Unmanned aerial vehicle control method and device, seedling throwing system and readable storage medium

Abstract

The invention provides an unmanned aerial vehicle control method and device, a seedling throwing system and a readable storage medium, and relates to the technical field of unmanned aerial vehicles. When the unmanned aerial vehicle executes flying seedling throwing operation, the seedling feeding disc arranged on one side of the unmanned aerial vehicle and included in the seedling throwing mechanism is controlled to transversely move, and the seedling taking module included in the seedling throwing mechanism is controlled to separate seedlings from blanket seedlings borne by the seedling feeding disc and then throw the seedlings out, so that the seedling throwing operation effect of the unmanned aerial vehicle is achieved; course control is carried out on the unmanned aerial vehicle to inhibit course disturbance generated by transverse movement of a seedling feeding disc and ensure that the course of the unmanned aerial vehicle is stable, so that the disturbance influence of the transverse movement of the seedling feeding disc of a seedling throwing mechanism on the course of the unmanned aerial vehicle is considered in the flight process of the unmanned aerial vehicle, and course interference of the transverse movement of the seedling feeding disc on a final course control result is reduced; the course stability of the unmanned aerial vehicle is improved, and it is ensured that the unmanned aerial vehicle can stably fly to achieve seedling throwing operation.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method and device for controlling an unmanned aerial vehicle, a rice seedling throwing system and a readable storage medium. Background Art

[0002] With the continuous development of science and technology, the application of drone technology in various industries (such as agriculture, logistics, etc.) has become more and more extensive. Among them, drone rice seedling transplanting technology is a new research direction of drone technology today.

[0003] At present, in the process of UAV seedling throwing, the throwing action usually has a serious impact on the flight stability of the UAV. Therefore, how to improve the flight stability of the UAV during the flying process of seedling throwing is an important technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a drone control method and device, a seedling throwing system and a readable storage medium, which can take into account the disturbance effect of the lateral movement of the seedling sending disc of the seedling throwing mechanism on the heading of the drone during the flight of the drone, and reduce the heading interference of the lateral movement of the seedling sending disc on the final heading control result, so as to avoid the left and right swaying of the drone heading, improve the heading stability of the drone, and ensure that the drone can carry the seedling throwing mechanism for stable flight and realize flying seedling throwing operations.

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

[0006] In a first aspect, the present application provides a method for controlling a drone, wherein the drone is equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module arranged on one side of the drone, and a seedling taking module cooperating with the seedling delivery module, wherein the seedling delivery module includes a seedling delivery tray that can move laterally; the method includes:

[0007] When the drone performs the flying seedling throwing operation, the seedling delivery tray is controlled to move laterally, and the seedling taking module is controlled to separate the seedlings from the blanket seedlings carried by the seedling delivery tray and then throw them out;

[0008] During the lateral movement of the seedling delivery tray, the UAV is steered to suppress the lateral disturbance caused by the lateral movement of the seedling delivery tray.

[0009] In an optional embodiment, the number of installed seedling throwing mechanisms is two, and the seedling delivery module and the seedling retrieval module are respectively provided on opposite sides of the UAV, wherein when the UAV performs flying seedling throwing operations, the lateral movement directions of the seedling delivery disks of the two seedling throwing mechanisms are opposite in real time, and the heading control operation is used to suppress the heading disturbance caused by the reverse lateral movement of the seedling delivery disks of the two seedling throwing mechanisms.

[0010] In an optional embodiment, the step of performing heading control on the drone includes:

[0011] If the lateral movement direction of the seedling delivery tray on the drone is distributed in a clockwise direction relative to the drone, the heading of the drone is controlled to deflect in the clockwise direction;

[0012] If the lateral movement direction of the seedling delivery tray on the UAV is distributed in a counterclockwise direction relative to the UAV, the heading of the UAV is controlled to deflect in the counterclockwise direction.

[0013] In an optional embodiment, the step of performing heading control on the drone includes:

[0014] Obtaining the heading disturbance torque generated by the lateral movement of the seedling delivery disc of the seedling throwing mechanism;

[0015] The heading of the UAV is adjusted according to the heading disturbance torque.

[0016] In an optional implementation, the step of adjusting the heading of the UAV according to the heading disturbance torque includes:

[0017] Calculate the heading control disturbance amount caused by all seedling throwing mechanisms to the drone according to the heading disturbance torque;

[0018] The heading of the UAV is adjusted according to the heading control disturbance amount.

[0019] In an optional embodiment, when the number of the seedling throwing mechanisms installed is two, the step of calculating the heading control disturbance amount caused by all the seedling throwing mechanisms to the drone according to the heading disturbance torque comprises:

[0020] According to the kinematic relationship between the two seedling throwing mechanisms and the UAV, the control quantity disturbance is estimated based on the heading disturbance torque generated by each of the two seedling throwing mechanisms, and the heading control disturbance quantity of the UAV caused by the coordinated action of the two seedling throwing mechanisms is obtained.

[0021] In an optional embodiment, the step of adjusting the heading of the UAV according to the heading control disturbance amount includes:

[0022] Solving the heading control amount according to the heading control disturbance amount, the desired heading data and the actual heading data of the UAV to obtain a target heading control amount;

[0023] The UAV is controlled to adjust its heading according to the target heading control amount, so that the UAV flies according to the expected heading data.

[0024] In an optional embodiment, the step of solving the heading control amount according to the heading control disturbance amount, the desired heading data and the actual heading data of the UAV to obtain the target heading control amount includes:

[0025] Substituting the desired heading data and the actual heading data into a preset heading control law equation to solve the equation, and obtaining a heading control amount to be output that matches the desired heading data and the actual heading data;

[0026] The to-be-output heading control amount is subjected to disturbance removal processing according to the heading control disturbance amount to obtain the target heading control amount.

