Seedling throwing operation method and device, electronic equipment and readable storage medium

Abstract

The invention provides a seedling throwing operation method and device, electronic equipment and a readable storage medium, and relates to the technical field of automatic control. The method is applied to the seedling slinging system, the seedling slinging system comprises an unmanned aerial vehicle and a seedling slinging mechanism carried on the unmanned aerial vehicle, and the seedling slinging mechanism comprises a plurality of seedling taking subunits which are arranged side by side and used for separating seedlings and slinging seedlings. Judging whether the required first target seedling throwing row number, determined based on the width, of the edge sweeping area is smaller than the maximum seedling throwing row number of a seedling throwing mechanism or not; when the first target seedling throwing row number is smaller than the first target seedling throwing row number, the unmanned aerial vehicle is controlled to fly in the length direction of the edge sweeping area when seedling throwing operation is conducted on the edge sweeping area, and part of the seedling taking subunits of the seedling throwing mechanism are controlled to throw seedlings according to the first target seedling throwing row number, so that the actual seedling throwing row number of the seedling throwing mechanism is matched with the width of the edge sweeping area. In this way, seedling throwing can be completed in a narrow edge sweeping area, and therefore the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a rice seedling throwing operation method, device, electronic device and readable storage medium. Background Art

[0002] With the continuous development of agricultural automation, traditional farming methods are gradually being replaced by mechanized equipment. At present, agricultural machinery is generally used to automate the middle area of ​​the plot, while the edge area of ​​the plot is manually processed, resulting in low operating efficiency. Summary of the invention

[0003] The embodiments of the present application provide a seedling throwing operation method, device, electronic device and readable storage medium, which can control part of the seedling picking units to throw the seedlings based on the width of the sweeping area when the width of the scanning area is smaller than the maximum operating width corresponding to the seedling throwing mechanism, thereby completing the seedling throwing in the sweeping area, which can improve the operation efficiency and avoid the waste caused by directly using all the seedling picking units for throwing.

[0004] The embodiments of the present application can be implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a seedling throwing operation method, which is applied to a seedling throwing system, wherein the seedling throwing system includes a seedling throwing mechanism and a drone, wherein the seedling throwing mechanism is mounted on the drone, and the seedling throwing mechanism includes a plurality of seedling picking units arranged side by side for separating seedlings and throwing seedlings, and the method includes:

[0006] For each edge sweeping area of ​​the target plot, determining whether a first target number of seedling throwing rows required for the edge sweeping area is less than a maximum number of seedling throwing rows of the seedling throwing mechanism, wherein the first target number of seedling throwing rows is determined based on a width of the edge sweeping area;

[0007] When the first target number of seedlings to be thrown is less than the maximum number of seedlings to be thrown, when the seedlings to be thrown operation is performed in the edge sweeping area, the UAV is controlled to fly along the length direction of the edge sweeping area, and some of the seedling picking units of the seedling throwing mechanism are controlled to throw the seedlings according to the first target number of seedlings to be thrown, so that the actual number of seedlings to be thrown by the seedling throwing mechanism matches the width of the edge sweeping area.

[0008] In a second aspect, an embodiment of the present application provides a seedling throwing device, which is applied to a seedling throwing system, wherein the seedling throwing system includes a seedling throwing mechanism and a drone, wherein the seedling throwing mechanism is mounted on the drone, and the seedling throwing mechanism includes a plurality of seedling picking units arranged side by side for separating seedlings and throwing seedlings, and the device includes:

[0009] A judgment module is used to judge, for each edge sweeping area of ​​the target plot, whether a first target number of seedling throwing rows required for the edge sweeping area is less than a maximum number of seedling throwing rows of the seedling throwing mechanism, wherein the first target number of seedling throwing rows is determined based on the width of the edge sweeping area;

[0010] A control module is used for controlling the UAV to fly along the length direction of the edge sweeping area when the first target number of seedling throwing rows is less than the maximum number of seedling throwing rows, and controlling part of the seedling picking units of the seedling throwing mechanism to throw the seedlings according to the first target number of seedling throwing rows, so that the actual number of seedling throwing rows of the seedling throwing mechanism matches the width of the edge sweeping area.

[0011] In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the rice seedling throwing operation method described in the aforementioned embodiment.

[0012] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the rice seedling throwing method as described in the aforementioned embodiment is implemented.

[0013] The seedling throwing operation method, device, electronic device and readable storage medium provided by the embodiment of the present application, for each edge sweeping area of ​​the target plot, determines the first target number of seedling throwing rows required for the edge sweeping area based on the width of the scanning area, and judges whether the first target number of seedling throwing rows is less than the maximum number of seedling throwing rows of the seedling throwing mechanism carried on the drone; if it is less than, when the edge sweeping area is operated, the drone is controlled to fly along the length direction of the edge sweeping area, and based on the first target number of seedling throwing rows, some of the seedling picking units in the seedling throwing mechanism are controlled to throw the seedlings, so that the actual number of seedling throwing rows of the seedling throwing mechanism matches the width of the edge sweeping area. Among them, the seedling throwing mechanism includes a plurality of seedling picking units arranged side by side for separating seedlings and seedling throwing. In this way, when the width of the scanning area is less than the maximum operating width corresponding to the seedling throwing mechanism, some of the seedling picking units can be controlled to throw the seedlings based on the width of the edge sweeping area, so as to complete the seedling throwing of the edge sweeping area, thereby improving the operation efficiency and avoiding the waste caused by directly using all the seedling picking units for throwing. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 One of the structural schematic diagrams of the seedling throwing system provided in the embodiment of the present application;

