] Calculate the center of gravity offset according to the real-time fuselage attitude, the real-time lateral displacement position and the expected fuselage attitude in the horizontal state, and obtain the center of gravity offset compensation amount of the real-time fuselage attitude relative to the expected fuselage attitude;

[0131] The compensated lateral displacement position of the seedling delivery tray 22 in the return direction is calculated according to the compensation amount of the center of gravity offset, wherein the smaller the compensation amount of the center of gravity offset is, the closer the compensated lateral displacement position is to the lateral displacement middle position;

[0132] The control driving device 23 moves the seedling delivery tray 22 laterally back to the center direction to the compensating transverse displacement position.

[0133] It is understandable that the above take-off command can also be used to indicate the lift distribution condition of the multi-rotor drone 200 that needs to be met when it takes off to a horizontal state and completely leaves the drone parking site. Therefore, when the multi-rotor drone 200 is in a stable center of gravity state, each drone rotor of the multi-rotor drone 200 can be directly controlled to adjust the output lift according to the above drone lift distribution condition, so that the multi-rotor drone 200 can take off and leave safely and smoothly from a site with a significant slope or a site with uneven ground. At this time, the multi-rotor drone 200 is in a stable state. Fig. 9 (d) The “UAV horizontal take-off ready state” shown in Figure 1.

[0134] Therefore, the present application can ensure that when the multi-rotor UAV 200 takes off to the expected fuselage posture corresponding to the horizontal state, it just enters a stable center of gravity state by executing the above-mentioned step S640, so that the multi-rotor UAV 200 can directly carry the seedling throwing mechanism 100 to perform flying seedling throwing operations.

[0135] In the present application, in order to ensure that the multi-rotor drone 200 in the above-mentioned seedling throwing system 1000 can carry the seedling throwing mechanism 100 to land safely and smoothly in a field with a significant slope or a field with uneven ground, the embodiment of the present application provides a drone landing control method applied to the above-mentioned multi-rotor drone 200 to achieve the above-mentioned purpose. The drone landing control method provided by the present application is described in detail below.

[0136] Please refer to Fig.10 In the embodiments of the present application, Fig.10 The drone landing control method shown may include steps S710 to S740.

[0137] Step S710, in response to the received landing command, detecting whether there is a slope in the drone parking area below the multi-rotor drone.

[0138] In this embodiment, the landing command is used to instruct the multi-rotor drone 200 to carry the rice seedling throwing mechanism 100 and land in the drone parking area under its own fuselage frame. The landing command can be a control command automatically generated by the multi-rotor drone 200 when it detects that its own drone parameters meet the preset forced landing conditions (for example, the battery power is less than or equal to the preset power threshold, the positioning signal cannot be detected, the communication connection with the remote control terminal is disconnected, etc.), or it can be a control command sent to the multi-rotor drone 200 by the drone operator through the remote control terminal.

[0139] After receiving the landing instruction, the multi-rotor drone 200 can obtain the actual terrain data of the drone parking site below the multi-rotor drone 200 through the built-in terrain data acquisition component, and determine whether the current drone parking site has a slope based on the actual terrain data of the drone parking site, so as to determine whether the multi-rotor drone 200 currently needs to land on a site with a significant slope or a site with uneven ground. In one implementation of this embodiment, the built-in terrain data acquisition component of the multi-rotor drone 200 can be, but is not limited to, a ground radar, a ground camera, and other devices.

[0140] Step S720, when it is detected that the drone parking site has a slope, the multi-rotor drone is controlled to descend until a portion of the fuselage frame contacts the drone parking site.

[0141] In this embodiment, when the multi-rotor drone 200 detects that the drone parking site below itself has a slope, it indicates that the multi-rotor drone 200 currently needs to land on a site with a significant slope or a site with an uneven ground. At this time, the actual fuselage posture of the multi-rotor drone 200 can be adjusted to Fig.11(a) shows the "drone non-landing state", so that the second direction angle between the tilted projection direction of the current drone parking site (i.e., the projection direction of the slope tilted direction of the drone parking site on the horizontal plane) and the lateral movement direction of the seedling delivery tray 22 on the fuselage frame is small enough (i.e., the lateral movement direction of the seedling delivery tray 22 is close to the tilted projection direction of the drone parking site) to ensure that the lateral movement of the seedling delivery tray can play a role in balancing the center of gravity of the drone during the landing process. Then the main control unit 201 will control the rotor drive motor 202 of each drone rotor to reduce its own speed, so that the multi-rotor drone 200 descends smoothly until part of the fuselage frame is in direct contact with the slope of the drone parking site. At this time, the multi-rotor drone 200 is in Fig.11 The "drone hovering and touching the ground state" shown in (b) means that the multi-rotor drone 200 needs to gradually change from a horizontal state to an inclined state, and finally land and dock on the slope of the drone parking site.