[0027] In an optional implementation, the UAV is equipped with a heading data collector, and the step of obtaining the actual heading data of the UAV includes:

[0028] Acquire the original heading data collected by the heading data collector for the UAV;

[0029] The original heading data is cleaned and corrected according to the heading disturbance torque to obtain the actual heading data.

[0030] In an optional embodiment, the step of obtaining the heading disturbance torque generated by the lateral movement of the seedling delivery disc of the seedling throwing mechanism includes:

[0031] Obtaining the reciprocating lateral movement frequency of the lateral movement of the seedling delivery plate of the seedling throwing mechanism;

[0032] According to the kinematic relationship between the seedling throwing mechanism and the UAV, the actual reaction torque of the lateral movement of the seedling delivery plate at the reciprocating lateral movement frequency is calculated to obtain the heading disturbance torque.

[0033] In an optional embodiment, the seedling delivery module further includes a driving device, and the driving device is used to drive the seedling delivery tray to reciprocate and transversely move. Then, the step of obtaining the reciprocating and transverse movement frequency of the transverse movement of the seedling delivery tray of the seedling throwing mechanism includes:

[0034] Obtaining the actual motor speed and actual motor rotation position of the drive device;

[0035] According to the preset motor rotation positions of the two extreme lateral displacement positions of the seedling delivery tray at the drive device, the actual motor speed and the actual motor rotation position of the drive device are converted into the lateral displacement of the seedling delivery tray to obtain the actual moving speed and the actual moving position of the seedling delivery tray between the two extreme lateral displacement positions;

[0036] The reciprocating lateral movement frequency of the seedling delivery tray is calculated according to the actual moving speed, the actual moving position and the actual distance between the two extreme lateral movement positions.

[0037] In a second aspect, the present application provides a drone control device, wherein the drone is equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module arranged on one side of the drone, and a seedling taking module cooperating with the seedling delivery module, wherein the seedling delivery module includes a seedling delivery tray that can move laterally; the device includes:

[0038] A seedling throwing control module is used to control the seedling delivery tray to move horizontally when the UAV performs the flying seedling throwing operation, and control the seedling taking module to separate the seedlings from the blanket seedlings carried by the seedling delivery tray and then throw them out;

[0039] The heading control module is used to control the heading of the UAV during the lateral movement of the seedling delivery tray to suppress the heading disturbance caused by the lateral movement of the seedling delivery tray.

[0040] In a third aspect, the present application provides a seedling throwing system, the system comprising a main control unit, a drone and a seedling throwing mechanism, the seedling throwing mechanism being installed on the drone, wherein the seedling throwing mechanism comprises a seedling delivery module arranged on one side of the drone, and a seedling retrieval module cooperating with the seedling delivery module, wherein the seedling delivery module comprises a driving device and a seedling delivery tray, the driving device is used to drive the seedling delivery tray to carry the blanket seedlings for transverse movement, and the seedling retrieval module is used to separate the seedlings from the blanket seedlings carried by the seedling delivery tray and then throw them out;

[0041] The drone includes a drone rotor and a rotor drive motor, wherein each rotor drive motor is connected to a corresponding drone rotor and is used to adjust the rotation state of the connected drone rotor;

[0042] The main control unit stores a computer program and can execute the computer program to control the UAV and the seedling throwing mechanism to work in coordination and implement the UAV control method described in any one of the aforementioned embodiments.

[0043] In an optional embodiment, the number of the seedling throwing mechanisms installed is two, and the seedling delivery module and the seedling retrieval module are respectively provided on opposite sides of the drone, wherein the lateral movement directions of the seedling delivery discs of the two seedling throwing mechanisms are opposite in real time during the drone seedling throwing operation.

[0044] In a fourth aspect, the present application provides a readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a rice seedling throwing system constructed based on a drone, the drone control method described in any one of the aforementioned embodiments is implemented;

[0045] Among them, the seedling throwing system includes a seedling throwing mechanism installed on the drone, the seedling throwing mechanism includes a seedling sending module arranged on one side of the drone, and a seedling retrieval module cooperating with the seedling sending module, wherein the seedling sending module includes a seedling sending tray that can carry a blanket of seedlings for horizontal movement, and the seedling retrieval module is used to separate the seedlings from the blanket of seedlings carried by the seedling sending tray and then throw them out.

[0046] In this case, the beneficial effects of the embodiments of the present application may include the following:

[0047] When the drone performs a flying seedling throwing operation, the present application controls the seedling throwing mechanism, including a seedling delivery tray arranged on one side of the drone, to move horizontally, and controls the seedling taking module included in the seedling throwing mechanism to separate the seedlings from the blanket of seedlings carried by the seedling delivery tray and then throw them out, so as to achieve the effect of the drone throwing operation. At the same time, the present application will control the heading of the drone during the lateral movement of the seedling delivery tray to suppress the heading disturbance caused by the lateral movement of the seedling delivery tray to ensure the heading stability of the drone, so as to consider the disturbing effect of the lateral movement of the seedling delivery tray of the seedling throwing mechanism on the heading of the drone during the flight of the drone, and reduce the heading interference of the lateral movement of the seedling delivery tray on the final heading control result, so as to avoid the left and right swaying of the drone heading, improve the heading stability of the drone, and ensure that the drone can carry the seedling throwing mechanism for stable flight and realize the flying seedling throwing operation.