[0016] Figure 2 The second structural schematic diagram of the seedling throwing system provided in the embodiment of the present application;

[0017] Figure 3 A schematic diagram of the edge sweeping area provided in an embodiment of the present application;

[0018] Figure 4 A block diagram of an electronic device provided in an embodiment of the present application;

[0019] Figure 5 One of the flow diagrams of the rice seedling throwing operation method provided in the embodiment of the present application;

[0020] Figure 6 One of the schematic diagrams of the target plot provided in the embodiment of the present application;

[0021] Figure 7 The second schematic diagram of the target plot provided in the embodiment of the present application;

[0022] Figure 8 The second flowchart of the seedling throwing operation method provided in the embodiment of the present application;

[0023] Fig. 9 The third structural diagram of the seedling throwing system provided in the embodiment of the present application;

[0024] Fig.10 The fourth structural diagram of the seedling throwing system provided in the embodiment of the present application;

[0025] Fig.11 for Fig.10 One of the schematic diagrams of the operation of the seedling throwing system shown;

[0026] Fig.12 for Fig.10 The second operation diagram of the seedling throwing system shown;

[0027] Fig.13 for Fig.10 The third schematic diagram of the operation of the seedling throwing system shown;

[0028] Fig.14 A control logic diagram of a rice seedling throwing system provided in an embodiment of the present application;

[0029] Fig.15 A block diagram of a seedling throwing device provided in an embodiment of the present application.

[0030] Icons: 1000-seedling throwing system; 100-seedling throwing mechanism; 10-load module; 20-seedling delivery module; 30-seedling retrieval module; 40-support module; 200-drone; 300-blanket seedling; 310-seedling; 600-electronic equipment; 610-memory; 620-processor; 630-communication unit; 700-seedling throwing operation device; 710-judgment module; 720-control module. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0033] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0034] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0035] Please refer to Figure 1 and Figure 2The embodiment of the present application provides a rice seedling throwing system 1000 for rice seedling throwing operation. Specifically, the rice seedling throwing system 1000 includes a drone 200 and at least one rice seedling throwing mechanism 100, and the centrifugal rice seedling throwing mechanism 100 is mounted on the drone 200. The rice seedling throwing mechanism 100 is used to separate the blanket seedlings 300, and the separated rice seedlings 310 are thrown out to realize the rice seedling throwing operation. At the same time, the flying rice seedling throwing operation is realized in conjunction with the flight of the drone 200.

[0036] The centrifugal seedling throwing mechanism 100 includes a load module 10, a seedling delivery module 20 and a seedling retrieval module 30. The load module 10 is used to be set on the drone 200. The seedling delivery module 20 is set on the load module 10, and the seedling delivery module 20 is used to transport the blanket seedlings 300. The seedling retrieval module 30 is set on the load module 10, and the seedling retrieval module 30 is used to separate the seedlings 310 from the blanket seedlings 300 on the seedling delivery module 20 and then throw them out. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation, the blanket seedlings 300 are transported by the seedling delivery module 20, and the seedling retrieval module 30 separates the blanket seedlings 300 and then throws the seedlings 310, so as to realize the flying seedling throwing operation of the blanket seedlings 300.

[0037] In this embodiment, the drone 200 is a rotor drone, specifically a quad-rotor drone. Of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone 200 can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. For ease of description, the drawings show directions such as front, back, left, right, up, and down. These directions are all relative positional relationships that can be clearly known to those skilled in the art when the drone 200 is conventionally placed or flying.

[0038] In this embodiment, the installation form of the load module 10 and the drone 200 is as follows: Figure 1 and Figure 2 The two forms are shown in FIG. 1 , and of course, the specific implementation is not limited thereto. The following will describe the two specific mounting forms in detail.

[0039] Figure 1What is shown is a split-type seedling throwing system 1000. Specifically, the load module 10 of the seedling throwing mechanism 100 can be detachably mounted on the lower part of the drone 200, that is, the drone 200 and the seedling throwing mechanism 100 adopt an upper and lower split design. The drone 200 serves as a mobile platform and is a split design with the seedling throwing mechanism 100. In other words, this type of seedling throwing mechanism 100 is an independent structure that does not rely on the fuselage frame of the drone 200. Based on this type, the corresponding device can be replaced according to actual operation requirements in a specific operation scene. For example, after the seedling throwing mechanism 100 is disassembled, a sowing device is installed to achieve the sowing of pesticides, fertilizers, seeds, etc. Similarly, the centrifugal seedling throwing mechanism 100 can be disassembled and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0040] Figure 2 The figure shows an integrated seedling throwing system 1000. Specifically, the load module 10 of the seedling throwing mechanism 100 is the fuselage frame of the drone 200, that is, it needs to rely on the fuselage frame of the drone 200 for installation. Based on this type, the entire seedling throwing system 1000 has a high degree of integration, which can greatly reduce the transportation space. In addition, under the same conditions, its height can be lower, the center of gravity of the seedling throwing mechanism 100 can be closer to the center of gravity of the drone 200, and the flight can be relatively more stable. At the same time, with a smaller space size, it can adapt to a more demanding working environment.

[0041] The seedling removal module 30 may include a driving source and a seedling removal unit. The driving source is connected to the seedling removal unit to drive the seedling removal unit to separate the blanket seedlings 300 on the seedling delivery module 20 and throw out the separated seedlings 310 through centrifugal force. Generally, the driving source is a motor, which drives the seedling removal unit along the Figure 1 The cutter head rotates in the direction indicated by the arrow A, thereby cutting the seedling blanket 300 in the process of contacting the seedling blanket 300, and the cut seedling 310 rotates along the direction of the arrow A with the cutter head, and when the seedling 310 rotates to a specific position, the seedling 310 is thrown out under the action of centrifugal force. It is worth noting that the driving source can also be a pneumatic motor, a gasoline engine, etc., which can be set according to actual needs.