[0142] In the first implementation of this embodiment, the main control unit 201 in the multi-rotor drone 200 can collect the distances between different frame parts of the fuselage frame of the multi-rotor drone 200 and the site slope of the drone parking site in real time through the terrain data acquisition component, and when the distance corresponding to a certain frame part is less than a preset distance threshold, it is determined that part of the fuselage frame of the multi-rotor drone 200 is actually in direct contact with the site slope of the drone parking site.

[0143] In a second implementation of the present embodiment, a plurality of pressure sensors may be provided at the bottom of the fuselage frame of the multi-rotor UAV 200, and the main control unit 201 may obtain the pressure data monitored by each pressure sensor in real time, and detect whether the pressure data of one or several pressure sensors exceeds the preset pressure threshold, so that when it is detected that the pressure data of one or several pressure sensors exceeds the preset pressure threshold, it is determined that part of the fuselage frame of the multi-rotor UAV 200 is actually in direct contact with the slope of the UAV parking site.

[0144] In the third implementation of this embodiment, the main control unit 201 of the multi-rotor drone 200 can detect whether its real-time fuselage posture is in a tilted state relative to the horizontal plane through a built-in attitude sensor, thereby improving the accuracy of the drone partial ground touchdown detection and effectively reducing the hardware implementation cost of the drone partial ground touchdown detection function. At this time, the step of detecting whether the multi-rotor drone 200 has descended to the point where part of the fuselage frame contacts the drone parking site may include:

[0145] Acquire the real-time body posture of the multi-rotor UAV 200 during vertical descent;

[0146] Detect whether the real-time fuselage posture is in a tilted state;

[0147] If the real-time fuselage posture is detected to be in a tilted state, it is determined that the multi-rotor drone 200 has descended to the point where part of the fuselage frame contacts the drone parking site; otherwise, it is determined that the multi-rotor drone 200 has not descended to the point where part of the fuselage frame contacts the drone parking site.

[0148] It can be understood that the above three implementation modes are only illustrative implementation means provided for the partial ground touch detection function of the drone in the embodiments of the present application, and the implementable means for the above multi-rotor drone 200 to realize the partial ground touch detection function of the drone are not limited thereto. The above multi-rotor drone 200 can adopt a variety of combinations of the above three implementation modes to realize the partial ground touch detection function of the drone, and can also adopt other implementation modes to realize the partial ground touch detection function of the drone, and the specific other implementation modes are not limited.

[0149] Step S730, controlling the driving device to drive the seedling delivery tray to move laterally toward the high side of the drone parking site to compensate for the center of gravity offset of the multi-rotor drone relative to the horizontal state during the landing process.

[0150] In this embodiment, when part of the fuselage frame of the multi-rotor drone 200 in a horizontal state contacts the drone parking site, it will detect whether the lateral movement of the seedling delivery tray of the seedling throwing mechanism 100 can reduce the actual offset of the drone's center of gravity during the drone landing and docking process. Then, when it is determined that the lateral movement of the seedling delivery tray of the seedling throwing mechanism 100 can reduce the actual offset of the drone's center of gravity during the drone landing and docking process, the main control unit 201 can control the driving device 23 of the seedling throwing mechanism 100 to drive the seedling delivery tray 22 to move laterally toward the top of the site close to the drone parking site (i.e., the high side direction of the drone parking site) to compensate for the center of gravity offset of the multi-rotor drone 200 relative to the horizontal state during the drone landing and docking process, reduce the actual offset of the drone's center of gravity during the drone landing and docking process, and reduce the landing load on the first rotor during the drone landing and docking process. Among them, the second rotor is the drone rotor at the top of the site close to the drone parking site, and the first rotor is the drone rotor at the top of the site away from the drone parking site.

[0151] In this process, in order to ensure that the main control unit 201 can effectively detect whether the seedling delivery tray 22 can play a role in balancing the center of gravity of the drone during the landing and docking process of the drone, and drive the seedling delivery tray 22 to achieve the effect of balancing the center of gravity of the drone, the main control unit 201 controls the driving device 23 to drive the seedling delivery tray 22 to move laterally toward the high side of the drone parking site, which may include:

[0152] Determine whether a second direction angle between the inclined projection direction of the drone parking site and the lateral movement direction of the seedling delivery tray 22 is less than a second preset angle threshold, wherein the inclined projection direction is the projection direction of the slope inclination direction of the drone parking site on the horizontal plane;

[0153] When it is determined that the second direction angle is less than the second preset angle threshold, the driving device 23 is controlled to move the seedling delivery tray 22 laterally toward the high side of the drone parking site.