[0048] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A schematic diagram of the structure of a seedling throwing system provided in one embodiment of the present application;

[0051] Figure 2 A schematic diagram of the structure of a seedling throwing mechanism provided in an embodiment of the present application at a first viewing angle;

[0052] Figure 3 A schematic diagram of the structure of the seedling throwing mechanism provided in one embodiment of the present application at a second viewing angle;

[0053] Figure 4 A schematic structural diagram of a seedling throwing system provided in yet another embodiment of the present application at a first viewing angle;

[0054] Figure 5 A schematic structural diagram of a seedling throwing system provided in yet another embodiment of the present application at a second viewing angle;

[0055] Figure 6 A schematic diagram of the communication connection of the seedling throwing system provided in an embodiment of the present application;

[0056] Figure 7 A schematic diagram of a flow chart of a drone control method provided in an embodiment of the present application;

[0057] Figure 8 for Figure 1 The schematic diagram of the heading disturbance generation of the seedling throwing system shown;

[0058] Fig. 9 for Figure 4 The schematic diagram of the heading disturbance generation of the seedling throwing system shown;

[0059] Fig.10 for Figure 7 A flowchart of the sub-steps included in step S520;

[0060] Fig.11 A schematic diagram of the heading control of a drone provided in an embodiment of the present application;

[0061] Fig.12 A schematic diagram of the composition of the drone control device provided in an embodiment of the present application.

[0062] Icons: 1000-seedling throwing system; 100-seedling throwing mechanism; 10-load module; 20-seedling delivery module; 21-seedling support plate; 211-opening; 22-seedling delivery tray; 23-driving device; 24-conveying device; 25-seedling pressing device; 251-rotating shaft; 252-pressing bar; 30-seedling taking module; 31-driving source; 32-transmission box; 33-cutter head; 331-mounting part; 332-cutter body; 333-slot; 40-support module; 43-first bracket; 46-second bracket; 47-third bracket; 200-UAV; 300-blanket seedling; 310-seedling; 50-main control unit; 201-rotor drive motor; 400-UAV control device; 410-seedling throwing control module; 420-heading control module. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0064] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0065] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0066] In the description of the present application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0067] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0068] In addition, in the description of the present application, it is also necessary to understand that the relational terms such as the term "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "includes", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements that are not clearly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood by specific circumstances.

[0069] During the research and development process, the applicant discovered that when a drone performs flying seedling transplanting operations, the lateral movement of the seedling delivery tray of its seedling delivery module will cause impact to the drone during flight, disturb the drone's heading, and cause the actual heading of the drone during flight to "sway left and right", seriously affecting the drone's heading stability and flight stability.

[0070] To this end, the embodiments of the present application provide a drone control method and device, a seedling throwing system and a readable storage medium to consider the disturbance effect of the lateral movement of the seedling sending disc of the seedling throwing mechanism on the drone heading during the flight of the drone, and reduce the heading interference of the lateral movement of the seedling sending disc on the final heading control result, thereby avoiding the left and right swaying of the drone heading and improving the heading stability of the drone, to ensure that the drone can carry the seedling throwing mechanism for stable flight and realize flying seedling throwing operations.

[0071] 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.

[0072] Please refer to Figure 1 and Figure 2 The embodiment of the present application provides a seedling throwing mechanism 100 and a seedling throwing system 1000. Specifically, the seedling throwing system 1000 includes a drone 200 and at least one set of seedling throwing mechanisms 100, and the seedling throwing mechanisms 100 are mounted on the drone 200, so as to separate the blanket seedlings 300 by using the seedling throwing mechanisms 100, and the separated seedlings 310 are thrown out by centrifugal force and / or ejection force to realize the seedling throwing operation, and at the same time cooperate with the flight of the drone 200 to realize the flying seedling throwing operation.

[0073] There are many ways for the seedling throwing mechanism 100 to throw the seedlings 310. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the seedlings 310 can be thrown out by centrifugal force. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the separated seedlings 310 can be ejected and thrown out by an ejection force (the seedling throwing mechanism 100 can be provided with an ejection member, and the ejection member can provide an ejection force). In one embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and ejection force to throw out the separated seedlings 310.

[0074] The seedling throwing mechanism 100 may include a load module 10, a seedling delivery module 20, and a seedling retrieval module 30. The load module 10 is used to be arranged on the fuselage frame of the drone 200. The seedling delivery module 20 is arranged on the load module 10, and the seedling delivery module 20 is used to transport the seedling blanket 300. The seedling retrieval module 30 is arranged on the load module 10, and the seedling retrieval module 30 is used to separate the seedlings 310 from the seedling blanket 300 on the seedling delivery module 20 and then throw them out through centrifugal force and / or ejection force. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation in flight, and the seedling blanket 300 is transported by the seedling delivery module 20, and the seedling blanket 300 is separated by the seedling retrieval module 30 and then the seedlings 310 are thrown out, so as to realize the flying seedling throwing operation of the seedling blanket 300. In one implementation of this embodiment, the number of the seedling throwing mechanism 100 installed on the drone 200 is one, and the seedling sending module 20 and the seedling taking module 30 included in the seedling throwing mechanism 100 can be set on one side of the fuselage frame of the drone 200 (for example, Figure 1 The specific distribution diagram of the seedling throwing mechanism 100 is shown, and Figure 8 The seedling delivery module and seedling removal module are located on the left side of the drone body when viewed from a bird's-eye view).

[0075] It should be noted that there are many ways to separate, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling removal method is not limited.

[0076] In the embodiment of the present application, the drone 200 is 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 front, back, left, right, up, and down directions are shown in the accompanying drawings. 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.

[0077] Figure 1 What 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, and the drone 200 serves as a mobile platform, and is a split design with the seedling throwing mechanism 100. In other words, this form of seedling throwing mechanism 100 is an independent structure, which does not rely on the fuselage frame of the drone 200. Based on this type, in a specific operation scene, the corresponding device can be replaced according to actual operation needs. For example, after the seedling throwing mechanism 100 is disassembled, a spreading device is installed to achieve the spreading of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled, and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0078] Please refer to Figure 2 and Figure 3 , each module of the seedling throwing mechanism 100 will be described in detail below.

