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

Abstract

The application provides a UAV take-off control method, a UAV landing control method and related equipment, and relates to the technical field of UAVs. When a multi-rotor UAV receives a take-off instruction and detects that the original body attitude of the multi-rotor UAV on a UAV parking site is in a tilted state, the application controls a driving device to drive a sending disc to move transversely relative to the body frame of the multi-rotor UAV, so as to compensate for the gravity center offset of the multi-rotor UAV relative to the horizontal state in the take-off process through the sending disc transverse movement, reduce the actual offset of the gravity center of the UAV in the take-off process, and reduce the take-off load that needs to be overcome by the low-side rotors. Then, the multi-rotor UAV is controlled to take off from the UAV parking site according to the take-off instruction, so that the low-side rotors can provide sufficient power to ensure that the UAV takes off smoothly, thereby effectively reducing the overturning risk of the UAV when taking off in a site with a significant slope or an uneven site, and improving the take-off stability of the UAV.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a UAV takeoff control method, a UAV landing control method, and related equipment. Background Technology

[0002] With the continuous development of science and technology, drone technology is being used more and more widely in various industries (such as agriculture and logistics). However, during the use of drones, the limitation of parking space often requires drones to take off in places with obvious slopes or uneven ground, which means that drones can only take off in a tilted state.

[0003] Currently, when a drone takes off while tilted, its center of gravity shifts significantly during takeoff. To ensure a smooth takeoff, the drone's low-side rotor needs to deliver substantial or even extreme power at the moment of takeoff to overcome most of the load caused by the tilt and maintain the drone's attitude balance. However, it's important to note that the power redundancy of drone rotors has a practical limit. A drone tilted in this position often cannot provide enough power to overcome the excessive load and ensure takeoff, which can easily lead to the drone tipping over during the actual takeoff phase. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a drone take-off control method and device, a drone landing control method and device, a seedling throwing system, and a readable storage medium, which can reduce the actual offset of the drone's center of gravity by lateral movement of the seedling throwing mechanism's seedling delivery disc during the take-off process of a drone in an inclined state. This reduces the take-off load that the low-side rotor needs to overcome, enabling the low-side rotor to provide sufficient power to ensure the drone takes off smoothly. This effectively reduces the risk of the drone overturning when taking off in areas with significant slopes or uneven ground, and improves the take-off stability of the drone.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] Firstly, this application provides a takeoff control method for a multi-rotor unmanned aerial vehicle (UAV). The multi-rotor UAV has a seed-throwing mechanism mounted on its fuselage frame. The seed-throwing mechanism includes a drive unit and a seed-feeding tray. The seed-feeding tray is used to transport seedlings, and the drive unit is used to drive the seed-feeding tray to move laterally relative to the fuselage frame. The takeoff control method includes:

[0007] In response to the received takeoff command, detect whether the original fuselage attitude of the multi-rotor UAV is tilted in the current UAV parking area;

[0008] When the original fuselage attitude is detected to be tilted, the drive device is controlled to drive the seedling delivery tray to move laterally in the direction of height, so as to compensate for the current center of gravity offset of the multi-rotor UAV relative to the horizontal state.

[0009] The multi-rotor drone is controlled to take off from the drone parking area according to the takeoff command.

[0010] Secondly, this application provides a landing control method for 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 drive device and a seedling delivery tray, the seedling delivery tray is used to transport seedlings, and the drive 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, detect whether there is a slope in the drone parking area below the multi-rotor drone;

[0012] If a slope is detected at the drone parking area, the multi-rotor drone is controlled to descend until part of its fuselage frame contacts the drone parking area;

[0013] The drive device is controlled to drive the seedling delivery tray to move laterally towards the high side of the UAV parking area in order to compensate for the center of gravity offset of the multi-rotor UAV relative to the horizontal state during landing.

[0014] The multi-rotor drone is controlled to land and dock at the drone parking area according to the landing command.

[0015] Thirdly, this application provides a drone takeoff control device applied to a multi-rotor drone. A seedling throwing mechanism is mounted on the fuselage frame of the multi-rotor drone. The seedling throwing mechanism includes a drive unit and a seedling delivery tray. The seedling delivery tray is used to transport seedlings, and the drive unit is used to drive the seedling delivery tray to move laterally relative to the fuselage frame. The takeoff control device includes:

[0016] The attitude tilt detection module is used to respond to the received takeoff command and detect whether the original fuselage attitude of the multi-rotor UAV is tilted in the current UAV parking area.

[0017] The first lateral movement control module is used to control the drive device to drive the seedling delivery tray to move laterally in the high direction when the original fuselage attitude is detected to be tilted, so as to compensate for the current center of gravity offset of the multi-rotor UAV relative to the horizontal state.

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

[0019] Fourthly, this application provides a drone landing control device applied to a multi-rotor drone. A seedling throwing mechanism is mounted on the fuselage frame of the multi-rotor drone. The seedling throwing mechanism includes a drive unit and a seedling delivery tray. The seedling delivery tray is used to transport seedlings, and the drive unit is used to drive the seedling delivery tray to move laterally relative to the fuselage frame. The landing control device includes:

[0020] The site slope detection module is used to detect whether there is a slope in the drone parking area under the multi-rotor drone in response to the received landing command.

[0021] The fuselage flight control module is used to control the multi-rotor drone to descend until part of the fuselage frame contacts the drone parking area when a slope is detected at the drone parking site.

[0022] The second lateral movement control module is used to control the drive device to drive the seedling delivery tray to move laterally towards the high side of the UAV parking area, so as to compensate for the center of gravity offset of the multi-rotor UAV relative to the horizontal state during the landing process.

[0023] The fuselage landing control module is used to control the multi-rotor UAV to land and dock at the UAV parking area according to the landing command.

[0024] Fifthly, this application provides a rice seedling throwing system, which includes a multi-rotor drone and a seedling throwing mechanism. The multi-rotor drone includes a main control unit, a fuselage frame, multiple drone rotors, and multiple rotor drive motors. The main control unit, the multiple drone rotors, and the multiple rotor drive motors are all mounted on the fuselage frame. Each rotor drive motor is connected to a corresponding drone rotor to drive the corresponding connected drone rotor to rotate.

[0025] The seedling throwing mechanism is mounted on the multi-rotor UAV. The seedling throwing mechanism includes a drive device and a seedling delivery tray, wherein the seedling delivery tray is used to transport seedlings, and the drive 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, and is used to control each rotor drive motor to adjust the rotation of the connected UAV rotor.

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

[0028] The main control unit stores a computer program and can execute the computer program to control the drive device and the plurality of rotor drive motors to work together to realize the UAV take-off control method and / or the UAV landing control method in the aforementioned embodiments.

[0029] In a sixth aspect, this application provides a readable storage medium storing a computer program thereon, which, when executed by a multi-rotor UAV equipped with a rice-throwing mechanism, implements the UAV take-off control method and / or the UAV landing control method in the aforementioned embodiments.

[0030] The seedling throwing mechanism is mounted on the fuselage frame of the multi-rotor UAV. The seedling throwing mechanism includes a drive device and a seedling delivery tray. The seedling delivery tray is used to transport seedlings, and the drive 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 this application may include the following:

[0032] This application, upon receiving a takeoff command and detecting that its original fuselage attitude on the drone parking area is tilted, controls the drive device to move the seedling delivery tray laterally relative to the drone's fuselage frame. This lateral movement of the seedling delivery tray compensates for the drone's center of gravity shift relative to the horizontal state during takeoff, reducing the actual shift of the drone's center of gravity during takeoff and lowering the takeoff load that the low-side rotor needs to overcome. Then, according to the takeoff command, the application controls the drone to take off from the drone parking area, ensuring that the low-side rotor provides sufficient power to ensure a smooth takeoff. This effectively reduces the risk of overturning when taking off from areas with significant slopes or uneven ground, and improves the drone's takeoff stability.

[0033] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the structure of a rice transplanting system provided in one embodiment of this application;

[0036] Figure 2 This is a schematic diagram of the structure of a rice-throwing mechanism provided in an embodiment of this application from a first-view perspective;

[0037] Figure 3 A schematic diagram of the rice-throwing mechanism provided in an embodiment of this application from a second perspective;

[0038] Figure 4 A schematic diagram of the structure of a rice-throwing system provided in another embodiment of this application from a first-view perspective;

[0039] Figure 5 A schematic diagram of the rice-throwing system provided in yet another embodiment of this application from a second perspective;

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

[0041] Figure 7 A flowchart illustrating a drone takeoff control method according to an embodiment of this application;

[0042] Figure 8 A flowchart illustrating a drone takeoff control method according to another embodiment of this application;

[0043] Figure 9 This is a schematic diagram illustrating the takeoff of a multi-rotor unmanned aerial vehicle (UAV) performing a UAV takeoff control method, as provided in an embodiment of this application.