[0154] Among them, the specific angle value of the second preset angle threshold can be 10°, 15°, or 8°, and its value can be configured differently by the R&D personnel or the operator of the multi-rotor UAV 200 according to the needs; the specific angle values ​​of the first preset angle threshold and the second preset angle threshold can be the same or different. If the second direction angle is less than the second preset angle threshold, it means that the lateral movement of the seedling delivery tray can assist the multi-rotor UAV 200 in landing during the landing and docking process of the UAV, so as to play the role of balancing the center of gravity of the UAV during the landing and docking process of the UAV, and ensure that the multi-rotor UAV 200 can land safely and smoothly on the UAV parking site with a slope.

[0155] In one implementation of this embodiment, the seedling delivery tray 22 can be directly driven to move laterally to the extreme lateral movement position near the top of the drone parking site to shift the center of gravity of the drone toward the high side of the site to compensate for the center of gravity offset of the multi-rotor drone 200 relative to the horizontal state during the drone landing and docking process, and reduce the landing load on the first rotor during the drone landing and docking process.

[0156] In another implementation of this embodiment, the actual lateral movement distance of the seedling delivery tray 22 can be associated with the change in the center of gravity offset of the multi-rotor drone 200 relative to the horizontal state during the landing and docking process of the drone, so that the corresponding lateral movement of the seedling delivery tray can be accurately compensated for the actual center of gravity offset change in real time to avoid unnecessary power consumption of the lateral movement of the seedling delivery tray. At this time, the step of "controlling the driving device 23 to move the seedling delivery tray 22 laterally toward the high side of the drone parking site" can include:

[0157] Calculate the expected lateral position of the seedling delivery tray 22 in the high side direction of the drone parking site according to the center of gravity offset of the multi-rotor drone 200 relative to the horizontal state during the drone landing and docking process;

[0158] The control driving device 23 moves the seedling delivery tray 22 laterally to the high side direction of the drone parking site to the desired lateral position.

[0159] It is understandable that, because the lateral movement operation of the seedling delivery tray 22 relative to the fuselage frame actually has two extreme lateral movement positions, it means that the seedling delivery tray 22 cannot be infinitely moved laterally in the high side direction, and the farthest lateral movement position of the seedling delivery tray 22 moving laterally in the high side direction is the extreme lateral movement position closest to the top of the drone parking site of the two extreme lateral movement positions. Therefore, the seedling delivery tray 22 has an upper limit of center of gravity offset compensation during the landing and docking process of the drone; if the center of gravity offset of the multi-rotor drone 200 relative to the horizontal state during the landing and docking process of the drone does not exceed the upper limit of the center of gravity offset compensation, then the larger the center of gravity offset, the higher the corresponding expected lateral movement position, and the closer it is to the extreme lateral movement position closest to the top of the site; if the center of gravity offset of the multi-rotor drone 200 relative to the horizontal state during the landing and docking process of the drone exceeds the upper limit of the center of gravity offset compensation, then the corresponding expected lateral movement position is the extreme lateral movement position closest to the top of the site.

[0160] At the same time, the main control unit 201 can be configured with a center of gravity offset calculation function to calculate in real time the center of gravity offset of the multi-rotor drone 200 relative to the horizontal state during the landing and docking process of the drone, ensuring that the lateral movement of the seedling delivery tray can achieve accurate compensation effect for the actual center of gravity offset change in real time. Specifically, the step of the main control unit 201 calculating the center of gravity offset of the multi-rotor drone 200 relative to the horizontal state during the landing process may include:

[0161] Acquire the real-time body posture of the multi-rotor UAV 200 during the state change from the horizontal state to the docked state, and the real-time lateral position of the seedling delivery tray 22 during the aforementioned state change;

[0162] The center of gravity offset is calculated based on the real-time fuselage posture, real-time lateral position and the horizontal fuselage hanging posture to obtain the center of gravity offset of the real-time fuselage posture relative to the fuselage hanging posture, that is, the center of gravity offset of the multi-rotor UAV 200 relative to the horizontal state during the landing and docking process of the UAV is obtained.

[0163] The suspended posture of the fuselage is the posture of the fuselage of the multi-rotor UAV 200 when the multi-rotor UAV 200 is in a horizontal state and partially contacts the UAV parking site.

[0164] Step S740, controlling the multi-rotor drone to land and dock at the drone parking area according to the landing instruction.