[0079] Specifically, the seedling removal module 30 may include a driving source 31 and a cutter head 33. The driving source 31 is connected to the cutter head 33, and is used to drive the cutter head 33 to separate the seedling blanket 300 on the seedling delivery module 20, and to eject the separated seedlings 310 by centrifugal force and / or ejection force. Generally, the driving source 31 is a motor, which drives the cutter head 33 along the Figure 2 The cutter head 33 rotates in the direction indicated by the arrow A, thereby separating the seedling blanket 300 during the contact process. The separated seedling 310 follows the cutter head 33 to rotate in the direction of the arrow A. When the cutter head 33 rotates to a specific position, the seedling 310 is ejected under the action of the centrifugal force and / or the ejection force. The cutter head 33 may be provided with an ejection member, which can complete energy storage and energy release through the cam member during the rotation of the cutter head. When the ejection member releases energy, the seedling 310 is ejected under the ejection force provided by the ejection member.

[0080] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the driving source 31, and the driving source 31 directly drives the cutter head 33 to rotate, or the cutter head 33 can be rotatably mounted on the load module 10, and the driving source 31 is mounted on the load module 10, and connected to the cutter head 33 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force. Of course, the driving source 31 can also be other than a motor, for example, a pneumatic motor, a gasoline engine, etc.

[0081] In order to facilitate the throwing out of the rice seedling 310, in the embodiment of the present application, the cutter head 33 includes a mounting portion 331 and a cutter body 332 disposed on the mounting portion 331, the mounting portion 331 is connected to the driving source 31, and a notch 333 is formed on the cutter body 332, the notch 333 is used to clamp the rice seedling 310 after the cutter body 332 separates the lower rice seedling 310, so that the rice seedling 310 follows the rotation and is thrown out under the action of centrifugal force and / or ejection force. It can be understood that in the specific operation process, the notch 333 on the cutter body 332 will clamp the soil part at the root of the rice seedling 310, and then drive it to rotate during the rotation process, so as to throw it out. Of course, the specific structure of the cutter head 33 can also be selected as a seedling needle.

[0082] Combination Figure 2 and Figure 3In this embodiment, the seedling removal module 30 may further include a transmission box 32, the driving source 31 is connected to the transmission box 32, and is used to drive the transmission box 32 to rotate, and at least one cutter head 33 is arranged on each transmission box 32. The transmission box 32 can give the cutter head 33 a specific motion trajectory. Generally, a plurality of mutually meshing gears can be arranged inside the transmission box 32, the driving source 31 meshes with a gear in the transmission box 32, and the cutter head 33 meshes with another gear. The transmission box 32 can make the motion trajectory of the cutter head 33 and the posture of the cutter head 33 during the motion process meet the requirements.

[0083] In order to improve the efficiency of removing seedlings, the rotation speed of the cutter head 33 is usually increased. Of course, too fast a speed may cause other problems such as heat dissipation and unstable separation. In order to solve this problem, in this embodiment, at least two cutter heads 33 are arranged on each transmission box 32, thereby expanding the number of cutter heads 33 at the same separation and throwing position.

[0084] In this embodiment, two cutter heads 33 are distributed on one transmission box 32. Of course, in other embodiments, only one cutter head 33 may be distributed, or three, four or more cutter heads 33 may be distributed. When two cutter heads 33 are distributed on one transmission box 32, the angle between the two cutter heads 33 and the center of the transmission box 32 may be 180 degrees, three cutter heads 33 may be spaced 120 degrees apart, and four cutter heads 33 may be spaced 90 degrees apart. In other words, the cutter heads 33 may be arranged in a uniform distribution. Of course, it is not excluded that the cutter heads 33 may be arranged in an uneven distribution in a certain scenario.

[0085] By designing a larger number of cutter heads 33 on the transmission box 32, the efficiency of removing seedlings can be improved at the same rotation speed. In addition, in terms of installation, the transmission box 32 can be directly installed on the output shaft of the driving source 31, or the transmission box 32 can be rotatably installed on the load module 10, the driving source 31 is installed on the load module 10, and is connected to the transmission box 32 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force.

[0086] On the other hand, the efficiency of the seedling throwing operation can also be improved by increasing the number of seedling delivery modules 20. Figure 3 In this embodiment, there are multiple seedling delivery modules 20 , and there are multiple seedling taking modules 30 , which correspond one to one with the multiple seedling delivery modules 20 .

[0087] Specifically, Figure 3The number of the seedling delivery modules 20 is three, and correspondingly, the number of the seedling taking modules 30 is also three. Of course, when the number of the seedling delivery modules 20 is greater than three, the number of the seedling taking modules 30 can also be increased accordingly. Generally, the seedlings 310 transported by the multiple seedling delivery modules 20 are the same kind of seedlings 310, and the seedling throwing operation is carried out in the same farmland. Therefore, the multiple seedling taking modules 30 can be controlled to work synchronously by a control device arranged on the load module 10, or can be controlled by the flight control of the drone 200. Of course, it is not ruled out that the multiple seedling delivery modules 20 work independently, for example, the seedling taking efficiencies of the multiple seedling taking modules 30 are controlled to be unequal, or some of the seedling taking modules 30 are controlled to work while the other seedling taking modules 30 do not work.