[0044] Figure 10 A flowchart illustrating a drone landing control method provided in an embodiment of this application;

[0045] Figure 11 The multi-rotor drone provided in the embodiments of this application performs Figure 10 A schematic diagram of the drone landing control method shown;

[0046] Figure 12 A flowchart illustrating a drone landing control method provided in yet another embodiment of this application;

[0047] Figure 13 The multi-rotor drone provided in the embodiments of this application performs Figure 12 A schematic diagram of the drone landing control method shown;

[0048] Figure 14 This is a schematic diagram of the composition of the UAV takeoff control device provided in the embodiments of this application;

[0049] Figure 15 This is a schematic diagram of the composition of the drone landing control device provided in the embodiments of this 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-Drive Device; 24-Conveying Device; 25-Seedling Pressing Device; 251-Rotating Shaft; 252-Pressure Strip; 30-Seedling Retrieval Module; 31-Drive Source; 32-Transmission Box; 33-Cutter Head; 331-Mounting Part; 332-Cutter Body; 333-Groove; 40-Support Module; 43-First Support; 46-Second Support; 47-Third Support; 200-Multiple Rotary-wing UAV; 300-Seedling blanket; 310-Seedling; 201-Main control unit; 202-Rotor drive motor; 400-UAV takeoff control device; 500-UAV landing control device; 410-Attitude tilt detection module; 420-First lateral movement control module; 430-Fuselage takeoff 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 Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0052] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0053] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0054] In the description of this application, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are used only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the equipment or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0055] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0056] Furthermore, it is understood in the description of this application that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0057] As described in the background section, when a drone uses its low-side rotor for power to take off while tilted, it is highly susceptible to tipping over due to insufficient power during takeoff. Therefore, there is an urgent need for a drone takeoff control method to reduce the risk of tipping over when taking off from sloped or uneven terrain, and to effectively ensure takeoff stability.

[0058] Meanwhile, the applicant's research revealed that during drone use, special circumstances (such as insufficient battery power, loss of positioning signal, or communication interruption) often necessitate forced landings on sloped or uneven terrain. However, since drones typically maintain a horizontal attitude while suspended in the air, the output power of each rotor is almost uniform. Therefore, during vertical descent, a portion of the fuselage frame preferentially contacts the slope, resulting in a strong horizontal inertial force due to the slope's reaction force. Simultaneously, the drone exerts excessive load on the lower rotors during its tilted landing, potentially causing it to tip over. Therefore, there is an urgent need to provide a drone landing control method to reduce the risk of tipping over when landing on sloped or uneven terrain, and to effectively ensure a smooth landing.

[0059] Therefore, this application provides a drone takeoff control method and device, a drone landing control method and device, a seed-throwing system, and a readable storage medium. The provided drone takeoff control method effectively reduces the risk of overturning when the drone takes off in areas with significant slopes or uneven ground, and simultaneously improves the takeoff stability of the drone. The provided drone landing control method effectively reduces the risk of overturning when the drone lands in areas with significant slopes or uneven ground, and effectively ensures the landing stability of the drone.

[0060] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0061] Please refer to the reference. Figure 1 and Figure 2 This 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 seedling throwing mechanism 100. The seedling throwing mechanism 100 is mounted on the multi-rotor drone 200 to separate the seedlings 300 and throw the separated seedlings 310 using centrifugal force and / or ejection force. At the same time, it cooperates with the flight of the multi-rotor drone 200 to realize the flying seedling throwing operation.

[0062] The seedling throwing mechanism 100 can throw the seedlings 310 in several ways. In one embodiment, after separating the seedlings 310 from the seedbed 300, the seedling throwing mechanism 100 can use centrifugal force to throw the seedlings 310 out. In another embodiment, after separating the seedlings 310 from the seedbed 300, the seedling throwing mechanism 100 can use a catapult force to launch the separated seedlings 310 (the seedling throwing mechanism 100 may be equipped with a catapult component that can provide catapult force). In another embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and catapult force to launch the separated seedlings 310.

[0063] The seedling throwing mechanism 100 may include a load module 10, a seedling delivery module 20, and a seedling collection module 30. The load module 10 is mounted on the fuselage frame of the multi-rotor UAV 200. The seedling delivery module 20 is mounted on the load module 10 and is used to deliver the seedling mat 300. The seedling collection module 30 is mounted on the load module 10 and is used to separate the seedling mat 300 from the seedling mat 300 on the seedling delivery module 20 and then throw it out using centrifugal force and / or ejection force. In this way, the multi-rotor UAV 200 can carry the seedling throwing mechanism 100 to perform seedling throwing operations in flight. The seedling mat 300 is delivered by the seedling delivery module 20, and the seedling collection module 300 separates the seedling mat 300 and throws out the seedling 310, realizing the in-flight seedling throwing operation of the seedling mat 300.

[0064] It should be noted that there are many ways to separate seedlings, such as cutting, grabbing, pushing, or pressing. The specific method of separation and seedling removal is not limited.

[0065] In this embodiment, the multi-rotor drone 200 is specifically a quadcopter drone, but it can also be a dual-rotor drone, a hexacopter drone, an octacopter drone, etc. The multi-rotor drone 200 can operate automatically according to a preset path, flight speed, and attitude, or it can be manually controlled by an operator. For ease of description, the accompanying drawings show the forward, backward, left, right, up, and down directions, which are relative positional relationships that can be clearly understood by those skilled in the art when the multi-rotor drone 200 is conventionally placed or in flight.

[0066] Figure 1The diagram shows a split-type rice-throwing system 1000. Specifically, the load module 10 of the rice-throwing mechanism 100 is detachably mounted on the lower part of the multi-rotor drone 200. That is, the multi-rotor drone 200 and the rice-throwing mechanism 100 adopt an upper and lower split design, with the multi-rotor drone 200 serving as a mobile platform and the rice-throwing mechanism 100 being a separate design. In other words, this type of rice-throwing mechanism 100 is an independent structure that does not depend on the fuselage frame of the multi-rotor drone 200. Based on this type, appropriate devices can be replaced according to actual operational needs in specific operational scenarios. For example, after disassembling the rice-throwing mechanism 100, a spreading device can be installed to spread pesticides, fertilizers, seeds, etc. Similarly, after disassembling the rice-throwing mechanism 100, agricultural operation mechanisms such as surveying devices and spraying devices can be installed.

[0067] Please refer to the reference. Figure 2 and Figure 3 The following will provide a detailed description of each module of the rice transplanting mechanism 100.

[0068] Specifically, the seedling picking module 30 may include a drive source 31 and a cutter head 33. The drive source 31 is connected to the cutter head 33 and is used to drive the cutter head 33 to separate the seedlings 300 on the seedling delivery module 20, and to throw the separated seedlings 310 out by centrifugal force and / or ejection force. Generally, the drive source 31 is a motor, which drives the cutter head 33 along... Figure 2 The blade 33 rotates in the direction indicated by arrow A, thereby separating the seedlings 300 during contact. The separated seedlings 310 follow the rotation of the blade 33 in the direction of arrow A. When the blade reaches a specific position, the seedlings 310 are ejected under the action of centrifugal force and / or ejection force. The blade 33 may be equipped with an ejector component, which can store and release energy through a cam component during the rotation of the blade. When the ejector component releases energy, the seedlings 310 are ejected under the ejection force provided by the ejector component.

[0069] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the drive source 31, with the drive source 31 directly driving the cutter head 33 to rotate. Alternatively, the cutter head 33 can be rotatably mounted on the load module 10, with the drive source 31 mounted on the load module 10 and connected to the cutter head 33 via a transmission mechanism, such as a gearbox, linkage mechanism, sprocket mechanism, or pulley mechanism, to provide driving force. Of course, the drive source 31 can also be a pneumatic motor or gasoline engine, instead of an electric motor.

[0070] To facilitate the throwing of seedlings 310, in this embodiment, the cutter head 33 includes a mounting part 331 and a cutter body 332 disposed on the mounting part 331. The mounting part 331 is connected to the drive source 31. A groove 333 is formed on the cutter body 332. The groove 333 is used to hold the seedling 310 after it is separated from the cutter body 332, causing the seedling 310 to rotate and be thrown out under the action of centrifugal force and / or ejection force. Understandably, during actual operation, the groove 333 on the cutter body 332 will hold the soil portion at the root of the seedling 310, and then rotate it during rotation, thereby throwing it out. Of course, the specific structure of the cutter head 33 can also be a seedling needle.