[0165] In this embodiment, the above landing instruction can be used to indicate the drone rotor distribution condition that needs to be met when the multi-rotor drone 200 starts to land from a horizontal state and docks on the slope of the inclined site. The drone rotor lift distribution condition is used to indicate that the output lift of the first rotor of the multi-rotor drone 200 must be lower than the output lift of the second rotor. Therefore, the main control unit 201 can adjust the output lift of each drone rotor of the multi-rotor drone 200 to a state that satisfies the above drone rotor lift distribution condition, so that the part of the fuselage frame of the multi-rotor drone 200 close to the first rotor can gradually descend to the inclined docking on the drone parking site under the output lift of the first rotor.

[0166] The main control unit 201 can use the lateral movement of the seedling feeding tray to compensate for the real-time changing center of gravity offset during the tilting and docking process of the multi-rotor drone 200 by executing step S730, thereby reducing the actual offset of the drone's center of gravity during the tilting and docking process of the drone, and reducing the landing load on the first rotor during the tilting and docking process of the drone, so that the first rotor can provide sufficient power to ensure that the actual fuselage posture of the multi-rotor drone 200 is smoothly changed from a horizontal state to a docked state, until the fuselage frame of the multi-rotor drone 200 is completely in contact with the slope of the drone parking site, at which time the multi-rotor drone 200 is completely in contact with the slope of the drone parking site, and the multi-rotor drone 200 is Fig.11 (b) The “drone hovering and touching the ground” state gradually changes to Fig.11 (c) shows the “UAV leaning against the ground” state. Fig.11 (c) The “drone leaning against the ground” state gradually changes to Fig.11 (d) The drone has landed and touched the ground.

[0167] It can be understood that the main control unit 201 can control the rotor drive motor 202 connected to the first rotor to lower its own speed, and control the rotor drive motor 202 connected to the second rotor to maintain the current speed, so as to adjust the output lift of the first rotor to a state less than the output lift of the second rotor, so that the part of the fuselage frame of the multi-rotor drone 200 close to the first rotor can gradually descend to an inclined dock on the drone parking site under the action of the output lift of the first rotor.

[0168] In the first implementation of this embodiment, a plurality of pressure sensors may be provided at the bottom of the fuselage frame of the multi-rotor UAV 200, and the main control unit 201 may obtain the pressure data monitored by each pressure sensor in real time, and detect whether the pressure data of all pressure sensors exceeds the preset pressure threshold. Thus, when it is detected that the pressure data of all pressure sensors exceeds the preset pressure threshold, it is determined that the fuselage frame of the multi-rotor UAV 200 has actually completely landed and parked on the slope of the UAV parking site.

[0169] In the second implementation of this embodiment, the main control unit 201 of the multi-rotor drone 200 can detect whether its real-time fuselage tilt posture changes within a preset time period through a built-in attitude sensor, thereby improving the accuracy of the drone's complete touchdown detection and effectively reducing the hardware implementation cost of the drone's complete touchdown detection function. At this time, the step of detecting whether the fuselage frame of the multi-rotor drone 200 has completely landed and parked on the slope of the drone parking site may include:

[0170] Acquire the real-time body posture of the multi-rotor UAV 200 when the body of the first rotor is leaning against the ground;

[0171] Detecting whether the acquired real-time inclination angle of the fuselage posture relative to the horizontal plane changes within a preset time period;

[0172] If it is detected that the tilt angle has not changed within a preset time period, it is determined that the fuselage frame of the multi-rotor drone 200 has completely landed and docked on the slope of the drone parking site; otherwise, it is determined that the fuselage frame of the multi-rotor drone 200 has not completely landed and docked on the slope of the drone parking site.

[0173] It can be understood that the above two implementation modes are only illustrative implementation means provided for the drone complete ground touchdown detection function in the embodiments of the present application, and the implementable means for the above multi-rotor drone 200 to realize the drone complete ground touchdown detection function are not limited thereto. The above multi-rotor drone 200 can adopt a variety of combinations of the above two implementation modes to realize the drone complete ground touchdown detection function, and can also adopt other implementation modes to realize the drone complete ground touchdown detection function, and the specific other implementation modes are not limited.

[0174] In this embodiment, when the fuselage frame of the multi-rotor UAV 200 has completely docked on the slope of the UAV parking site, the driving device 23 can be controlled to maintain the current lateral position of the seedling delivery tray 22 unchanged, or the limiting component installed on the fuselage frame can be controlled to limit the seedling delivery tray 22 to the current lateral position, so as to prevent the seedling delivery tray 22 from sliding to the bottom of the slope of the UAV parking site under the action of gravity, thereby avoiding the UAV from overturning, so that the multi-rotor UAV 200 can land safely and smoothly in a site with a significant slope or a site with uneven ground, and effectively reduce the risk of overturning of the multi-rotor UAV 200 when landing in a site with a significant slope or a site with uneven ground.