[0088] In order to achieve the separation and throwing of the blanket seedlings 300 row by row and bunch by bunch, in the present embodiment, the seedling delivery module 20 may include a seedling supporting plate 21 and a seedling delivery tray 22, the seedling supporting plate 21 is arranged on the load module 10, the seedling supporting plate 21 is provided with an opening 211, the seedling delivery tray 22 is used to transport the blanket seedlings 300, the lower part of the seedling delivery tray 22 is located in the seedling supporting plate 21, and the seedling delivery tray 22 can move laterally relative to the seedling supporting plate 21; wherein, the seedling taking module 30 is used to separate the blanket seedlings 300 through the opening 211, and throw out the separated seedlings 310.

[0089] In other words, the positions of the seedling taking module 30, the opening 211 of the seedling supporting plate 21, etc. remain unchanged relative to the load module 10, and the seedling delivery tray 22 can reciprocate in the left and right directions. In this way, the seedling taking module 30 only separates the blanket seedlings 300 exposed in the opening 211, so that the blanket seedlings 300 can be separated and thrown row by row and bunch by bunch. Of course, in other embodiments, the position of the seedling delivery tray 22 relative to the load module 10 can also remain unchanged, while the seedling supporting plate 21 and the seedling taking module 30 can move horizontally in the left and right directions.

[0090] In this embodiment, the seedling support plate 21 can be understood as an open plate in a long strip shape. The seedling support plate 21 is relatively fixed to the load module 10 and does not move with the left and right reciprocating motion of the seedling delivery tray 22. The seedling support plate 21 has a certain supporting effect on the seedling delivery tray 22. Figure 3 In this embodiment, the number of the seedling taking modules 30 is three and they are distributed at intervals. Therefore, the number of the openings 211 is also three and they are distributed at corresponding intervals, so that each seedling taking module 30 can separate and throw the blanket seedlings 300 in the corresponding opening 211.

[0091] In order to facilitate the lateral movement of the seedling delivery tray 22 , in this embodiment, the seedling delivery module 20 further includes a driving device 23 , which is disposed on the load module 10 and is used to drive the seedling delivery tray 22 to move laterally relative to the seedling supporting plate 21 .

[0092] Generally, the driving device 23 can use a motor with a gear rack mechanism to achieve the left and right reciprocating movement of the seedling tray 22, or a motor with a screw mechanism or a synchronous belt. Of course, it is not excluded to use the rotor power of the drone 200 to drive the seedling tray 22 to move left and right.

[0093] Please refer to Figure 2 Generally, the seedling delivery tray 22 is set to be placed in an inclined state. This design allows the seedling blanket 300 to move downward under the action of gravity after the seedling delivery tray 22 moves left and right once, so that the seedling removal module 30 can carry out the next round of seedling removal. Of course, a power source can also be set to drive it, for example, referring to Figure 2 In this embodiment, the seedling delivery module 20 further includes a conveying device 24 , which is disposed on the seedling delivery tray 22 , and is used to drive the seedling blanket 300 to move toward the seedling supporting plate 21 .

[0094] The conveying device 24 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel). In addition, the conveying device 24 can be set at different positions in the height direction of the seedling delivery tray 22. It should be noted that the inclined setting of the seedling delivery tray 22 can also achieve effective utilization of the longitudinal space to reduce the space occupied by the seedling delivery tray 22 in the horizontal width. At the same time, due to the inclined setting, the blanket seedlings 300 can use their gravity to slide down, and the power consumption of the conveying device 24 can also be reduced.

[0095] In addition, considering the possible separation of the blanket seedling 300 after being placed on the seedling delivery tray 22, combined with Figure 2 and Figure 3 In this embodiment, the seedling delivery module 20 further includes a seedling pressing device 25, which is disposed on the seedling delivery tray 22, and is used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or a rod, etc. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and a plurality of pressure strips 252, the rotating shaft 251 is rotatably disposed horizontally on the seedling delivery tray 22, and the plurality of pressure strips 252 are vertically and spaced apart from the rotating shaft 251, and the plurality of pressure strips 252 are used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22.

[0096] In this embodiment, in a specific scenario, the rotating shaft 251 can rotate relative to the seedling delivery tray 22 with a certain damping, so the force of the pressure bar 252 on the blanket seedling 300 can be adjusted, and the pressure state can be maintained. Of course, a torsion spring can also be installed on the rotating shaft 251 to provide pressure to rotate in the direction of the blanket seedling 300.

[0097] Please refer to Figure 3In this embodiment, the seedling delivery tray 22 is a rectangular frame structure, specifically, it includes a load-bearing plate and two baffles arranged on the left and right edges of the load-bearing plate, and no baffles are arranged above or below, so that an upper opening is formed at the top to facilitate placing the seedlings, and a lower opening is formed at the bottom to facilitate taking the seedlings. The width of the seedling delivery tray 22 can match the width of a tray of seedling blankets 300. In addition, the height of the seedling delivery tray 22 is not limited to the height of a tray of seedling blankets 300. During installation, the two ends of the rotating shaft 251 can be rotatably arranged on the two baffles of the seedling delivery tray 22, respectively. Figure 3 Four pressure strips 252 are correspondingly configured on a rotating shaft 251 in the seedling delivery tray 22. In other words, four pressure strips 252 are distributed on a seedling delivery tray 22 to limit the blanket seedlings 300 in the seedling delivery tray 22, so that the blanket seedlings 300 can be pressed on the seedling delivery tray 22 by the pressure strips 252, which greatly ensures that the blanket seedlings 300 will not be blown away during the flight of the drone 200. Of course, the number of pressure strips 252 corresponding to a seedling delivery tray 22 may not be limited to four, for example, it may also be three, five or more. In addition, since in the present embodiment, the number of seedling delivery modules 20 is multiple, the number of seedling pressing devices 25 may also be multiple, and each seedling delivery tray 22 is correspondingly provided with a seedling pressing device 25. In a certain scenario, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 may share a rotating shaft 251.