[0071] Combination Figure 2 and Figure 3 In this embodiment, the seedling picking module 30 may further include a transmission box 32. A drive source 31 is connected to the transmission box 32 and is used to drive the transmission box 32 to rotate. Each transmission box 32 is provided with at least one cutter head 33. The transmission box 32 can give the cutter head 33 a specific motion trajectory. Generally, multiple meshing gears can be set inside the transmission box 32. The drive source 31 meshes with one of the gears 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] To improve seedling picking efficiency, the rotation speed of the cutter head 33 is usually increased. However, excessive speed may lead to other problems such as heat dissipation and unstable separation. 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 seedling 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, 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 can be 180 degrees. Three cutter heads 33 can be spaced 120 degrees apart, and four cutter heads 33 can be spaced 90 degrees apart. In other words, the cutter heads 33 can be arranged in a uniform distribution. Of course, it is not excluded that in some scenarios, the cutter heads 33 may be arranged in a non-uniform distribution.

[0074] By designing a larger number of cutter heads 33 on the transmission box 32, the seedling harvesting efficiency can be improved at the same rotational speed. Furthermore, in terms of installation, the transmission box 32 can be directly mounted on the output shaft of the drive source 31, or the transmission box 32 can be rotatably mounted on the load module 10, with the drive source 31 mounted on the load module 10 and connected to the transmission box 32 via a transmission mechanism, such as a gearbox, linkage mechanism, sprocket mechanism, or pulley mechanism, to provide driving force.

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

[0076] Specifically, Figure 3 The system has three seedling delivery modules 20, and correspondingly, three seedling collection modules 30. Of course, when the number of seedling delivery modules 20 exceeds three, the number of seedling collection modules 30 can also be increased accordingly. Generally, the seedlings 310 delivered by multiple seedling delivery modules 20 are of the same type and are used for transplanting in the same field. Therefore, the multiple seedling collection modules 30 can be controlled to operate synchronously by a control device mounted on the load module 10, or they can be controlled by the flight control system of the multi-rotor UAV 200. Of course, it is not impossible for multiple seedling delivery modules 20 to operate independently; for example, the seedling collection efficiency of the multiple seedling collection modules 30 can be controlled to be unequal, or some seedling collection modules 30 can be controlled to work while the others do not.

[0077] In order to separate and throw the seedlings 300 row by row and clump by clump, in this embodiment, the seedling delivery module 20 may include a seedling support plate 21 and a seedling delivery tray 22. The seedling support plate 21 is disposed on the load module 10 and has an opening 211. The seedling delivery tray 22 is used to transport the seedlings 300. The lower part of the seedling delivery tray 22 is located inside the seedling support plate 21 and the seedling delivery tray 22 can move laterally relative to the seedling support plate 21. The seedling picking module 30 is used to separate the seedlings 300 through the opening 211 and throw out the separated seedlings 310.

[0078] In other words, the positions of the seedling-picking module 30 and the opening 211 of the seedling-supporting plate 21 remain unchanged relative to the load module 10, while the seedling-feeding tray 22 can reciprocate in the left-right direction. In this way, the seedling-picking module 30 only separates the seedlings 300 exposed in the opening 211, thus enabling the separation and throwing of the seedlings 300 row by row and clump by clump. Of course, in other embodiments, the position of the seedling-feeding tray 22 relative to the load module 10 can remain unchanged, while the seedling-supporting plate 21 and the seedling-picking module 30 can move laterally in the left-right direction.

[0079] In this embodiment, the seedling support plate 21 can be understood as a long, open plate. The seedling support plate 21 is fixed relative to the load module 10 and does not move with the reciprocating left and right movement of the seedling feeding tray 22. The seedling support plate 21 provides a certain degree of support for the seedling feeding tray 22. Figure 3 In this embodiment, there are three seedling picking modules 30 that are spaced apart. Therefore, there are also three openings 211 that are spaced apart, so that each seedling picking module 30 can separate and throw the 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 in the load module 10 and is used to drive the seedling delivery tray 22 to move laterally relative to the seedling support plate 21.

[0081] Generally, the drive device 23 can use a motor in conjunction with a rack and pinion mechanism to achieve the reciprocating left and right movement of the seedling tray 22, or it can use a motor in conjunction with a lead screw mechanism or a synchronous belt. Of course, it is not ruled out that the rotor power of a multi-rotor UAV 200 can be used to drive the seedling tray 22 to move laterally left and right.

[0082] Please refer to Figure 2 Generally, the seedling delivery tray 22 is set to an inclined position. This design allows the seedling mat 300 to move downwards under gravity after the seedling delivery tray 22 moves horizontally once, facilitating the seedling picking module 30 to pick up seedlings in the next round. Of course, a power source can also be provided 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 seedlings 300 to move toward the seedling support plate 21.

[0083] The conveying device 24 can be a conveyor belt or a conveyor roller (e.g., a toothed roller). Furthermore, the conveying device 24 can be installed at different positions along the height of the seedling tray 22. It should be noted that the inclined design of the seedling tray 22 also allows for efficient use of longitudinal space, reducing the space occupied by the seedling tray 22 in the horizontal width. Simultaneously, due to the inclined design, the seedlings 300 can slide down smoothly under their own weight, further reducing the overall power consumption of the conveying device 24.

[0084] In addition, considering the possibility of seedling detachment after the 300 seedlings are placed in the seedling 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 seedlings 300 within the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or rod. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and multiple pressing strips 252. The rotating shaft 251 is rotatably placed horizontally on the seedling delivery tray 22, and the multiple pressing strips 252 are vertically arranged at intervals on the rotating shaft 251 and are used to limit the position of the seedlings 300 within the seedling delivery tray 22.

[0085] In this embodiment, under certain specific scenarios, the rotating shaft 251 can rotate with a certain damping relative to the seedling tray 22, thus adjusting the force exerted by the pressing strip 252 on the seedling mat 300 and maintaining its pressing state. Alternatively, a torsion spring can be fitted onto the rotating shaft 251 to provide pressure for rotation towards the seedling mat 300.

[0086] Please refer to Figure 3 In this embodiment, the seedling tray 22 is a rectangular frame structure. Specifically, it includes a support plate and two baffles disposed on the left and right sides of the support plate. It has no top or bottom baffles, thus forming an upper opening for easy seedling placement and a lower opening for easy seedling removal. The width of the seedling tray 22 can match the width of a tray of seedling mats 300. Furthermore, the height of the seedling tray 22 is not limited to the height of a tray of seedling mats 300. During installation, the two ends of the rotating shaft 251 can be rotatably mounted on the two baffles of the seedling tray 22. Figure 3 Four pressing strips 252 are configured on one rotating shaft 251. In other words, four pressing strips 252 are distributed on a seedling feeding tray 22 to limit the seedlings 300 inside the seedling feeding tray 22, so that the seedlings 300 can be pressed onto the seedling feeding tray 22 by the pressing strips 252, which greatly ensures that the seedlings 300 will not be blown away during the flight of the multi-rotor UAV 200. Of course, the number of pressing strips 252 configured for a seedling feeding tray 22 is not limited to four. For example, it can also be three, five or more. In addition, since there are multiple seedling feeding modules 20 in this embodiment, there can also be multiple seedling pressing devices 25, and each seedling feeding tray 22 is provided with a corresponding seedling pressing device 25. In some scenarios, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 can share a single 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 also include a support module 40, such as a first bracket 43, one end of which is connected to the load module 10, and the other end of which supports the upper part of the seedling delivery tray 22. Figure 2 and Figure 3 Since the seedling tray 22 needs to move laterally, the support positions of the first support 43 and the seedling tray 22 can be achieved through the cooperation of slide rails and pulleys for easy support. For example, pulleys can be installed at the end of the first support 43, and slide rails can be installed on the seedling tray 22, with the two rolling together. Alternatively, slide rails can be installed at the end of the first support 43, and pulleys can be installed on the seedling tray 22. In addition, in certain scenarios, the height of the first support 43 can be adjusted, which can also make the tilt angle of the seedling tray 22 adjustable.

[0088] Meanwhile, the lower part of the seedling tray 22 is supported by the seedling support plate 21, which improves the overall structural compactness. Of course, the middle part of the seedling 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 in the height direction than the middle and lower parts.

[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 equipped with the aforementioned 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 equipped with the aforementioned seedling picking module 30 (specifically, the drive source 31). Of course, the second bracket 46 and the third bracket 47 may also be a single bracket structure, that is, the seedling support plate 21 and the seedling picking module 30 are mounted to the load module 10 through the same bracket.

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

[0091] Figure 4 and Figure 5Another embodiment of the rice-throwing system 1000 provided in this application is shown, wherein the description of the same modules, mechanisms or components can be referred to above. In this embodiment, the rice-throwing system 1000 is a dual-system, that is, it has two sets of rice-throwing mechanisms 100, and the two rice-throwing mechanisms 100 share a load module 10. The two sets of rice-throwing mechanisms 100 are arranged back to back. Of course, in other embodiments, the two sets of rice-throwing mechanisms 100 can also adopt other arrangements (e.g., arranged in the same direction), or three, four or more sets of rice-throwing mechanisms 100 can be arranged. Wherein, if the rice-throwing system 1000 is provided with two sets of rice-throwing mechanisms 100, during the flight of the multi-rotor UAV 200, by controlling the actual lateral movement direction of the rice-feeding trays 22 of the two sets of rice-throwing mechanisms 100 to maintain opposite states at the same time, the lateral movement impact force can be canceled, thereby improving the flight stability of the multi-rotor UAV 200.