[0175] Therefore, the present application can execute the above-mentioned steps S710 to S740, and during the process of the drone landing on a site with a significant slope or a site with uneven ground, reduce the actual offset of the drone's center of gravity, and reduce the landing load on the first rotor during the drone's tilted docking process, so that the first rotor can provide sufficient power to ensure that the multi-rotor drone 200 is docked stably on the slope of the site with a significant slope, thereby effectively reducing the risk of overturning of the multi-rotor drone 200 when landing in a site with a significant slope or a site with uneven ground, and improving the landing stability of the multi-rotor drone 200, so that the multi-rotor drone 200 can land safely and stably in a site with a significant slope or a site with uneven ground.

[0176] Optionally, see Fig.12 , in the present embodiment, with Fig.10 The UAV landing control method shown, Fig.12 The drone landing control method shown may also include steps S750 and S760 to ensure that the multi-rotor drone 200 lands smoothly on a site with a significant slope or an uneven ground without controlling the lateral movement of the seedling delivery tray 22 (i.e., not relying on the drone's center of gravity balancing effect of the lateral movement of the seedling delivery tray).

[0177] Step S750, when it is detected that the drone parking site has a slope, adjust the heading of the multi-rotor drone so that the inclined projection direction of the drone parking site is perpendicular to the lateral movement direction of the seedling delivery tray.

[0178] In this embodiment, when the drone parking site below the multi-rotor drone 200 has a slope, the main control unit 201 can directly adjust the heading of the multi-rotor drone 200 so that the lateral movement direction of the seedling delivery tray 22 can be kept perpendicular to the inclined projection direction of the drone parking site after the heading is adjusted. At this time, the multi-rotor drone 200 is in Fig.13 In the "drone non-landing state" shown in (a), the fuselage frame of the multi-rotor drone 200 is not in contact with the slope of the drone parking site, and the lateral movement of the rice seedling delivery tray cannot play a role in balancing the drone's center of gravity during the drone's landing and docking process.

[0179] Step S760, controlling the multi-rotor drone to land and dock at the drone parking area according to the landing instruction.

[0180] In this embodiment, the main control unit 201 in the multi-rotor drone 200 can control the rotor drive motor 202 of each drone rotor to reduce its own speed, so that the multi-rotor drone 200 can smoothly descend until the fuselage frame is completely in contact with the slope of the drone parking site. At this time, the multi-rotor drone 200 is in Fig.13The "drone has landed and touched the ground" shown in (b) means that the fuselage frame of the multi-rotor drone 200 is in full contact with the slope of the drone parking site. In particular, since the tilted projection direction of the drone parking site is perpendicular to the lateral movement direction of the seedling delivery tray 22, the seedling delivery tray 22 will not slide to the bottom of the slope when the multi-rotor drone 200 descends to the drone parking site, thereby effectively improving the landing stability of the multi-rotor drone 200.

[0181] The multi-rotor UAV 200 can adopt various implementation methods of the UAV complete ground contact detection function mentioned above to effectively detect whether the fuselage frame is in complete contact with the slope of the UAV parking site, which will not be described in detail here.

[0182] Therefore, the present application can ensure that the multi-rotor drone 200 lands smoothly on a site with a significant slope or an uneven ground by executing the above steps S750 and S760, without relying on the center of gravity balancing effect of the drone due to the lateral movement of the seedling delivery tray.

[0183] In the present application, in order to ensure that the multi-rotor UAV 200 in the above-mentioned seedling throwing system 1000 can carry the seedling throwing mechanism 100 to execute the above-mentioned UAV take-off control method, the present application implements the above-mentioned function by dividing the UAV take-off control device 400 stored in the main control unit 201 into functional modules. The specific composition of the UAV take-off control device 400 applied to the above-mentioned main control unit 201 provided by the present application is described below.

[0184] Please refer to Fig.14 In an embodiment of the present application, the above-mentioned drone takeoff control device 400 may include an attitude tilt detection module 410, a first lateral movement control module 420, a fuselage takeoff control module 430 and a first offset calculation module 440.

[0185] The attitude tilt detection module 410 is used to respond to the received take-off command and detect whether the original body attitude of the multi-rotor UAV on the current UAV parking site is in a tilted state.

[0186] The first lateral movement control module 420 is used to control the driving device to drive the seedling delivery tray to move laterally toward the high side when it is detected that the original fuselage posture is in a tilted state, so as to compensate for the current center of gravity offset of the multi-rotor drone relative to the horizontal state.