[0042] Optionally, the seedling throwing mechanism may include a plurality of seedling taking modules 30, each of which includes a seedling taking unit. The plurality of seedling taking units in the seedling throwing mechanism are arranged side by side, and the seedling throwing operation of multiple rows of seedlings can be completed simultaneously, thereby improving the operation efficiency. Among them, one seedling taking unit is used for corresponding one row of operations.

[0043] Optionally, the seedling removal unit can separate the seedlings 310 from the seedling blanket 300 by grabbing, pushing, pressing, cutting, etc. As a possible implementation, the seedling removal unit may include a cutter head, which can cut the seedling blanket 300 under the drive of a driving source, and throw out the cut seedlings 310 by centrifugal force.

[0044] Optionally, the cutter head may include a mounting portion and a cutter body disposed on the mounting portion, the mounting portion being connected to the driving source, and a notch being formed on the cutter body, the notch being used to clamp the rice seedling after the cutter body cuts the rice seedling, so that the rice seedling rotates with the cutter head and is thrown out under the action of centrifugal force. The cutter head may select a rice seedling needle. In this way, the rice seedling 310 can be thrown out centrifugally.

[0045] Optionally, the seedling throwing mechanism 100 may further include a supporting module 40 for providing support to the seedling throwing mechanism 100 to ensure the stability of the structure.

[0046] The inventor of this application has found through research that during the operation, if Figure 3 As shown, in order for the seedling throwing system 1000 to work better in the plot, the plot is divided into a main operation area and a sweeping area. The main operation area is operated first, and the sweeping area needs to be swept at the end. However, due to the actual size of the plot, the number of rows required for the sweeping area is not necessarily an integer multiple of the maximum number of rows for throwing the seedlings of the throwing system 1000. For example, assuming that the maximum number of rows for throwing the seedlings of the throwing system 1000 is 3 times, if the number of rows required on the remaining edge is less than 3 rows, such as 2 rows or 1 row, if the maximum number of rows for throwing the seedlings of the throwing system 1000 is still used directly at this time, it will cause a waste of resources; if the sweeping area is operated manually, the operation efficiency will be low.

[0047] To solve the above problems, in this embodiment, the seedling picking unit for throwing seedlings in the above-mentioned seedling throwing system 1000 can be controlled according to the width of the sweeping area to complete the seedling throwing operation and improve the working efficiency. The actual number of seedling throwing rows of the seedling throwing mechanism can be matched with the width of the sweeping area to avoid the waste caused by directly using all the seedling picking units for throwing seedlings.

[0048] Please refer to Figure 4 , Figure 4A block diagram of an electronic device 600 provided in an embodiment of the present application. The electronic device 600 may be, but is not limited to, a drone, a controller of a rice seedling throwing system, etc. The electronic device 600 may include a memory 610, a processor 620, and a communication unit 630. The memory 610, the processor 620, and the communication unit 630 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these elements may be electrically connected to each other via one or more communication buses or signal lines.

[0049] The memory 610 is used to store programs or data. The memory 610 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0050] The processor 620 is used to read / write data or programs stored in the memory 610 and execute corresponding functions. For example, the memory 610 stores a seedling throwing operation device 700, and the seedling throwing operation device 700 includes at least one software function module that can be stored in the memory 610 in the form of software or firmware. The processor 620 executes various functional applications and data processing by running software programs and modules stored in the memory 610, such as the seedling throwing operation device 700 in the embodiment of the present application, that is, realizing the seedling throwing operation method in the embodiment of the present application.

[0051] The communication unit 630 is used to establish a communication connection between the electronic device 600 and other communication terminals through a network, and to send and receive data through the network.

[0052] It should be understood that Figure 4 The structure shown is only a schematic diagram of the structure of the electronic device 600. The electronic device 600 may also include Figure 4 More or fewer components as shown, or with Figure 4 Different configurations are shown. Figure 4 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0053] Please refer to Figure 5 , Figure 5One of the flow diagrams of the seedling throwing operation method provided in the embodiment of the present application. The method can be applied to the above-mentioned seedling throwing system 1000, and the seedling throwing mechanism 100 of the seedling throwing system 1000 includes a plurality of seedling picking units arranged side by side for separating the seedlings and throwing the seedlings. The specific process of the seedling throwing operation method is described in detail below. In this embodiment, the method may include steps S110 to S120.

[0054] Step S110, for each edge sweeping area of ​​the target plot, determining whether the first target number of seedling throwing rows required for the edge sweeping area is less than the maximum number of seedling throwing rows of the seedling throwing mechanism.

[0055] Step S120, when the first target number of seedlings to be thrown is less than the maximum number of seedlings to be thrown, when the seedlings to be thrown operation is performed in the edge sweeping area, the UAV is controlled to fly along the length direction of the edge sweeping area, and according to the first target number of seedlings to be thrown, part of the seedling picking units of the seedling throwing mechanism are controlled to throw the seedlings, so that the actual number of seedlings to be thrown of the seedling throwing mechanism matches the width of the edge sweeping area.

[0056] In this embodiment, the target plot can be divided into a main operation area and a sweeping area. There can be multiple sweeping areas distributed around the main operation area. The specific number and size of the sweeping areas are determined by actual conditions. Figure 6 As shown, the target plot is a rectangle, and is divided into a main operation area and four edge sweeping areas, and the four edge sweeping areas are located outside the main operation area which is a rectangle.