[0092] Specifically, the working principle of the rice transplanting system 1000 provided in this application embodiment is as follows:

[0093] When the multi-rotor UAV 200 flies, the drive source 31 drives the transmission box 32 to rotate. The transmission box 32 drives the cutter head 33 to rotate at high speed. When the cutter head 33 rotates to the opening 211, it separates and removes the seedlings 310, causing the seedlings 310 to rotate. When the seedlings 310 rotate to a certain angle, they are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thus realizing the simultaneous flight and throwing of the seedling blanket 300. At the same time, the seedling delivery tray 22 moves laterally, causing the seedling blanket 300 to move left and right, so that the seedling blanket 300 is separated and thrown row by row and clump by clump. After a row of seedlings 310 in the left and right direction of the seedling blanket 300 is separated, the entire seedling blanket 300 moves downward under the action of gravity and the driving force of the conveying device 24. In this way, during the process of the seedling delivery tray 22 moving laterally again, it is separated and thrown row by row and clump by clump by clump by seedling picking module 30. This process is repeated until all the seedling blanket 300 are separated and thrown out.

[0094] Please refer to the reference. Figure 1 and Figure 6 In this embodiment of the application, the multi-rotor drone 200 may include a main control unit 201, a fuselage frame, multiple drone rotors, and multiple rotor drive motors 202. The main control unit 201, multiple drone rotors, and multiple rotor drive motors 202 are all mounted on the fuselage frame. Each rotor drive motor 202 is connected to a drone rotor and is used to drive the corresponding connected drone rotor to rotate, thereby providing lift for the multi-rotor drone 200. The number of rotor drive motors of the multi-rotor drone 200 is consistent with the number of drone rotors.

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

[0096] In this embodiment, the main control unit 201 may include at least one software function module that can be stored in the form of software or firmware. By executing the computer program corresponding to the aforementioned software function module, the software program logic corresponding to the UAV take-off control device 400 can be run to control the multi-rotor UAV 200 equipped with the rice-throwing mechanism 100 to take off safely and smoothly in a site with a significant slope or uneven ground, thereby reducing the risk of overturning when the multi-rotor UAV 200 takes off in a site with a significant slope or uneven ground and improving the stability of UAV take-off.

[0097] In this embodiment, the main control unit 201 may include at least one software function module that can be stored in the form of software or firmware. By executing the computer program corresponding to the aforementioned software function module, the software program logic corresponding to the UAV landing control device 500 can be run to control the multi-rotor UAV 200 equipped with the rice-throwing mechanism 100 to land safely and smoothly in a site with a significant slope or uneven ground, thereby reducing the risk of overturning when the multi-rotor UAV 200 lands in a site with a significant slope or uneven ground and improving the landing stability of the UAV.

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

[0099] In this application, to ensure that the multi-rotor drone 200 in the aforementioned rice-throwing system 1000 can carry the rice-throwing mechanism 100 for safe and stable takeoff in areas with significant slopes or uneven ground, this application provides a drone takeoff control method applied to the aforementioned multi-rotor drone 200 to achieve the aforementioned objective. The drone takeoff control method provided in this application will be described in detail below.

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

[0101] Step S610: In response to the received takeoff command, detect whether the original fuselage attitude of the multi-rotor drone is tilted in the current drone parking area.

[0102] In this embodiment, the takeoff command is used to instruct the multi-rotor drone 200 to take off from its current parking location, carrying the rice-throwing mechanism 100. This takeoff command can be a control command automatically generated by the multi-rotor drone 200 at a specific time according to a preset automatic operation strategy, or it can be a control command directly sent to the multi-rotor drone 200 by the operator via a remote control terminal.

[0103] After receiving a takeoff command, the multi-rotor drone 200 can detect its original fuselage attitude within the current drone parking area using its built-in attitude sensor, and detect whether the original fuselage attitude is tilted relative to the horizontal plane, in order to determine whether the multi-rotor drone 200 is currently located on a site with a significant slope or on an uneven surface. In one embodiment of this example, the attitude sensor built into the multi-rotor drone 200 can be implemented using an inertial measurement unit (IMU).

[0104] In step S620, when the original fuselage attitude is detected to be tilted, the control drive device drives the seedling delivery tray to move laterally in the high direction to compensate for the lateral shift of the center of gravity of the multi-rotor UAV relative to the horizontal state.

[0105] In this embodiment, when the multi-rotor drone 200 detects that its original fuselage attitude is tilted relative to the horizontal plane, it indicates that the multi-rotor drone 200 is currently located on a site with a significant slope or an uneven ground. At this time, it is necessary to detect the direction of the lateral movement of the seedling delivery tray in the seedling throwing mechanism 100 and the direction of the slope of the drone's parking site. Based on the detected direction of the lateral movement, it is determined 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's takeoff. When it is determined that the lateral movement of the seed-throwing mechanism 100's seed-delivering tray can reduce the actual offset of the UAV's center of gravity during takeoff, the main control unit 201 can control the drive device 23 of the seed-throwing mechanism 100 to drive the seed-delivering tray 22 to move laterally towards the direction of the current higher limit lateral movement position, that is, drive the seed-delivering tray 22 to move laterally towards the higher side. This lateral movement of the seed-delivering tray effectively compensates for the offset of the multi-rotor UAV 200's center of gravity relative to the desired fuselage attitude in its current original fuselage attitude, reducing the actual offset of the UAV's center of gravity during takeoff and reducing the takeoff load that the low-side rotor needs to overcome. Here, the desired fuselage attitude is the fuselage attitude that the multi-rotor UAV 200 is expected to have when it is in a horizontal state, and the low-side rotor is the UAV rotor with the relatively lower current altitude among all the UAV rotors of the multi-rotor UAV 200.

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

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

[0108] When the angle in the first direction is determined to be less than the first preset angle threshold, the control drive device 23 moves the seedling tray 22 laterally in the high direction to compensate for the current center of gravity offset of the multi-rotor UAV 200 relative to the horizontal state.

[0109] The specific angle value of the first preset included angle threshold can be 10°, 15°, or 8°, and its value can be configured differently by the R&D personnel or operators of the multi-rotor UAV 200 according to their needs. If the first directional included angle is less than the first preset included angle threshold, it means that the lateral movement direction of the seedling delivery tray 22 is close to parallel with the actual tilt direction of the UAV parking site. At this time, the multi-rotor UAV 200 is in a state of... Figure 9(a) shows the "drone not in takeoff state". The fuselage frame of the multi-rotor drone 200 is in complete contact with the slope of the drone parking area. The corresponding seed delivery tray 22 can assist the multi-rotor drone 200 in takeoff through lateral movement in the current original fuselage attitude, so as to play a role in balancing the center of gravity of the drone during takeoff and to place the multi-rotor drone 200 in a position where... Figure 9 (b) shows the "Drone taking off".

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

[0111] In another embodiment of this invention, the actual lateral movement distance of the seedling delivery tray 22 can be correlated with the magnitude of the center of gravity offset of the multi-rotor UAV 200 relative to the horizontal state. This allows for precise compensation of the actual center of gravity offset during the lateral movement of the seedling delivery tray, avoiding unnecessary power consumption during the lateral movement of the seedling delivery tray. In this case, the step "controlling the drive device 23 to move the seedling delivery tray 22 laterally in the high-side direction" may include:

[0112] Based on the current center of gravity offset of the multi-rotor UAV 200 relative to the horizontal state, calculate the expected lateral displacement position of the seedling delivery tray 22 in the high-side direction.

[0113] The control drive device 23 moves the seedling tray 22 laterally to the desired lateral position in the high direction.

[0114] It is understandable that, since the lateral movement of the seedling delivery tray 22 relative to the fuselage frame essentially has two extreme lateral movement positions, it means that the seedling delivery tray 22 cannot move infinitely to the higher side. The furthest lateral movement of the seedling delivery tray 22 to the higher side is the higher extreme lateral movement position among the two extreme lateral movement positions. Therefore, the seedling delivery tray 22 has a center of gravity offset compensation upper limit under the original fuselage attitude. If the current center of gravity offset of the multi-rotor UAV 200 relative to the horizontal state does not exceed this center of gravity offset compensation upper limit, then the larger the center of gravity offset, the higher the expected lateral movement position, and the closer it is to the higher extreme lateral movement position. If the current center of gravity offset of the multi-rotor UAV 200 relative to the horizontal state exceeds this center of gravity offset compensation upper limit, then the expected lateral movement position is the higher extreme lateral movement position.