[0187] The fuselage takeoff control module 430 is used to control the multi-rotor UAV to take off from the UAV parking site according to the takeoff instruction.

[0188] The first lateral movement control module 420 is also used to control the driving device to drive the seedling delivery tray to gradually return to the center when the multi-rotor drone changes from a tilted state to a horizontal state.

[0189] The first offset calculation module 440 is used to calculate the center of gravity offset of the multi-rotor UAV relative to the horizontal state during the state change process from the tilted state to the horizontal state.

[0190] It should be noted that the basic principle and technical effect of the drone takeoff control device 400 provided in the embodiment of the present application are the same as those of the aforementioned drone takeoff control method. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the description of the aforementioned drone takeoff control method.

[0191] In the present application, in order to ensure that the multi-rotor drone 200 in the above-mentioned seedling throwing system 1000 can carry the seedling throwing mechanism 100 to execute the above-mentioned drone landing control method, the present application implements the above-mentioned function by dividing the drone landing control device 500 stored in the main control unit 201 into functional modules. The specific composition of the drone landing control device 500 applied to the above-mentioned main control unit 201 provided by the present application is described below.

[0192] Please refer to Fig.15 In an embodiment of the present application, the above-mentioned UAV landing control device 500 may include a site slope detection module 510, a fuselage flight control module 520, a second lateral movement control module 530, a fuselage landing control module 540 and a second offset calculation module 550.

[0193] The site slope detection module 510 is used to respond to the received landing command and detect whether there is a slope in the drone parking site below the multi-rotor drone.

[0194] The fuselage flight control module 520 is used to control the multi-rotor drone to descend until a part of the fuselage frame contacts the drone parking site when a slope is detected in the drone parking site.

[0195] The second lateral movement control module 530 is used to control the driving device to drive the seedling delivery tray to move laterally toward the high side of the drone parking site to compensate for the center of gravity offset of the multi-rotor drone relative to the horizontal state during landing.

[0196] The fuselage landing control module 540 is used to control the multi-rotor drone to land and dock on the drone parking site according to the landing instruction.

[0197] The second offset calculation module 550 is used to calculate the center of gravity offset of the multi-rotor UAV relative to the horizontal state during the state change process from the horizontal state to the docked state.

[0198] In addition, the fuselage flight control module 520 is also used to adjust the heading of the multi-rotor UAV when a slope is detected in the UAV parking site, so that the inclined projection direction of the UAV parking site is perpendicular to the lateral movement direction of the seedling delivery tray.

[0199] The fuselage landing control module 540 is used to control the multi-rotor drone to land and dock on the drone parking site according to the landing instruction.

[0200] It should be noted that the basic principle and technical effect of the drone landing control device 500 provided in the embodiment of the present application are the same as those of the aforementioned drone landing control method. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the description of the aforementioned drone landing control method.

[0201] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and a module, a program segment or a part of a code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0202] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the various functions provided by the present application are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a readable storage medium, including several instructions to enable a multi-rotor drone 200 equipped with a rice seedling throwing mechanism 100 to perform all or part of the steps of the method recorded in each embodiment of the present application. The aforementioned readable storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0203] To summarize, in the UAV take-off control method and device, UAV landing control method and device, rice seedling throwing system and readable storage medium provided in the embodiments of the present application, the present application can effectively reduce the risk of the UAV overturning when taking off in a field with a significant slope or a field with uneven ground through the provided UAV take-off control method, and simultaneously improve the take-off stability of the UAV, and effectively reduce the risk of the UAV overturning when landing in a field with a significant slope or a field with uneven ground through the provided UAV landing control method, and effectively ensure the landing stability of the UAV.

[0204] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling the take-off of an unmanned aerial vehicle, characterized in that: Applied to a multi-rotor UAV, a seedling throwing mechanism is installed on the fuselage frame of the multi-rotor UAV, wherein the seedling throwing mechanism comprises a driving device and a seedling delivery tray, the seedling delivery tray is used to deliver blanket seedlings, and the driving device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame; The takeoff control method comprises: In response to the received take-off command, detecting whether the original fuselage posture of the multi-rotor UAV on the current UAV parking site is in a tilted state; When it is detected that the original fuselage posture is in a tilted state, the driving device is controlled to drive the seedling delivery tray to move laterally toward the high side, so as to compensate for the current center of gravity offset of the multi-rotor drone relative to the horizontal state; The multi-rotor UAV is controlled to take off from the UAV parking site according to the take-off instruction.