[0098] In addition, please follow Figure 2 In this embodiment, the seedling delivery tray 22 is supported at multiple positions in the height direction by the load module 10. For example, in this embodiment, the seedling throwing mechanism 100 may further include a support module 40, for example, the support module 40 includes a first bracket 43, one end of the first bracket 43 is connected to the load module 10, and the other end of the first bracket 43 supports the upper part of the seedling delivery tray 22. Figure 2 and Figure 3 Since the seedling delivery tray 22 needs to move horizontally, in order to facilitate support, the support position of the first bracket 43 and the seedling delivery tray 22 can be supported horizontally by the cooperation of a slide rail and a pulley. For example, a pulley is provided at the end of the first bracket 43, and a slide rail is provided on the seedling delivery tray 22, and the two are rollingly matched. Alternatively, a slide rail is provided at the end of the first bracket 43, and a pulley is provided on the seedling delivery tray 22. In addition, in some scenarios, the height of the first bracket 43 is adjustable, and the inclination angle of the seedling delivery tray 22 can also be adjusted.

[0099] At the same time, the lower part of the seedling delivery tray 22 is supported by the seedling support plate 21 to improve the overall compactness of the structure. Of course, the middle part of the seedling delivery tray 22 can also be supported by the load module 10. It should be noted here that the upper part is only to indicate that the position of the support is higher than the middle and lower parts in the height direction.

[0100] Of course, the support module 40 may also include a second bracket 46 and a third bracket 47. One end of the second bracket 46 is connected to the load module 10, and the other end of the second bracket 46 is installed with the above-mentioned seedling support plate 21. One end of the third bracket 47 is connected to the load module 10, and the other end of the third bracket 47 is installed with the above-mentioned seedling removal module 30 (specifically, the driving source 31). Of course, the second bracket 46 and the third bracket 47 may also be a bracket structure, that is, the seedling support plate 21 and the seedling removal module 30 are installed on the load module 10 through the same bracket.

[0101] Figure 1-Figure 3 The illustrated embodiment demonstrates the main structure of the seedling throwing mechanism 100 provided in the present application. In addition, the multiple modules mentioned in the present application (load module 10, seedling delivery module 20, seedling retrieval module 30, etc.) can be manufactured and sold separately in the early stage, and then assembled to form an integral structure in the later stage.

[0102] Figure 4 and Figure 5 Another embodiment of the seedling throwing system 1000 provided by the present application is shown, wherein the description of the same modules, mechanisms or components can refer to the above text. In this embodiment, the seedling throwing system 1000 is a double system, that is, it has two sets of seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 share a load module 10. The two sets of seedling throwing mechanisms 100 are arranged back to back. Of course, in other embodiments, the two sets of seedling throwing mechanisms 100 can also adopt other arrangements (for example, arranged in the same direction), or three, four or more sets of seedling throwing mechanisms 100 can be arranged. Among them, when the seedling throwing system 1000 is provided with two sets of seedling throwing mechanisms 100, the actual lateral movement directions of the respective seedling feeding trays 22 of the two sets of seedling throwing mechanisms 100 are controlled to maintain opposite states at the same time, so as to achieve the offset of the lateral movement impact force and improve the flight stability of the drone 200. In one implementation of this embodiment, the number of the seedling throwing mechanisms 100 installed on the drone 200 is two, and the seedling sending module 20 and the seedling taking module 30 respectively included in the two seedling throwing mechanisms 100 can be arranged on opposite sides of the fuselage frame of the drone 200, so that one seedling sending module 20 and one seedling taking module 30 are deployed on any of the opposite sides of the fuselage frame of the drone 200 (for example, Figure 4 The specific distribution diagram of the two sets of seedling throwing mechanisms 100 shown, or, Fig. 9 The seedling delivery module and seedling removal module are located on the left side of the drone fuselage from a bird's-eye view, as well as Fig. 9 The seedling delivery module and seedling removal module are located on the right side of the drone body when viewed from a bird's-eye view).

[0103] Among them, for the above-mentioned seedling throwing system 1000 provided in the embodiment of the present application, the working principle of the seedling throwing system 1000 is:

[0104] When the drone 200 is flying, the driving source 31 drives the transmission box 32 to rotate, and the transmission box 32 drives the cutter head 33 to rotate at high speed. When the cutter head 33 rotates to the opening 211, it separates and removes the rice seedlings 310, drives the rice seedlings 310 to rotate, and when the rice seedlings 310 rotate to a certain angle, the rice seedlings 310 are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thereby realizing the flying and throwing of the blanket seedlings 300. At the same time, the rice seedling delivery tray 22 moves horizontally, driving the blanket seedlings 300 to move left and right, so that the blanket seedlings 300 are separated and thrown row by row. After a row of rice seedlings 310 in the left and right directions of the blanket seedlings 300 is separated, the entire blanket seedlings 300 moves downward under the action of gravity and the driving force of the conveying device 24, so that in the process of the rice seedling delivery tray 22 moving horizontally again, it is separated and thrown row by ...

[0105] Please refer to Figure 1 and Figure 6 In an embodiment of the present application, the above-mentioned seedling throwing system 1000 may also include a main control unit 50, which can be communicated with the seedling throwing mechanism 100 and the drone 200 to control the seedling throwing mechanism 100 and the drone 200 to work together to achieve the drone seedling throwing effect.

[0106] Among them, the drone 200 may include a drone rotor and a rotor drive motor 201, and the drone rotor and rotor drive motor 201 are both installed on the fuselage frame, wherein each rotor drive motor 201 is correspondingly connected to a drone rotor, and is used to drive the corresponding connected drone rotor to rotate, and provide lift for the drone 200 by adjusting the rotation state of the connected drone rotor; the number of rotor drive motors of the above-mentioned drone 200 is consistent with the number of drone rotors.