[0057] The sweeping and seedling throwing operation can be performed for each sweeping area, and the seedling throwing operation can be completed in the main operation area, thereby completing the seedling throwing operation of the entire target plot. Optionally, the seedling throwing operation can be performed in the main operation area first, and then the sweeping area can be operated; or the sweeping area can be operated first, and then the seedling throwing operation can be performed in the main operation area. The specific operation can be determined according to actual needs.

[0058] The first target number of seedling-throwing rows required for each edge-sweeping area can be calculated according to the width of the edge-sweeping area. The first target number of seedling-throwing rows indicates the number of seedling-throwing rows required to be achieved by the seedling-throwing mechanism in the area. When the first target number of seedling-throwing rows is obtained, the first target number of seedling-throwing rows can be compared with the maximum number of seedling-throwing rows of the seedling-throwing mechanism.

[0059] If the first target number of seedling throwing rows is less than the maximum number of seedling throwing rows, then when performing the edge sweeping and seedling throwing operation on the edge sweeping area, the drone is controlled to fly along the length direction of the edge sweeping area, and according to the first target number of seedling throwing rows, a part of the seedling picking unit of the seedling throwing mechanism is controlled to perform the seedling throwing operation, so that the actual number of seedling throwing rows of the seedling throwing mechanism matches the width of the edge sweeping area.

[0060] It can be understood that each edge sweeping area of ​​the target plot is operated according to the above-mentioned seedling throwing operation method.

[0061] In this way, when the number of rows that need to be swept is not an integer multiple of the maximum number of rows for throwing seedlings of the throwing mechanism, part of the seedling taking units can be controlled based on the width of the sweeping area to throw the seedlings, thereby completing the throwing of the sweeping area to improve work efficiency and avoid the waste caused by directly using all the seedling taking units for throwing.

[0062] Optionally, in this embodiment, it can be determined by calculating in the following way whether the first target number of rows for throwing seedlings is less than the maximum number of rows for throwing seedlings. First, it can be determined whether the length direction of the edge sweeping area is parallel to the direction of the seedling planting row. If they are parallel, the first target number of rows for throwing seedlings can be determined based on the width of the edge sweeping area and the target row spacing. Among them, the seedling planting row direction is the planting row direction of the seedlings of the target plot, and the target row spacing is the row spacing of the seedlings of the target plot. If the length direction of the edge sweeping area is perpendicular to the seedling planting row direction, the first target number of rows for throwing seedlings can be determined based on the width of the edge sweeping area and the target plant spacing. Among them, the target plant spacing is the plant spacing of the seedlings of the target plot.

[0063] like Figure 6 and Figure 7 As shown, the target plot is a rectangle, the main operation area and the edge sweeping area are both rectangles, and the four edge sweeping areas are distributed around the main operation area. The target row spacing of the target plot is L1, and the target plant spacing is L2. The edge sweeping areas located on the upper and lower sides of the main operation area are edge sweeping area 1 and edge sweeping area 3, and the edge sweeping areas located on the left and right sides of the main operation area are edge sweeping area 2 and edge sweeping area 4. Among them, the width of edge sweeping area 1 and edge sweeping area 3 is L3, and the width of edge sweeping area 2 and edge sweeping area 4 is L4.

[0064] For the edge sweeping area 1 and the edge sweeping area 3, the first target number of rows for throwing seedlings in the edge sweeping area 1 and the edge sweeping area 3 can be determined according to the width L3 and the target row spacing L1. For the edge sweeping area 2 and the edge sweeping area 4, the first target number of rows for throwing seedlings in the edge sweeping area 2 and the edge sweeping area 4 can be determined according to the width L4 and the target plant spacing L2.

[0065] Optionally, as a possible implementation, when the length direction of the edge sweeping area is parallel to the direction of the seedling planting row, the width of the edge sweeping area can be divided by the target row spacing, and the integer part of the result obtained is used as the first target number of seedling throwing rows. Similarly, when the length direction of the edge sweeping area is perpendicular to the direction of the seedling planting row, the width of the edge sweeping area can be divided by the target plant spacing, and the integer part of the result obtained is used as the first target number of seedling throwing rows. In this way, the first target number of seedling throwing rows can be quickly calculated.

[0066] It is understandable that the above method of using the integer part of the quotient as the first target number of rows for seedling throwing is only an example, and the first target number of rows for seedling throwing can also be determined in combination with other factors. For example, the first target number of rows for seedling throwing can be calculated based on the width of the edge sweeping area and the specific position of the occupied area in the edge sweeping area.

[0067] After determining the first target number of rows for throwing seedlings, the first target number of rows for throwing seedlings can be compared with the maximum number of rows for throwing seedlings. If the first target number of rows for throwing seedlings is equal to the maximum number of rows for throwing seedlings, it means that when operating the edge sweeping area, all the seedling picking units can be used for throwing seedlings to perform full row operation.

[0068] If the first target number of rows for throwing seedlings is less than the maximum number of rows for throwing seedlings, only some of the seedling picking units can be used for throwing seedlings. As a possible implementation, multiple seedling picking units (for example, two seedling picking units) correspond to one driving source. In this case, a corresponding number of driving sources can be selected according to the first target number of rows for throwing seedlings to drive the corresponding seedling picking units to work. In this way, the seedling throwing operation can be achieved with fewer driving sources.