2. The takeoff control method according to claim 1, characterized in that: The step of controlling the driving device to drive the seedling delivery tray to move laterally toward the high side includes: Determine whether a first direction angle between the fuselage tilt direction corresponding to the original fuselage posture and the lateral direction of the seedling delivery tray is less than a first preset angle threshold; When it is determined that the first direction angle is less than the first preset angle threshold, the driving device is controlled to move the seedling delivery tray laterally toward the high side.

3. The takeoff control method according to claim 2, characterized in that: The step of controlling the driving device to move the seedling delivery tray laterally toward the high side includes: Calculating the expected lateral displacement position of the seedling delivery tray in the high side direction according to the center of gravity offset, wherein the larger the center of gravity offset is, the higher the expected lateral displacement position is; The driving device is controlled to move the seedling delivery tray laterally toward the high side to the desired lateral movement position.

4. The takeoff control method according to claim 1, characterized in that: The step of calculating the current center of gravity offset of the multi-rotor drone relative to the horizontal state comprises: Acquire the actual lateral position of the seedling delivery tray in the original fuselage posture; A center of gravity offset is calculated according to the actual lateral displacement position, the original fuselage posture and the expected fuselage posture in the horizontal state to obtain a center of gravity offset of the original fuselage posture relative to the expected fuselage posture.

5. The takeoff control method according to any one of claims 1 to 4, characterized in that: The takeoff control method further includes: During the state change of the multi-rotor UAV from the tilted state to the horizontal state, the driving device is controlled to drive the seedling delivery tray to gradually return to the center.

6. The takeoff control method according to claim 5, characterized in that: The step of controlling the driving device to drive the seedling feeding tray to gradually return to the center comprises: Acquire the real-time body posture of the multi-rotor UAV during the state change process, and the real-time lateral position of the seedling delivery tray during the state change process; Calculate the center of gravity offset according to the real-time fuselage attitude, the real-time lateral displacement position and the expected fuselage attitude in the horizontal state, and obtain a center of gravity offset compensation amount of the real-time fuselage attitude relative to the expected fuselage attitude; Calculating the compensated lateral shift position of the seedling delivery tray in the return direction according to the center of gravity offset compensation amount, wherein the smaller the center of gravity offset compensation amount, the closer the compensated lateral shift position is to the lateral shift middle position; The driving device is controlled to move the seedling delivery plate laterally back to the center direction to the compensating transverse displacement position.

7. A method for controlling the landing of an unmanned aerial vehicle, characterized in that: Applied to a multi-rotor UAV, a seedling throwing mechanism is installed on the fuselage frame of the multi-rotor UAV, wherein the seedling throwing mechanism comprises a driving device and a seedling delivery tray, the seedling delivery tray is used to deliver blanket seedlings, and the driving device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame; The landing control method comprises: In response to the received landing command, detecting whether there is a slope at a drone parking site below the multi-rotor drone; When a slope is detected at the parking site of the drone, the multi-rotor drone is controlled to descend until a portion of the fuselage frame contacts the parking site of the drone; Controlling the driving device to drive the seedling delivery tray to move laterally toward the high side of the drone parking site, so as to compensate for the center of gravity offset of the multi-rotor drone relative to the horizontal state during the landing process; The multi-rotor UAV is controlled to land and dock on the UAV parking site according to the landing instruction.

8. The landing control method according to claim 7, characterized in that: The step of detecting whether the multi-rotor drone has descended to the point where a portion of the fuselage frame contacts the drone parking site comprises: Obtaining the real-time body posture of the multi-rotor UAV during vertical descent; Detecting whether the acquired real-time fuselage posture is in a tilted state; If it is detected that the real-time fuselage posture is in a tilted state, it is determined that the multi-rotor drone has descended to the point where part of the fuselage frame contacts the drone parking site; otherwise, it is determined that the multi-rotor drone has not descended to the point where part of the fuselage frame contacts the drone parking site.

9. The landing control method according to claim 7, characterized in that: The step of controlling the driving device to drive the seedling delivery tray to move laterally toward the high side of the drone parking site includes: Determine whether a second direction angle between the oblique projection direction of the drone parking site and the lateral movement direction of the seedling delivery tray is less than a second preset angle threshold, wherein the oblique projection direction is the projection direction of the slope inclination direction of the drone parking site on the horizontal plane; When it is determined that the second direction angle is less than the second preset angle threshold, the driving device is controlled to move the seedling delivery tray laterally toward the high side of the drone parking site.

10. The landing control method according to claim 9, characterized in that: The step of controlling the driving device to move the seedling delivery tray laterally toward the high side of the drone parking site includes: Calculating the expected lateral position of the seedling delivery tray in the high side direction of the drone parking site according to the center of gravity offset, wherein the larger the center of gravity offset, the higher the expected lateral position; The driving device is controlled to move the seedling delivery tray laterally toward the high side to the desired lateral movement position.