[0107] In an embodiment of the present application, the main control unit 50 may include at least one software function module that can be stored in the form of software or firmware, and may run the software program logic corresponding to the UAV control device 400 by executing the computer program corresponding to the aforementioned software function module, so as to deeply consider the disturbance effect of the lateral movement of the seedling delivery disc of the seedling throwing mechanism 100 on the heading of the UAV during the flight of the UAV, and reduce the heading interference of the lateral movement of the seedling delivery disc on the final heading control result, thereby effectively avoiding the left and right swaying of the UAV heading, improving the heading stability of the UAV, and thereby ensuring that the UAV 200 can carry the seedling throwing mechanism 100 for stable flight and realize flying seedling throwing operations.

[0108] It can be understood that the main control unit 50 can be a control electronic device independent of the seedling throwing mechanism 100 and the drone 200, and can adjust the operating status of the seedling throwing mechanism 100 and the drone 200; the main control unit 50 can also be a control electronic device provided by the drone 200 itself, and the control electronic device directly takes into account the operation control function of the seedling throwing mechanism 100; the main control unit 50 can also be a control electronic device provided by the seedling throwing mechanism 100 itself, and the control electronic device directly takes into account the operation control function of the drone 200; the main control unit 50 can also be regarded as a device combination of the control electronic device provided by the drone 200 itself and the control electronic device provided by the seedling throwing mechanism 100 itself, and the two control electronic devices realize the specific control function of the main control unit 50 through network communication. The specific setting method of the main control unit can be configured according to different needs.

[0109] In the present application, in order to ensure that the drone 200 in the above-mentioned seedling throwing system 1000 can carry the seedling throwing mechanism 100 to stably fly and realize the flying seedling throwing operation, the embodiment of the present application provides a drone control method applied to the above-mentioned seedling throwing system 1000 to achieve the above-mentioned purpose. The drone control method provided by the present application is described in detail below.

[0110] Please refer to Figure 7 In the embodiments of the present application, Figure 7 The drone control method shown may include steps S510 to S520.

[0111] Step S510, when the UAV performs the flying seedling throwing operation, the seedling delivery tray is controlled to move horizontally, and the seedling taking module is controlled to separate the seedlings from the blanket of seedlings carried by the seedling delivery tray and then throw them out.

[0112] In this embodiment, the main control unit 50 can obtain the seedling throwing instruction for realizing the seedling throwing operation during the flight of the UAV 200, and control the driving device 23 included in the seedling throwing mechanism 100 according to the seedling throwing instruction, so that the driving device 23 controls the seedling delivery tray 22 to carry the blanket seedlings 300 to move back and forth horizontally, and then when the seedling delivery tray 22 moves the seedlings horizontally to the position of the opening 211, the seedling picking module 30 included in the seedling throwing mechanism 100 is controlled according to the seedling throwing instruction to separate the blanket seedlings 300 through the opening 211, and throw out the separated seedlings 310, so as to realize the seedling throwing effect during the flight of the UAV 200.

[0113] The take-off instruction may be a control instruction automatically generated by the main control unit 50 at a specific time point according to a preset seedling throwing operation strategy, or may be a control instruction directly sent to the main control unit 50 by an operator through a remote control terminal.

[0114] Step S520: During the lateral movement of the seedling delivery tray, the UAV is steered to suppress the lateral disturbance caused by the lateral movement of the seedling delivery tray.

[0115] In this embodiment, Figure 8 for Figure 1 The schematic top view of the seedling throwing system 1000 is a schematic diagram showing the heading disturbance caused by the lateral movement of the seedling delivery tray during the seedling throwing process of the drone. Figure 8 As shown in (a), when the lateral movement direction of the seedling tray located on the left side of the drone 200 is that the seedling tray 22 moves upward (i.e. Figure 8 (a) shows the white arrow in the figure. At this time, the lateral movement direction of the seedling delivery tray is distributed in a clockwise direction relative to the UAV 200 in the top view. The actual force direction of the reverse force applied by the seedling delivery tray 22 to the UAV 200 body during the lateral movement is downward. Therefore, the heading disturbance torque applied to the UAV 200 body by the lateral movement of the seedling delivery tray will be distributed in a counterclockwise direction (i.e. Figure 8 (a) (black arrow), the main control unit 50 is required to control the flight attitude of the UAV 200 to suppress the heading disturbance caused by the heading disturbance torque, so that the heading of the UAV remains stable, wherein the heading disturbance torque is used to characterize the actual heading disturbance condition caused by the lateral movement of the seedling delivery tray to the UAV 200;

[0116] like Figure 8 As shown in (b), when the lateral movement direction of the seedling tray located on the left side of the drone 200 is that the seedling tray 22 moves downward (i.e. Figure 8 (b) shows the white arrow in the figure. At this time, the lateral movement direction of the seedling delivery tray is counterclockwise relative to the UAV 200 in the top view. The actual force direction of the reverse force applied by the seedling delivery tray 22 to the UAV 200 during the lateral movement is upward. Therefore, the heading disturbance torque applied to the UAV 200 by the lateral movement of the seedling delivery tray will be distributed in a clockwise direction (i.e. Figure 8 (b) The main control unit 50 is required to control the flight attitude of the UAV 200 to suppress the heading disturbance caused by the heading disturbance torque so as to keep the heading of the UAV stable.