[0069] As another possible implementation, each seedling picking unit corresponds to a driving source, and multiple seedling picking units are arranged side by side to complete the seedling throwing operation of a row of seedlings. In this case, the working state of the seedling picking unit of the seedling throwing mechanism can be controlled according to the first target seedling throwing row number, so that the actual seedling throwing row number of the seedling throwing mechanism is equal to the first target seedling throwing row number. In this way, resource waste can be further avoided.

[0070] For example, if the maximum number of rows for throwing seedlings is 3, and the first target number of rows for throwing seedlings is 2, then two seedling taking units in the seedling throwing mechanism can be selected to perform the seedling throwing operation. Among them, the specific two seedling taking units to be selected can be determined according to actual needs. For example, if the row spacing between the two rows required for the edge sweeping area is the target row spacing, then two adjacent seedling taking units can be selected to perform the seedling throwing operation. If the row spacing between the two rows required for the edge sweeping area is greater than the target row spacing, then the seedling taking units located on both sides can be selected to perform the seedling throwing operation. It can be understood that the above is only an example, and the specific setting can be combined with actual needs.

[0071] For another example, if the maximum number of seedling throwing rows is 3 and the first target number of seedling throwing rows is 1, any one of the three seedling picking units can be selected to perform the seedling throwing operation.

[0072] As a possible implementation method, when only some of the seedling picking units in the seedling throwing mechanism are needed to throw the seedlings, the seedling picking units in the seedling throwing mechanism close to the planted area of ​​the seedlings can be controlled to throw the seedlings. In this way, when sweeping the edges, by using the inner seedling picking units of the seedling throwing mechanism to work, the impact of the wind field on the operated area can be avoided to the maximum extent. The inner side is the side of the seedling throwing mechanism close to the operated area, which can be determined in combination with the corresponding edge during actual edge sweeping and the flight direction of the drone.

[0073] For example, Figure 6 As shown in the figure, the main operation area is the area where the seedlings have been planted. When sweeping the edge according to the flight direction D of the drone, if the required first target number of rows for throwing seedlings is less than the maximum number of rows for throwing seedlings, the seedling picking unit close to the main operation area is used to perform the seedling throwing operation. For example, if there are seedling picking units 1, 2, and 3 arranged side by side, the first target number of rows for throwing seedlings corresponding to the sweeping area 1 is 1, and when the first target number of rows for throwing seedlings corresponding to the sweeping area 1 is 1, the seedling picking unit 1 is used to pick seedlings from the main operation area. Figure 6 When the UAV is flying in the direction D shown in the lower middle side to sweep the edge area 1, the seedling picking unit 1 close to the main operation area is used to perform the seedling throwing operation on the edge sweeping area 1, and the seedling picking unit 2 or the seedling picking unit 3 far away from the main operation area is not used to perform the seedling throwing operation on the edge sweeping area 1.

[0074] If the first target number of rows for seedling throwing is greater than the maximum number of rows for seedling throwing, Figure 8 Please refer to Figure 8 , Figure 8 The second flow chart of the seedling throwing operation method provided in the embodiment of the present application is as follows. In the present embodiment, after step S110, the method may further include steps S130 to S140.

[0075] Step S130: when the first target number of rows for throwing seedlings is greater than the maximum number of rows for throwing seedlings, dividing the edge sweeping area into a plurality of sub-areas according to the maximum number of rows for throwing seedlings.

[0076] Step S140, when the multiple sub-areas include a target sub-area in which the required second target number of seedling throwing rows is less than the maximum number of seedling throwing rows of the seedling throwing mechanism, when the seedling throwing operation is performed on the target sub-area, the drone is controlled to fly along the length direction of the target sub-area, and according to the second target number of seedling throwing rows, some seedling picking units of the seedling throwing mechanism are controlled to throw the seedlings, so that the actual number of seedling throwing rows of the seedling throwing mechanism matches the width of the target sub-area.

[0077] If the first target number of seedling throwing rows is an integer multiple of the maximum number of seedling throwing rows, and the multiple is greater than 1, the edge sweeping area can be divided into multiple sub-areas according to the maximum number of seedling throwing rows, and full-row operations can be performed for each sub-area, that is, all seedling picking units of the seedling throwing mechanism are used to throw seedlings in each sub-area.

[0078] If the first target number of rows for seedling throwing is greater than the maximum number of rows for seedling throwing and is not an integer multiple of the maximum number of rows for seedling throwing, the edge sweeping area can be divided into multiple sub-areas according to the maximum number of rows for seedling throwing. The multiple sub-areas may include a sub-area where the required second target number of rows for seedling throwing is the maximum number of rows for seedling throwing, and a target sub-area where the required second target number of rows for seedling throwing is less than the maximum number of rows for seedling throwing. For the sub-area where the second target number of rows for seedling throwing is the maximum number of rows for seedling throwing, full-row operation can be performed, that is, all the seedling picking units of the seedling throwing mechanism are used for seedling throwing.

[0079] For the target sub-area, the UAV can be controlled to fly along the length direction of the target sub-area, and the partial seedling taking units of the seedling throwing mechanism can be controlled to throw the seedlings according to the second target number of seedling throwing rows, so that the actual number of seedling throwing rows of the seedling throwing mechanism matches the width of the target sub-area, that is, the method described in the previous step S120 is adopted, and the details will not be repeated here.

[0080] Optionally, after completing the edge sweeping of one edge sweeping area, the next edge sweeping area can be operated. Alternatively, the first target number of rows of seedlings to be thrown required for each edge sweeping area can be calculated first, and then the flight path can be planned based on the first target number of rows of seedlings to be thrown required for each edge sweeping area, so as to improve the operation efficiency.