11. The landing control method according to claim 7, characterized in that: The step of calculating the center of gravity offset of the multi-rotor drone relative to the horizontal state during landing comprises: Acquire the real-time body posture of the multi-rotor UAV during the state change from the horizontal state to the docked state, and the real-time lateral position of the seedling delivery tray during the state change; The center of gravity offset is calculated according to the real-time fuselage posture, the real-time lateral displacement position and the horizontal fuselage hanging posture to obtain the center of gravity offset of the real-time fuselage posture relative to the fuselage hanging posture.

12. The landing control method according to any one of claims 7 to 11, characterized in that: The landing control method further includes: When a slope is detected in the parking area of ​​the drone, the heading of the multi-rotor drone is adjusted so that the tilted projection direction of the parking area of ​​the drone is perpendicular to the lateral movement direction of the seedling delivery tray; The multi-rotor UAV is controlled to land and dock on the UAV parking site according to the landing instruction.

13. A drone takeoff control device, characterized in that: Applied to a multi-rotor UAV, a seedling throwing mechanism is installed on the fuselage frame of the multi-rotor UAV, wherein the seedling throwing mechanism comprises a driving device and a seedling delivery tray, the seedling delivery tray is used to deliver blanket seedlings, and the driving device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame; The take-off control device comprises: An attitude tilt detection module is used to respond to the received take-off command and detect whether the original fuselage attitude of the multi-rotor UAV on the current UAV parking site is in a tilted state; The first lateral movement control module is used to control the driving device to drive the seedling delivery tray to move laterally toward the high side when it is detected that the original fuselage posture is in a tilted state, so as to compensate for the current center of gravity offset of the multi-rotor UAV relative to the horizontal state; The fuselage take-off control module is used to control the multi-rotor UAV to take off from the UAV parking site according to the take-off instruction.

14. A UAV landing control device, characterized in that: Applied to a multi-rotor UAV, a seedling throwing mechanism is installed on the fuselage frame of the multi-rotor UAV, wherein the seedling throwing mechanism comprises a driving device and a seedling delivery tray, the seedling delivery tray is used to deliver blanket seedlings, and the driving device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame; The landing control device comprises: A site slope detection module is used to respond to the received landing command and detect whether there is a slope in the drone parking site below the multi-rotor drone; A fuselage flight control module, used to control the multi-rotor drone to descend until a portion of the fuselage frame contacts the drone parking site when a slope is detected in the drone parking site; A second lateral movement control module is used to control the driving device to drive the seedling delivery tray to move laterally toward the high side of the drone parking site, so as to compensate for the center of gravity offset of the multi-rotor drone relative to the horizontal state during landing; The fuselage landing control module is used to control the multi-rotor UAV to land and dock on the UAV parking site according to the landing instruction.

15. A seedling throwing system, characterized in that: The seedling throwing system comprises a multi-rotor drone and a seedling throwing mechanism, wherein the multi-rotor drone comprises a main control unit, a fuselage frame, a plurality of drone rotors and a plurality of rotor drive motors, wherein the main control unit, the plurality of drone rotors and the plurality of rotor drive motors are all mounted on the fuselage frame; wherein each rotor drive motor is correspondingly connected to a drone rotor, and is used to drive the correspondingly connected drone rotor to rotate; The seedling throwing mechanism is mounted on the multi-rotor UAV, and the seedling throwing mechanism includes a driving device and a seedling delivery tray, wherein the seedling delivery tray is used to transport blanket seedlings, and the driving device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame; The main control unit is electrically connected to the plurality of rotor drive motors respectively, and is used to control each rotor drive motor to adjust the rotation state of the connected UAV rotor; The main control unit is also electrically connected to the driving device, and is used to control the driving device to drive the seedling delivery tray to move laterally relative to the fuselage frame; The main control unit stores a computer program and can execute the computer program to implement the drone take-off control method described in any one of claims 1 to 6 and / or the drone landing control method described in any one of claims 7 to 12 by controlling the driving device and the multiple rotor drive motors to operate in coordination with each other.

16. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a multi-rotor drone equipped with a seedling throwing mechanism, the drone take-off control method described in any one of claims 1 to 6 and / or the drone landing control method described in any one of claims 7 to 12 are implemented; Among them, the seedling throwing mechanism is installed on the fuselage frame of the multi-rotor drone, and the seedling throwing mechanism includes a driving device and a seedling sending tray. The seedling sending tray is used to transport the blanket seedlings, and the driving device is used to drive the seedling sending tray to move laterally relative to the fuselage frame.

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