[0115] Meanwhile, the main control unit 201 can be configured with a center of gravity offset calculation function to achieve accurate compensation for the actual center of gravity offset caused by the lateral movement of the seedling delivery tray. Specifically, the steps for the main control unit 201 to calculate the current center of gravity offset of the multi-rotor UAV 200 relative to the horizontal state may include:

[0116] Obtain the actual lateral position of the seedling delivery tray 22 in the original machine body posture;

[0117] The center of gravity offset is calculated based on the actual lateral position, the original fuselage attitude, and the desired fuselage attitude in the horizontal state. The center of gravity offset of the original fuselage attitude relative to the desired fuselage attitude is obtained, which is the current center of gravity offset of the multi-rotor UAV 200 relative to the horizontal state.

[0118] The main control unit 201 can pre-construct a system structure model of the rice-throwing system 1000 based on the actual composition of the rice-throwing mechanism of the rice-throwing system 1000 (i.e., how many rice-throwing mechanisms 100 exist in the corresponding rice-throwing system 1000, and the specific deployment position of each rice-throwing mechanism 100 on the multi-rotor UAV 200). Then, when it is necessary to calculate the center of gravity offset, it combines the corresponding actual lateral position, the original fuselage attitude and the desired fuselage attitude with the system structure model to perform kinematic analysis and obtain the current center of gravity offset of the multi-rotor UAV 200 relative to the horizontal state.

[0119] Step S630: Control the multi-rotor drone to take off from the drone parking area according to the takeoff command.

[0120] In this embodiment, the aforementioned takeoff command can be used to instruct the multi-rotor drone 200 on the rotor lift distribution conditions that need to be met when taking off from an inclined state. These rotor lift distribution conditions indicate that the output lift of the low-side rotor of the multi-rotor drone 200 must be greater than the output lift of the high-side rotor, where the high-side rotor is the rotor with the highest current altitude among all the rotors of the multi-rotor drone 200. Therefore, after executing step S620, the main control unit 201 can adjust the output lift of each rotor of the multi-rotor drone 200 to meet the aforementioned rotor lift distribution conditions, ensuring that the low-side rotor provides sufficient power to ensure the multi-rotor drone 200 takes off steadily from the drone parking area. This reduces the risk of overturning when taking off from areas with significant slopes or uneven ground, and improves the takeoff stability of the drone.

[0121] Understandably, the main control unit 201 can increase its own 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 speed, so as to adjust the output lift of the low-side rotor to a state greater than that of the high-side rotor. This allows the fuselage frame of the multi-rotor UAV 200 near the low-side rotor to gradually rise under the output lift of the low-side rotor and leave the UAV parking area, and then gradually and stably take off from the UAV parking area.

[0122] In one embodiment of this invention, when the multi-rotor drone 200 receives a takeoff command, it can simultaneously assign the same non-zero initial rotation speed to both the low-side rotor and the high-side rotor, so that the multi-rotor drone 200 can quickly reach the desired flight state when it leaves the drone parking area.

[0123] In another embodiment of this invention, the multi-rotor UAV 200 may not activate the high-side rotor when it receives a takeoff command, so that the current rotation speed of the high-side rotor is zero.

[0124] Therefore, by executing the above steps S610 to S630, during the takeoff process of the multi-rotor drone 200 in an inclined state, the actual offset of the drone's center of gravity is reduced by the lateral movement of the seedling delivery tray of the seedling throwing mechanism 100. This reduces the takeoff load that the low-side rotor needs to overcome, enabling the low-side rotor to provide sufficient power to ensure the drone takes off smoothly. This effectively reduces the risk of the multi-rotor drone 200 overturning when taking off in areas with obvious slopes or uneven ground, and improves the takeoff stability of the drone.

[0125] Alternatively, please refer to Figure 8 In the embodiments of this application, with Figure 7 Compared to the drone takeoff control method shown, Figure 8 The UAV takeoff control method shown may also include step S640 to ensure that when the multi-rotor UAV 200 takes off to the desired fuselage attitude corresponding to the horizontal state, it just enters the stable center of gravity state, so that the multi-rotor UAV 200 can directly carry the rice-throwing mechanism 100 to perform the flying rice-throwing operation.

[0126] In step S640, during the process of the multi-rotor UAV changing from an inclined state to a horizontal state, the control drive device drives the seedling delivery tray to gradually return to the center.

[0127] In this embodiment, during the execution of step S630 by the main control unit 201, the multi-rotor drone 200 will gradually change from an inclined state to a horizontal state under the action of the low-side rotor. Only the part of the fuselage frame near the high-side rotor will contact the drone's parking area. During the change from an inclined state to a horizontal state, the seedling tray 22 can be driven by the control drive device 23 to gradually move laterally towards the middle position (i.e., the lateral movement position corresponding to the middle position of the seedling tray 22 on the fuselage frame) (i.e., the centering direction), so as to position the multi-rotor drone 200 as a horizontal position. Figure 9(c) shows the "UAV horizontal takeoff preparation state", which ensures that when the actual body attitude of the multi-rotor UAV 200 changes to a horizontal state, the corresponding seed delivery tray 22 moves back to the aforementioned middle position of the horizontal movement. This ensures that the multi-rotor UAV 200 can enter a stable center of gravity state when it takes off to a horizontal state, making it convenient for the multi-rotor UAV 200 to directly carry the seed throwing mechanism 100 to perform flying seed throwing operations.

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

[0129] The real-time body attitude of the multi-rotor UAV 200 during the state change process from tilted to horizontal, and the real-time lateral position of the seedling delivery tray 22 during the aforementioned state change process are obtained.

[0130] The center of gravity offset is calculated based on the real-time fuselage attitude, real-time lateral position, and desired fuselage attitude in horizontal state, to obtain the center of gravity offset compensation amount of the real-time fuselage attitude relative to the desired fuselage attitude.

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

[0132] The control drive device 23 moves the seedling tray 22 laterally back to the center position to compensate for the lateral movement.

[0133] Understandably, the aforementioned takeoff command can also be used to instruct the multi-rotor drone 200 on the lift distribution conditions required when it takes off, reaches a horizontal position, and completely leaves the drone parking area. Therefore, when the multi-rotor drone 200 is in a stable center of gravity state, the individual rotors of the multi-rotor drone 200 can be directly controlled to adjust their lift output according to the aforementioned lift distribution conditions, enabling the multi-rotor drone 200 to safely and smoothly take off and detach from sites with significant slopes or uneven ground. At this point, the multi-rotor drone 200 is in a stable position. Figure 9 (d) shows the "UAV horizontal takeoff preparation status".

[0134] Therefore, by executing the above step S640, this application ensures that when the multi-rotor drone 200 takes off to the desired fuselage attitude corresponding to the horizontal state, it just enters a stable center of gravity state, which makes it convenient for the multi-rotor drone 200 to directly carry the rice-throwing mechanism 100 to perform in-flight rice-throwing operations.

[0135] In this application, to ensure that the multi-rotor drone 200 in the aforementioned rice-throwing system 1000 can safely and smoothly land on sites with significant slopes or uneven ground, this application provides a drone landing control method applied to the aforementioned multi-rotor drone 200 to achieve the aforementioned objective. The drone landing control method provided in this application will be described in detail below.

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

[0137] Step S710: In response to the received landing command, detect 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 land, carrying the seed-throwing mechanism 100, in the drone parking area located below its own fuselage frame. This landing command can be a control command automatically generated by the multi-rotor drone 200 when it detects that its drone parameters meet preset forced landing conditions (e.g., battery power is less than or equal to a preset power threshold, no positioning signal can be detected, communication connection with the remote control terminal is lost, etc.), or it can be a control command sent to the multi-rotor drone 200 by the drone operator via the remote control terminal.

[0139] After receiving a landing command, the multi-rotor drone 200 can acquire the actual terrain data of the drone's parking area below it through its built-in terrain data acquisition component. Based on this terrain data, it can determine whether the parking area has a slope, thus deciding whether the multi-rotor drone 200 needs to land on a sloped or uneven surface. In one embodiment of this invention, the terrain data acquisition component built into the multi-rotor drone 200 can be, but is not limited to, devices such as ground-based radar or ground-based cameras.

[0140] Step S720: If a slope is detected at the drone parking area, control the multi-rotor drone to descend until part of the fuselage frame contacts the drone parking area.

[0141] In this embodiment, when the multi-rotor drone 200 detects a slope in the drone parking area below it, it indicates that the multi-rotor drone 200 needs to land on a site with a significant slope or uneven ground. At this time, the actual fuselage attitude of the multi-rotor drone 200 can be adjusted to... Figure 11(a) shows the "drone not landing state". The angle between the tilted projection direction of the current drone parking area (i.e., the projection direction of the slope of the drone parking area onto the horizontal plane) and the lateral movement direction of the seedling tray 22 on the fuselage frame is sufficiently small (i.e., the lateral movement direction of the seedling tray 22 is nearly parallel to the tilted projection direction of the drone parking area). This ensures that the lateral movement of the seedling tray plays a role in balancing the drone's center of gravity during landing. Then, the main control unit 201 controls the rotor drive motors 202 of each drone rotor to reduce their speed, allowing the multi-rotor drone 200 to descend smoothly until part of the fuselage frame directly contacts the slope of the drone parking area. At this point, the multi-rotor drone 200 is in a state of... Figure 11 (b) shows the “drone hovering and touching state”, which 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 area.