[0081] Optionally, in this embodiment, in order to improve the working efficiency, Fig. 9 As shown, the seedling throwing system includes two seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 are arranged on the drone 200 in a back-to-back manner. Fig. 9 (a) is a side view of the seedling throwing system. Fig. 9 (b) is a three-axis side view of the seedling throwing system. The two seedling throwing mechanisms can share a load module. When the seedling picking unit is controlled to work, the two opposite seedling picking units are controlled to complete the seedling throwing operation of a row of seedlings, which is convenient for improving the efficiency of the seedling throwing operation. The seedling throwing system can use one or more groups of seedling picking units to complete the seedling throwing operation of a row of seedlings according to actual operation requirements, wherein a group of seedling picking units includes two opposite seedling picking units.

[0082] For example, Fig.10 As shown, the seedling throwing system includes two seedling throwing mechanisms arranged back to back, one of which includes cutter heads 1, 2 and 3, and the other includes cutter heads 4, 5 and 6. The cutter heads are used for picking up and throwing seedlings. Cutter head 1 is opposite to cutter head 4 and is used for corresponding one row of operations; cutter head 2 is opposite to cutter head 5 and is used for corresponding one row of operations; cutter head 3 is opposite to cutter head 6 and is used for corresponding one row of operations. It can be understood that Fig.10 The seedling throwing system shown is only an example. The maximum number of seedling throwing rows of an actual seedling throwing system may not be limited to 3 rows, depending on the load capacity of the drone, and may also be greater than 3 rows, for example, 4 rows or 5 rows.

[0083] Below Fig. 9 and Fig.10 As an example, the seedling throwing system shown in the figure is combined with Figure 11 to Figure 13 , introduces the operation modes that can be provided when sweeping the edge of the seedling throwing system. Among them, Figure 11 to Figure 13 The direction D in Figure 6 The flight direction of the drone.

[0084] When the target number of rows for the sweeping area or the divided sub-area is equal to the maximum number of rows for the sweeping, you can use Fig.11 The full-row operation mode shown is that at this time, cutter head 1 and cutter head 4 are used to complete a row of operations, cutter head 2 and cutter head 5 are used to complete another row of operations, and cutter head 3 and cutter head 6 are used to complete another row of operations.

[0085] When the target number of rows for transplanting in the sweeping area or the divided sub-area is 2, the Fig.12 As shown, only 2 rows of operation mode are started. Fig.12 As shown in (a) in FIG. 1 , a row of operations is completed using cutter head 1 and cutter head 4, and another row of operations is completed using cutter head 2 and cutter head 5; or Fig.12 As shown in (b), cutter head 1 and cutter head 4 are used to complete one row of work, and cutter head 3 and cutter head 6 are used to complete another row of work; or, as shown in (b), cutter head 1 and cutter head 4 are used to complete one row of work, and cutter head 3 and cutter head 6 are used to complete another row of work; Fig.12As shown in (c) in FIG. 1 , cutter head 2 and cutter head 5 are used to complete one row of work, and cutter head 3 and cutter head 6 are used to complete another row of work. The specific selection of which mode to work in can be determined in combination with actual needs. For example, if the distance between two rows required for the edge sweeping area or the divided sub-area is the target row distance, then Fig.12 If there is a larger occupied area between the two rows required for the edge sweeping area or the divided sub-area, and the distance between the two rows is greater than the target row distance, then the mode shown in (a) or (c) can be used. Fig.12 Mode (c) in .

[0086] When the target number of rows for transplanting in the sweeping area or the divided sub-area is 1 row, Fig.13 As shown in the example, only one row of the job is started. Fig.13 As shown in (a) of FIG. 1 , a row of operations is completed using cutter head 1 and cutter head 4; or, as shown in FIG. Fig.13 As shown in (b), a row of operations is completed using cutter head 2 and cutter head 5; or, as shown in (b) Fig.13 As shown in (c), a row of work is completed using the cutter head 3 and the cutter head 6. Which mode to choose can be determined in combination with actual needs.

[0087] From the above description, it can be seen that, assuming that the maximum number of rows for the seedling throwing system is m, n is the number of rows for starting the operation when sweeping the edge, and the operating conditions are m≥1, m≥n, the types of operation modes that the seedling throwing system can provide are C m n .

[0088] Below Fig.14 Take the control logic of the above-mentioned rice seedling throwing operation as an example to illustrate briefly. Fig.14 The control logic shown corresponds to Fig.10 The seedling throwing system shown.

[0089] The user can send flight information to the seedling throwing system through a terminal device with an APP installed. The APP is used to control the seedling throwing system. The flight information may include the take-off point location and flight direction. Figure 6 As shown, the take-off point position is used to determine that the lower left corner is the take-off point of the drone, and the flight direction is used to indicate the flight direction to be used when starting to scan the edge, for example, to indicate the use of Figure 6 Direction D of the lower side is shown. Figure 6 The two directions D in the figure represent the two directions that can be selected when the seedling throwing system sweeps the edge.

[0090] After receiving the flight information, the execution service module of the control center of the seedling throwing system can determine the cutter head to be used in combination with the width of each sweeping area, and then translate it into a service instruction and send it to the main control module in the control center. After receiving the service instruction, the main control module converts it into the control requirements under the flight parameters and sends it to the main drive motor. The main drive motor controls the cutter head motors 1, 2, and 3 in combination with the control requirements to control the cutter heads 1, 2, and 3; the main drive motor also sends the control requirements to the slave drive motor, and the slave drive motor controls the cutter head motors 4, 5, and 6 according to the control requirements to control the cutter heads 4, 5, and 6, thereby realizing the corresponding working mode.

[0091] In the above method, the main drive motor is connected to all the cutter head motors, and other methods can also be used to control the cutter head motors. It is understandable that Fig.14 The example above takes the maximum number of seedling-throwing rows of the seedling-throwing system as 3. If the maximum number of seedling-throwing rows is greater than 3, the control logic can increase the corresponding cutter head motor accordingly.

[0092] The seedling throwing operation method provided in the embodiment of the present application can control part of the seedling picking units to throw seedlings based on the width of the edge sweeping area when the number of rows required for edge sweeping is less than the maximum number of rows for throwing seedlings of the seedling throwing system at the last time of the seedling throwing operation, so as to complete the seedling throwing in the edge sweeping area, thereby improving the operation efficiency and avoiding the waste caused by directly using all the seedling picking units for throwing seedlings. In addition, when only part of the seedling picking units need to work, the seedling picking units close to the planted area of ​​the seedlings can be used to throw seedlings to maximize the avoidance of the impact of the wind field on the operated area.

[0093] In order to perform the corresponding steps in the above embodiments and various possible methods, a method for implementing the seedling throwing operation device 700 is provided below. Optionally, the seedling throwing operation device 700 can adopt the above Figure 4 The device structure of the electronic device 600 is shown. Fig.15 , Fig.15 A block diagram of a seedling throwing device 700 provided in an embodiment of the present application. It should be noted that the basic principle and technical effects of the seedling throwing device 700 provided in this embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above-mentioned embodiments. The seedling throwing device 700 is applied to a seedling throwing system, which includes a seedling throwing mechanism and a drone. The seedling throwing mechanism is mounted on the drone, and the seedling throwing mechanism includes a plurality of seedling picking units arranged side by side for separating seedlings and throwing seedlings. The seedling throwing device 700 may include a judgment module 710 and a control module 720.

[0094] The judgment module 710 is used to judge, for each edge sweeping area of ​​the target plot, whether the first target number of seedling throwing rows required for the edge sweeping area is less than the maximum number of seedling throwing rows of the seedling throwing mechanism, wherein the first target number of seedling throwing rows is determined based on the width of the edge sweeping area.

[0095] The control module 720 is used to control the UAV to fly along the length direction of the edge sweeping area when the first target number of seedlings to be thrown is less than the maximum number of seedlings to be thrown, and to control some of the seedling picking units of the seedling throwing mechanism to throw the seedlings according to the first target number of seedlings to be thrown, so that the actual number of seedlings to be thrown of the seedling throwing mechanism matches the width of the edge sweeping area.

[0096] Optionally, in the present embodiment, the judgment module 710 is specifically used for: when the length direction of the edge sweeping area is parallel to the direction of the seedling planting row, determining the first target number of seedling throwing rows according to the width of the edge sweeping area and the target row spacing, wherein the seedling planting row direction is the planting row direction of the seedlings of the target plot; when the length direction of the edge sweeping area is perpendicular to the seedling planting row direction, determining the first target number of seedling throwing rows according to the width of the edge sweeping area and the target plant spacing; and judging whether the first target number of seedling throwing rows is less than the maximum number of seedling throwing rows.

[0097] Optionally, in this embodiment, the control module 720 is specifically used to control the working state of the seedling picking unit of the seedling throwing mechanism according to the first target seedling throwing row number, so that the actual seedling throwing row number of the seedling throwing mechanism is equal to the first target seedling throwing row number.

[0098] Optionally, in this embodiment, the control module 720 is specifically used to control the seedling-picking unit in the seedling-casting mechanism to cast the seedlings close to the planted area of ​​the seedlings.

[0099] Optionally, in this embodiment, the control module 720 is also used for: when the first target number of seedling throwing rows is greater than the maximum number of seedling throwing rows, dividing the edge sweeping area into a plurality of sub-areas according to the maximum number of seedling throwing rows; when the plurality of sub-areas include a target sub-area in which the required second target number of seedling throwing rows is less than the maximum number of seedling throwing rows of the seedling throwing mechanism, when performing seedling throwing operation on the target sub-area, controlling the drone to fly along the length direction of the target sub-area, and controlling part of the seedling picking units of the seedling throwing mechanism to throw the seedlings according to the second target number of seedling throwing rows, so that the actual number of seedling throwing rows of the seedling throwing mechanism matches the width of the target sub-area.

[0100] Optionally, in this embodiment, the seedling throwing system includes two seedling throwing mechanisms, which are arranged on the drone in a back-to-back manner, and the control module 720 is specifically used to control two relative seedling picking units to complete the seedling throwing operation of a row of seedlings.

[0101] Optionally, the above modules can be stored in the form of software or firmware. Figure 4 The memory 610 shown in FIG. 600 may be fixed in the operating system (OS) of the electronic device 600 and may be Figure 4 Meanwhile, the data, program codes, etc. required to execute the above modules may be stored in the memory 610.

[0102] An embodiment of the present application also provides a readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the rice seedling throwing operation method is implemented.

[0103] In summary, the embodiments of the present application provide a method, device, electronic device and readable storage medium for seedling throwing operation. For each edge sweeping area of ​​the target plot, the first target number of seedling throwing rows required for the edge sweeping area is determined based on the width of the scanning area, and it is judged whether the first target number of seedling throwing rows is less than the maximum number of seedling throwing rows of the seedling throwing mechanism carried on the drone; if it is less than, when the edge sweeping area is operated, the drone is controlled to fly along the length direction of the edge sweeping area, and based on the first target number of seedling throwing rows, some of the seedling picking units in the seedling throwing mechanism are controlled to throw the seedlings, so that the actual number of seedling throwing rows of the seedling throwing mechanism matches the width of the edge sweeping area. Among them, the seedling throwing mechanism includes a plurality of seedling picking units arranged side by side for separating seedlings and seedling throwing. In this way, when the width of the scanning area is less than the maximum operating width corresponding to the seedling throwing mechanism, some of the seedling picking units can be controlled to throw the seedlings based on the width of the edge sweeping area, so as to complete the seedling throwing of the edge sweeping area, thereby improving the operation efficiency and avoiding the waste caused by directly using all the seedling picking units for throwing.