[0142] In the first embodiment of this example, the main control unit 201 in the multi-rotor drone 200 can collect the distance between different frame parts of the fuselage frame of the multi-rotor drone 200 and the slope of the drone parking area in real time through the terrain data acquisition component. 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 has actually made direct contact with the slope of the drone parking area.

[0143] In the second embodiment of this example, multiple pressure sensors may be installed at the bottom of the fuselage frame of the multi-rotor drone 200. The main control unit 201 can acquire the pressure data monitored by each pressure sensor in real time and detect whether the pressure data of one or more pressure sensors exceeds a preset pressure threshold. Thus, when the pressure data of one or more pressure sensors exceeds the preset pressure threshold, it is determined that part of the fuselage frame of the multi-rotor drone 200 has actually come into direct contact with the slope of the drone parking area.

[0144] In the third embodiment of this example, the main control unit 201 of the multi-rotor drone 200 can improve the accuracy of partial ground contact detection and effectively reduce the hardware implementation cost of the partial ground contact detection function by detecting whether its real-time fuselage attitude is tilted relative to the horizontal plane through a built-in attitude sensor. In this case, the step of detecting whether the multi-rotor drone 200 has descended to the point where part of its fuselage frame contacts the drone's parking area may include:

[0145] Acquire the real-time fuselage attitude of the multi-rotor UAV 200 during its vertical descent;

[0146] Detect whether the real-time fuselage attitude is tilted;

[0147] If the real-time fuselage attitude is detected to be tilted, it is determined that the multi-rotor drone 200 has descended to the point where part of the fuselage frame contacts the drone parking area; 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 area.

[0148] It is understood that the above three implementation methods are merely illustrative implementation means provided by this application for the partial ground contact detection function of the UAV. The implementation means of the multi-rotor UAV 200 to realize the partial ground contact detection function of the UAV are not limited to these. The multi-rotor UAV 200 can use a variety of combinations of the above three implementation methods to realize the partial ground contact detection function of the UAV, and can also use other implementation methods to realize the partial ground contact detection function of the UAV. Specific other implementation methods are not limited.

[0149] In step S730, the control drive device drives the seedling delivery tray to move laterally towards the high side of the UAV parking area to compensate for the center of gravity offset of the multi-rotor UAV relative to the horizontal state during landing.

[0150] In this embodiment, when a portion of the fuselage frame of the multi-rotor drone 200 in a horizontal state contacts the drone parking area, the system detects whether the lateral movement of the seed-throwing mechanism 100's seed-delivering disc at the drone parking area reduces the actual offset of the drone's center of gravity during landing. If it is determined that the lateral movement of the seed-throwing mechanism 100's seed-delivering disc reduces the actual offset of the drone's center of gravity during landing, the main control unit 201 can control the drive device 23 of the seed-throwing mechanism 100 to drive the seed-delivering disc 22 laterally towards the top of the drone parking area (i.e., the high side of the drone parking area). This compensates for the offset of the multi-rotor drone 200's center of gravity relative to the horizontal state during landing, reduces the actual offset of the drone's center of gravity during landing, and lowers the landing load on the first rotor during landing. The second rotor is the drone rotor near the top of the drone parking area, and the first rotor is the drone rotor away from the top of the drone parking area.

[0151] In this process, 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 drone's landing and docking, and to drive the seedling delivery tray 22 to achieve the drone's center of gravity balance effect, the step of the main control unit 201 controlling the drive device 23 to drive the seedling delivery tray 22 to move laterally towards the high side of the drone's parking area may include:

[0152] Determine whether the angle between the tilted projection direction of the drone parking area and the lateral movement direction of the seedling delivery tray 22 is less than the second preset angle threshold, wherein the tilted projection direction is the projection direction of the slope tilt direction of the drone parking area onto the horizontal plane.

[0153] When it is determined that the included angle of the second direction is less than the second preset included angle threshold, the control drive device 23 moves the seedling delivery tray 22 laterally towards the high side of the drone parking area.

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

[0155] In one embodiment of this invention, the seedling delivery tray 22 can be directly driven to move laterally to the extreme lateral movement position near the top of the site where the drone is parked, so as to shift the center of gravity of the drone towards the higher side of the site, thereby compensating for the center of gravity shift of the multi-rotor drone 200 relative to the horizontal state during the drone landing and docking process, and reducing the landing load on the first rotor during the drone landing and docking process.

[0156] In another embodiment of this invention, the actual lateral movement distance of the seedling delivery tray 22 can be correlated with the change in the center of gravity offset of the multi-rotor drone 200 relative to the horizontal state during the drone's landing and docking process. This allows the lateral movement of the seedling delivery tray to achieve precise compensation for the actual center of gravity offset in real time, avoiding unnecessary power consumption during the lateral movement of the seedling delivery tray. In this case, the step "controlling the drive device 23 to move the seedling delivery tray 22 laterally towards the higher side of the drone's parking area" may include:

[0157] Based on the offset of the center of gravity of the multi-rotor UAV 200 relative to the horizontal state during the UAV landing and docking process, calculate the expected lateral displacement position of the seedling delivery tray 22 in the high side direction of the UAV parking site.

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

[0159] It is understandable that, since the lateral movement of the seedling delivery tray 22 relative to the fuselage frame has two extreme lateral movement positions, it means that the seedling delivery tray 22 cannot move infinitely to the higher side. The furthest lateral movement of the seedling delivery tray 22 to the higher side is the extreme lateral movement position closest to the top of the UAV landing area among the two extreme lateral movement positions. Therefore, there is an upper limit to the center of gravity offset compensation for the seedling delivery tray 22 during the UAV landing and docking process. If the center of gravity offset of the multi-rotor UAV 200 relative to the horizontal state during the UAV landing and docking process does not exceed this upper limit, then the larger the center of gravity offset, the higher the 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 UAV 200 relative to the horizontal state during the UAV landing and docking process exceeds this upper limit, then the expected lateral movement position is the extreme lateral movement position closest to the top of the site.

[0160] Meanwhile, 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 UAV 200 relative to the horizontal state during the UAV's landing and docking process, ensuring that the lateral movement of the seed delivery tray can accurately compensate for changes in the actual center of gravity offset in real time. Specifically, the steps of the main control unit 201 in calculating the center of gravity offset of the multi-rotor UAV 200 relative to the horizontal state during landing may include:

[0161] The real-time body attitude of the multi-rotor UAV 200 during the state change process from horizontal to docked, and the real-time lateral position of the seed delivery tray 22 during the aforementioned state change process are obtained.

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

[0163] Among them, the fuselage hovering attitude is the fuselage attitude of the multi-rotor UAV 200 when it partially touches the UAV parking area in a horizontal state.

[0164] Step S740: Control the multi-rotor drone to land and dock at the drone parking area according to the landing command.

[0165] In this embodiment, the aforementioned landing command can be used to instruct the multi-rotor drone 200 on the rotor distribution conditions that must be met when it begins to land and dock on an inclined slope. These rotor lift distribution conditions specify 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 rotor of the multi-rotor drone 200 to meet the aforementioned rotor lift distribution conditions, allowing the portion of the multi-rotor drone 200's fuselage frame closest to the first rotor to gradually descend and dock at an inclined position on the drone parking area under the output lift of the first rotor.

[0166] The main control unit 201 can compensate for the real-time change in center of gravity offset by executing step S730 during the tilting and docking process of the multi-rotor UAV 200, using the lateral movement of the seed delivery tray. This reduces the actual offset of the UAV's center of gravity during the tilting and docking process, lowers the landing load on the first rotor, and ensures that the first rotor can provide sufficient power to ensure that the actual fuselage attitude of the multi-rotor UAV 200 changes smoothly from a horizontal state to a docking state until the fuselage frame of the multi-rotor UAV 200 is in complete contact with the slope of the UAV parking site. At this point, the multi-rotor UAV 200 has landed. Figure 11 (b) The "drone hovering and touching state" shown in the diagram gradually changes to Figure 11 (c) shows the "drone leaning against the ground" state, and then from... Figure 11 (c) The "drone leaning to the ground" state shown in the diagram gradually changes to Figure 11 (d) shows the "drone has landed and touched down" status.

[0167] Understandably, the main control unit 201 can reduce its own speed by controlling the rotor drive motor 202 connected to the first rotor 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 that is less than the output lift of the second rotor, so that the part of the fuselage frame of the multi-rotor UAV 200 close to the first rotor can gradually descend to tilt and dock on the UAV parking site under the action of the output lift of the first rotor.

[0168] In the first embodiment of this example, multiple pressure sensors may be installed at the bottom of the fuselage frame of the multi-rotor drone 200. The main control unit 201 can acquire 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. 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 drone 200 has actually landed and stopped completely on the slope of the drone parking area.

[0169] In the second embodiment of this example, the main control unit 201 of the multi-rotor drone 200 can improve the accuracy of the drone's complete ground contact detection and effectively reduce the hardware implementation cost of the drone's complete ground contact detection function by detecting whether its real-time fuselage tilt attitude changes within a preset time period through a built-in attitude sensor. In this case, the step of detecting whether the fuselage frame of the multi-rotor drone 200 has completely landed and stopped on the slope of the drone parking area may include:

[0170] Acquire the real-time fuselage attitude of the multi-rotor UAV 200 during the fuselage tilting process of the first rotor;

[0171] The detection measures whether the tilt angle of the real-time fuselage attitude relative to the horizontal plane changes within a preset time period.

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

[0173] It is understood that the above two implementation methods are merely illustrative implementation means provided by this application for the complete ground contact detection function of the UAV. The implementation means of the above multi-rotor UAV 200 to realize the complete ground contact detection function of the UAV are not limited to these. The above multi-rotor UAV 200 can use a variety of combinations of the above two implementation methods to realize the complete ground contact detection function of the UAV, and can also use other implementation methods to realize the complete ground contact detection function of the UAV. The specific other implementation methods are not limited.

[0174] In this embodiment, when the fuselage frame of the multi-rotor drone 200 is completely parked on the slope of the drone parking area, the drive device 23 can be controlled to maintain the current lateral position of the seedling tray 22, or the limiting component installed on the fuselage frame can be controlled to limit the seedling tray 22 to the current lateral position, so as to prevent the seedling tray 22 from sliding down the slope of the drone parking area under the action of gravity, avoiding the drone from overturning. This allows the multi-rotor drone 200 to land safely and smoothly in areas with obvious slopes or uneven ground, and effectively reduces the risk of overturning when the multi-rotor drone 200 lands in areas with obvious slopes or uneven ground.

[0175] Therefore, by executing the above steps S710 to S740, this application can reduce the actual offset of the drone's center of gravity during the landing process of the drone when it lands on a sloped or uneven ground. This reduces the landing load on the first rotor during the drone's tilting and docking, enabling the first rotor to provide sufficient power to ensure that the multi-rotor drone 200 can dock smoothly on the sloped ground. This effectively reduces the risk of the multi-rotor drone 200 overturning when landing on a sloped or uneven ground, and improves the landing stability of the multi-rotor drone 200, allowing it to land safely and smoothly on sloped or uneven ground.

[0176] Alternatively, please refer to Figure 12 In the embodiments of this application, with Figure 10 The drone landing control method shown is as follows: Figure 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 tray 22 (i.e., without relying on the drone's center of gravity balance effect of the lateral movement of the seedling tray).

[0177] In step S750, if a slope is detected at the drone parking area, the heading of the multi-rotor drone is adjusted so that the tilt projection direction of the drone parking area is perpendicular to the lateral movement direction of the seedling delivery tray.

[0178] In this embodiment, when the drone parking area 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 remain perpendicular to the tilt projection direction of the drone parking area after the heading is adjusted. At this time, the multi-rotor drone 200 is in a position where... Figure 13 (a) shows the "unmanned aerial vehicle not landing state". The fuselage frame of the multi-rotor drone 200 is not in contact with the slope of the drone parking site. The lateral movement of the seed delivery tray cannot play a role in balancing the center of gravity of the drone during the landing and parking process.

[0179] Step S760: Control the multi-rotor drone to land and dock at the drone parking area according to the landing command.

[0180] In this embodiment, the main control unit 201 in the multi-rotor drone 200 can control the rotor drive motors 202 of each drone rotor to reduce their own speed, so that the multi-rotor drone 200 descends smoothly until the fuselage frame is in complete contact with the slope of the drone parking area. At this time, the multi-rotor drone 200 is in a state of... Figure 13(b) shows the "drone has landed and touched down" state, which means that the fuselage frame of the multi-rotor drone 200 is in complete contact with the slope of the drone parking area. Because the tilted projection direction of the drone parking area is perpendicular to the lateral movement direction of the seedling tray 22, the seedling tray 22 will not slide down the slope when the multi-rotor drone 200 lands on the drone parking area, thus effectively improving the landing stability of the multi-rotor drone 200.

[0181] The multi-rotor drone 200 can employ various implementation methods of the drone's complete ground contact detection function mentioned above to effectively detect whether the fuselage frame is in complete contact with the slope of the drone's parking area, which will not be elaborated on here.

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

[0183] In this application, to ensure that the multi-rotor UAV 200 in the rice-throwing system 1000 can carry the rice-throwing mechanism 100 to execute the aforementioned UAV takeoff control method, this application implements the aforementioned function by dividing the UAV takeoff control device 400 stored in the main control unit 201 into functional modules. The specific composition of the UAV takeoff control device 400 applied to the main control unit 201 provided in this application will be described below.

[0184] Please refer to Figure 14 In this embodiment of the application, the above-mentioned UAV 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 takeoff command and detect whether the original fuselage attitude of the multi-rotor UAV is tilted in the current UAV parking area.

[0186] The first lateral movement control module 420 is used to control the drive device to drive the seedling delivery tray to move laterally in the high direction when the original fuselage attitude is detected to be tilted, so as to compensate for the current center of gravity offset of the multi-rotor UAV 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 area according to the takeoff command.

[0188] The first lateral movement control module 420 is also used to control the drive device to drive the seedling delivery tray to gradually return to the center during the process of the multi-rotor UAV changing from an inclined state to a horizontal state.

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

[0190] It should be noted that the UAV takeoff control device 400 provided in this embodiment has the same basic principle and technical effects as the aforementioned UAV takeoff control method. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the above description of the UAV takeoff control method.

[0191] In this application, to ensure that the multi-rotor UAV 200 in the rice-throwing system 1000 can carry the rice-throwing mechanism 100 to execute the aforementioned UAV landing control method, this application implements the aforementioned function by dividing the UAV landing control device 500 stored in the main control unit 201 into functional modules. The specific composition of the UAV landing control device 500 applied to the main control unit 201 provided in this application will be described below.

[0192] Please refer to Figure 15 In this embodiment of the 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 detect whether there is a slope in the drone parking area under the multi-rotor drone in response to the received landing command.

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

[0195] The second lateral movement control module 530 is used to control the drive device to drive the seedling delivery tray to move laterally towards the high side of the UAV parking area, so as to compensate for the center of gravity offset of the multi-rotor UAV relative to the horizontal state during the landing process.

[0196] The fuselage landing control module 540 is used to control the multi-rotor drone to land and dock at the drone parking area according to the landing command.

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

[0198] In addition, the aforementioned fuselage flight control module 520 is also used to adjust the heading of the multi-rotor drone when a slope is detected in the drone parking area, so that the tilt projection direction of the drone parking area 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 at the drone parking area according to the landing command.

[0200] It should be noted that the basic principle and technical effects of the UAV landing control device 500 provided in this embodiment are the same as those of the aforementioned UAV landing control method. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the above description of the UAV landing control method.

[0201] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which 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 blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0202] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. If the various functions provided in this 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 this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, including several instructions to cause a multi-rotor UAV 200 equipped with a rice-throwing mechanism 100 to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned readable storage medium includes: USB flash drives, mobile hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0203] In summary, the UAV takeoff control method and apparatus, UAV landing control method and apparatus, rice seedling throwing system, and readable storage medium provided in this application can effectively reduce the risk of UAV overturning when taking off in areas with significant slopes or uneven ground, and simultaneously improve the takeoff stability of the UAV. Similarly, the UAV landing control method can effectively reduce the risk of UAV overturning when landing in areas with significant slopes or uneven ground, and effectively ensure the landing stability of the UAV.

[0204] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling the takeoff of an unmanned aerial vehicle (UAV), characterized in that, An application is made 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 drive device and a seedling delivery tray, the seedling delivery tray is used to transport seedlings, and the drive device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame. The takeoff control method includes: In response to the received takeoff command, detect whether the original fuselage attitude of the multi-rotor UAV is tilted in the current UAV parking area; When the original fuselage attitude is detected to be tilted, the drive device is controlled to drive the seedling delivery tray to move laterally in the direction of height to compensate for the current center of gravity offset of the multi-rotor UAV relative to the horizontal state; wherein, the step of controlling the drive device to drive the seedling delivery tray to move laterally in the direction of height includes: determining whether the first directional angle between the fuselage tilt direction corresponding to the original fuselage attitude and the lateral movement direction of the seedling delivery tray is less than a first preset angle threshold, and when it is determined that the first directional angle is less than the first preset angle threshold, controlling the drive device to move the seedling delivery tray laterally in the direction of height; The multi-rotor drone is controlled to take off from the drone parking area according to the takeoff command.