[0104] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0105] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0106] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0107] The above description is only an optional embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rice seedling throwing method, characterized in that: Applied to a seedling throwing system, the seedling throwing system comprises a seedling throwing mechanism and a drone, the seedling throwing mechanism is mounted on the drone, the seedling throwing mechanism comprises a plurality of seedling picking units arranged side by side for separating seedlings and throwing seedlings, the method comprises: For each edge sweeping area of ​​the target plot, determining whether a first target number of seedling throwing rows required for the edge sweeping area is less than a maximum number of seedling throwing rows of the seedling throwing mechanism, wherein the first target number of seedling throwing rows is determined based on a width of the edge sweeping area; When the first target number of seedlings to be thrown is less than the maximum number of seedlings to be thrown, when the seedlings to be thrown operation is performed in the edge sweeping area, the UAV is controlled to fly along the length direction of the edge sweeping area, and some of the seedling picking units of the seedling throwing mechanism are controlled to throw the seedlings according to the first target number of seedlings to be thrown, so that the actual number of seedlings to be thrown by the seedling throwing mechanism matches the width of the edge sweeping area.

2. The method according to claim 1, characterized in that The method of controlling some of the seedling picking units of the seedling throwing mechanism to throw seedlings according to the first target number of seedling throwing rows comprises: According to the first target number of seedlings thrown rows, the working state of the seedling picking unit of the seedling throwing mechanism is controlled so that the actual number of seedlings thrown rows of the seedling throwing mechanism is equal to the first target number of seedlings thrown rows.

3. The method according to claim 1, characterized in that The method of controlling some of the seedling picking units of the seedling throwing mechanism to throw seedlings according to the first target number of seedling throwing rows comprises: The seedling-taking unit in the seedling-casting mechanism is controlled to cast the seedlings in the planted area close to the seedlings.

4. The method according to claim 1, characterized in that: The step of judging whether the first target number of seedling throwing rows required for the edge sweeping area is less than the maximum number of seedling throwing rows of the seedling throwing mechanism comprises: When the length direction of the edge sweeping area is parallel to the direction of the rice seedling planting row, the first target number of rice seedling throwing rows is determined according to the width of the edge sweeping area and the target row spacing, wherein the direction of the rice seedling planting row is the planting row direction of the rice seedlings of the target plot; When the length direction of the edge sweeping area is perpendicular to the direction of the seedling planting row, the first target number of seedling throwing rows is determined according to the width of the edge sweeping area and the target plant spacing; Determine whether the first target number of rows for transplanting seedlings is less than the maximum number of rows for transplanting seedlings.

5. The method according to claim 1, characterized in that: The method further comprises: When the first target number of rows for throwing seedlings is greater than the maximum number of rows for throwing seedlings, dividing the edge sweeping area into a plurality of sub-areas according to the maximum number of rows for throwing seedlings; In the case that the multiple sub-areas include a target sub-area in which the required second target number of seedling throwing rows is less than the maximum number of seedling throwing rows of the seedling throwing mechanism, when the seedling throwing operation is performed on the target sub-area, the UAV is controlled to fly along the length direction of the target sub-area, and according to the second target number of seedling throwing rows, some seedling picking units of the seedling throwing mechanism are controlled to throw the seedlings, so that the actual number of seedling throwing rows of the seedling throwing mechanism matches the width of the target sub-area.

6. The method according to any one of claims 1 to 5, characterized in that: The seedling throwing system includes two seedling throwing mechanisms, which are arranged on the drone in a back-to-back manner. The part of the seedling picking unit controlling the seedling throwing mechanism to throw the seedlings includes: Two opposite seedling picking units are controlled to complete the seedling throwing operation of a row of seedlings.

7. A seedling throwing device, characterized in that: Applied to a seedling throwing system, the seedling throwing system includes a seedling throwing mechanism and a drone, the seedling throwing mechanism is mounted on the drone, the seedling throwing mechanism includes a plurality of seedling picking units arranged side by side for separating seedlings and throwing seedlings, the device includes: A judgment module is used to judge, for each edge sweeping area of ​​the target plot, whether a first target number of seedling throwing rows required for the edge sweeping area is less than a maximum number of seedling throwing rows of the seedling throwing mechanism, wherein the first target number of seedling throwing rows is determined based on the width of the edge sweeping area; A control module is used for controlling the UAV to fly along the length direction of the edge sweeping area when the first target number of seedling throwing rows is less than the maximum number of seedling throwing rows, and controlling part of the seedling picking units of the seedling throwing mechanism to throw the seedlings according to the first target number of seedling throwing rows, so that the actual number of seedling throwing rows of the seedling throwing mechanism matches the width of the edge sweeping area.

8. The device according to claim 7, characterized in that The control module is specifically used for: The seedling-taking unit in the seedling-casting mechanism is controlled to cast the seedlings in the planted area close to the seedlings.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the rice seedling throwing method described in any one of claims 1-6.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the rice seedling throwing method as described in any one of claims 1 to 6 is implemented.

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