2. The takeoff control method according to claim 1, characterized in that, The step of controlling the drive device to move the seedling tray laterally in a higher direction includes: The desired lateral displacement position of the seedling delivery tray in the high-side direction is calculated based on the center of gravity offset, wherein the larger the center of gravity offset, the higher the desired lateral displacement position. The drive device is controlled to move the seedling tray laterally to the desired lateral position in the direction of height.

3. 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 UAV relative to its horizontal state includes: Obtain the actual lateral position of the seedling delivery tray under the original machine body posture; The center of gravity offset is calculated based on the actual lateral position, the original fuselage attitude, and the desired fuselage attitude in the horizontal state, to obtain the center of gravity offset of the original fuselage attitude relative to the desired fuselage attitude.

4. The takeoff control method according to any one of claims 1-3, characterized in that, The takeoff control method also includes: During the process of the multi-rotor UAV changing from an inclined state to a horizontal state, the drive device is controlled to drive the seedling delivery tray to gradually return to the center.

5. The takeoff control method according to claim 4, characterized in that, The step of controlling the drive device to drive the seedling tray to gradually return to the center includes: The real-time fuselage attitude 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 are obtained. The center of gravity offset is calculated based on the real-time fuselage attitude, the real-time lateral position, and the desired fuselage attitude in the horizontal state, to obtain the center of gravity offset compensation amount of the real-time fuselage attitude relative to the desired fuselage attitude. The compensation lateral displacement position of the seedling delivery tray in the return direction is calculated based on the center of gravity offset compensation amount, wherein the smaller the center of gravity offset compensation amount, the closer the compensation lateral displacement position is to the middle position of the lateral displacement. The drive device is controlled to move the seedling tray laterally back to the center position to compensate for the lateral movement.

6. A method for controlling the landing of an unmanned aerial vehicle (UAV), characterized in that, An application is made 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 drive device and a seedling delivery tray, the seedling delivery tray is used to transport seedlings, and the drive device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame. The landing control method includes: In response to the received landing command, detect whether there is a slope in the drone parking area below the multi-rotor drone; If a slope is detected at the drone parking area, the multi-rotor drone is controlled to descend until part of its fuselage frame contacts the drone parking area; The driving device is controlled to drive the seedling delivery tray to move laterally towards the high side of the UAV parking area to compensate for the center of gravity offset of the multi-rotor UAV relative to the horizontal state during landing; wherein, the step of controlling the driving device to drive the seedling delivery tray to move laterally towards the high side of the UAV parking area includes: determining whether the second direction angle between the tilt projection direction of the UAV parking area and the lateral movement direction of the seedling delivery tray is less than the second preset angle threshold, and when it is determined that the second direction angle is less than the second preset angle threshold, controlling the driving device to move the seedling delivery tray laterally towards the high side of the UAV parking area, wherein the tilt projection direction is the projection direction of the slope tilt direction of the UAV parking area onto the horizontal plane; The multi-rotor drone is controlled to land and dock at the drone parking area according to the landing command.

7. The landing control method according to claim 6, characterized in that, The step of detecting whether the multi-rotor drone has descended to the point where a portion of its fuselage frame contacts the drone's parking area includes: The real-time fuselage attitude of the multi-rotor UAV during vertical descent is obtained; Detect whether the acquired real-time fuselage attitude is in a tilted state; If the real-time fuselage attitude is detected to be tilted, it is determined that the multi-rotor UAV has descended to the point where part of the fuselage frame contacts the UAV parking area; otherwise, it is determined that the multi-rotor UAV has not descended to the point where part of the fuselage frame contacts the UAV parking area.

8. The landing control method according to claim 6, characterized in that, The step of controlling the drive device to move the seedling tray laterally towards the higher side of the drone parking area includes: The desired lateral displacement position of the seedling delivery tray in the high-side direction of the UAV parking area is calculated based on the center of gravity offset, wherein the larger the center of gravity offset, the higher the desired lateral displacement position. The drive device is controlled to move the seedling tray laterally to the desired lateral position in the direction of the higher side.

9. The landing control method according to claim 6, characterized in that, The step of calculating the center of gravity offset of the multi-rotor UAV relative to the horizontal state during landing includes: The real-time fuselage attitude of the multi-rotor UAV during the state change process from horizontal to docked state is obtained, as well as the real-time lateral position of the seedling delivery tray during the state change process. The center of gravity offset is calculated based on the real-time fuselage attitude, the real-time lateral position, and the horizontal fuselage suspension attitude to obtain the center of gravity offset of the real-time fuselage attitude relative to the fuselage suspension attitude.

10. The landing control method according to any one of claims 6-9, characterized in that, The landing control method further includes: If a slope is detected at the drone parking area, the heading of the multi-rotor drone is adjusted so that the tilt projection direction of the drone parking area is perpendicular to the lateral movement direction of the seedling delivery tray. The multi-rotor drone is controlled to land and dock at the drone parking area according to the landing command.

11. A drone takeoff control device, characterized in that, An application is made 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 drive device and a seedling delivery tray, the seedling delivery tray is used to transport seedlings, and the drive device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame. The takeoff control device includes: The attitude tilt detection module is used to respond to the received takeoff command and detect whether the original fuselage attitude of the multi-rotor UAV is tilted in the current UAV parking area. The first lateral movement control module is used to control the drive device to drive the seedling delivery tray to move laterally in a high-side direction when the original fuselage attitude is detected to be 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; wherein, the first lateral movement control module controls the drive device to drive the seedling delivery tray to move laterally in a high-side direction in a manner including: determining whether the first direction angle between the fuselage tilt direction corresponding to the original fuselage attitude and the lateral movement direction of the seedling delivery tray is less than a first preset angle threshold, and when it is determined that the first direction angle is less than the first preset angle threshold, controlling the drive device to move the seedling delivery tray laterally in a high-side direction; The fuselage takeoff control module is used to control the multi-rotor UAV to take off from the UAV parking area according to the takeoff command.

12. A drone landing control device, characterized in that, An application is made 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 drive device and a seedling delivery tray, the seedling delivery tray is used to transport seedlings, and the drive device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame. The landing control device includes: The site slope detection module is used to detect whether there is a slope in the drone parking area under the multi-rotor drone in response to the received landing command. The fuselage flight control module is used to control the multi-rotor drone to descend until part of the fuselage frame contacts the drone parking area when a slope is detected at the drone parking site. The second lateral movement control module is used to control the drive device to drive the seedling delivery tray to move laterally towards the high side of the UAV parking area, so as to compensate for the center of gravity offset of the multi-rotor UAV relative to the horizontal state during landing; wherein, the second lateral movement control module controls the drive device to drive the seedling delivery tray to move laterally towards the high side of the UAV parking area in the following manner: determining whether the second direction angle between the tilt projection direction of the UAV parking area and the lateral movement direction of the seedling delivery tray is less than the second preset angle threshold, and when it is determined that the second direction angle is less than the second preset angle threshold, controlling the drive device to move the seedling delivery tray laterally towards the high side of the UAV parking area, wherein the tilt projection direction is the projection direction of the slope tilt direction of the UAV parking area onto the horizontal plane; The fuselage landing control module is used to control the multi-rotor UAV to land and dock at the UAV parking area according to the landing command.

13. A rice transplanting system, characterized in that, The rice-throwing system includes a multi-rotor drone and a rice-throwing mechanism. The multi-rotor drone includes a main control unit, a fuselage frame, multiple drone rotors, and multiple rotor drive motors. The main control unit, the multiple drone rotors, and the multiple rotor drive motors are all mounted on the fuselage frame. Each rotor drive motor is connected to a drone rotor and is used to drive the corresponding connected drone rotor to rotate. The seedling throwing mechanism is mounted on the multi-rotor UAV. The seedling throwing mechanism includes a drive device and a seedling delivery tray, wherein the seedling delivery tray is used to transport seedlings, and the drive 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, and is used to control each rotor drive motor to adjust the rotation of the connected UAV rotor. The main control unit is also electrically connected to the drive device, and is used to control the drive device to drive the seedling delivery tray to move laterally relative to the machine frame; The main control unit stores a computer program and can execute the computer program to control the drive device and the plurality of rotor drive motors to work together to realize the UAV take-off control method of any one of claims 1-5 and / or the UAV landing control method of any one of claims 6-10.

14. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a multi-rotor UAV equipped with a rice-throwing mechanism, it implements the UAV take-off control method according to any one of claims 1-5 and / or the UAV landing control method according to any one of claims 6-10. The seedling throwing mechanism is mounted on the fuselage frame of the multi-rotor UAV. The seedling throwing mechanism includes a drive device and a seedling delivery tray. The seedling delivery tray is used to transport seedlings, and the drive device is used to drive the seedling delivery tray to move laterally relative to the fuselage frame.

Images