[0117] Fig. 9 yes Figure 4 The schematic top view of the seedling throwing system 1000 is a schematic diagram showing the heading disturbance caused by the lateral movement of the seedling delivery tray during the seedling throwing process of the drone. Fig. 9 As shown in (a), when the lateral movement direction of the seedling tray located on the left side of the drone 200 is that the seedling tray 22 moves upward (i.e. Fig. 9(a) on the left white arrow), and because the lateral movement directions of the seedling delivery trays of the two seedling throwing mechanisms 100 located on both sides of the UAV 200 fuselage are opposite in real time (i.e., the seedling delivery trays of the two seedling throwing mechanisms 100 on the UAV 200 move in opposite lateral directions), the lateral movement direction of the seedling delivery tray located on the right side of the UAV 200 fuselage is that the seedling delivery tray 22 moves downward (i.e., Fig. 9 (a) shows the right white arrow in the figure. At this time, the lateral movement directions of the two seedling delivery trays on the UAV 200 are substantially clockwise relative to the UAV 200 in the top view. The actual force direction of the reverse force given by the left seedling delivery tray 22 to the UAV 200 fuselage when it moves horizontally is downward, and the actual force direction of the reverse force given by the right seedling delivery tray 22 to the UAV 200 fuselage when it moves horizontally is upward. The lateral movement of the left seedling delivery tray gives the UAV 200 fuselage a heading disturbance torque as shown in FIG. Fig. 9 The black arrow on the left side of (a) is distributed in a counterclockwise direction. The lateral movement of the right rice seedling tray gives the heading disturbance torque to the fuselage of the UAV 200 as shown in Fig. 9 As shown by the black arrow on the right side of (a), the two heading disturbance moments of the lateral movement direction of the seedling delivery tray on the UAV 200 are distributed in the counterclockwise direction relative to the UAV 200 in the top view. The main control unit 50 needs to control the flight attitude of the UAV 200 to simultaneously suppress the heading disturbance caused by the above two heading disturbance moments, so that the heading of the UAV remains stable.

[0118] like Fig. 9 As shown in (b), when the lateral movement direction of the seedling tray located on the left side of the drone 200 is that the seedling tray 22 moves downward (i.e. Fig. 9 (b)), and because the lateral movement directions of the seedling delivery trays of the two seedling throwing mechanisms 100 located on both sides of the UAV 200 fuselage are opposite in real time (i.e., the seedling delivery trays of the two seedling throwing mechanisms 100 on the UAV 200 move in opposite lateral directions), the lateral movement direction of the seedling delivery tray located on the right side of the UAV 200 fuselage is that the seedling delivery tray 22 moves upward (i.e., Fig. 9 (b) shows the right white arrow in the figure. At this time, the lateral movement directions of the two seedling delivery trays on the UAV 200 are substantially counterclockwise relative to the UAV 200 in the top view. The actual force direction of the reverse force given by the left seedling delivery tray 22 to the UAV 200 fuselage when it moves horizontally is upward, and the actual force direction of the reverse force given by the right seedling delivery tray 22 to the UAV 200 fuselage when it moves horizontally is downward. The lateral movement of the left seedling delivery tray gives the UAV 200 fuselage a heading disturbance torque as shown in FIG. Fig. 9 The black arrow on the left side of (b) is distributed in a clockwise direction. The lateral movement of the right rice seedling tray gives the heading disturbance torque to the fuselage of the UAV 200 as shown in Fig. 9As shown by the black arrow on the right side of (b), they are distributed in a clockwise direction, that is, the two types of heading disturbance moments in the lateral direction of the seedling delivery tray on the UAV 200 are distributed in a clockwise direction relative to the UAV 200 in a top-down perspective. The main control unit 50 is required to control the flight attitude of the UAV 200 to simultaneously suppress the heading disturbance caused by the above two heading disturbance moments to keep the UAV heading stable.

[0119] Therefore, in the course control process of the drone, no matter whether the seedling throwing mechanism 100 in the above-mentioned seedling throwing system 1000 is in accordance with Figure 1 To set up, or follow Figure 4 It is configured that the lateral movement direction of the seedling delivery tray on the UAV 200 can be distributed in a clockwise direction or a counterclockwise direction relative to the UAV 200 in a top-down perspective at the same moment, and the heading disturbance torque generated by the lateral movement of the seedling delivery tray on the UAV 200 will also be distributed in a counterclockwise direction or a clockwise direction accordingly.

[0120] In one embodiment of the present application, in order to ensure that the main control unit 50 can control the heading of the drone 200 to suppress the heading disturbance caused by the lateral movement of the seedling delivery tray, the main control unit 50 can control the heading of the drone 200 to deflect in the direction opposite to the actual distribution direction of the heading disturbance torque generated by the lateral movement of the seedling delivery tray from a top-down perspective, thereby ensuring that the heading deflection operation of the drone 200 can offset the actual lateral movement of the seedling delivery tray (including Figure 8 The one-sided seedling delivery tray of the seedling throwing system 1000 shown in the figure moves horizontally, or Fig. 9 The heading disturbance caused by the reverse lateral movement of the double-sided seedling delivery trays of the seedling throwing system 1000 shown in the figure prevents the final heading of the drone 200 from swaying left and right, thereby improving the heading stability of the drone and the flight stability of the drone. Specifically, the step of controlling the heading of the drone 200 may include:

[0121] If the lateral movement direction of the seedling delivery tray on the drone 200 is distributed in a clockwise direction relative to the drone 200, the heading of the drone 200 is controlled to deflect in the clockwise direction. At this time, the heading disturbance torque generated by the lateral movement of the seedling delivery tray is distributed in a counterclockwise direction.

[0122] If the lateral movement direction of the seedling delivery tray on the UAV 200 is counterclockwise relative to the UAV 200, the heading of the UAV 200 is controlled to deflect in the counterclockwise direction. At this time, the heading disturbance torque generated by the lateral movement of the seedling delivery tray is distributed in the clockwise direction.

[0123] Optionally, in another embodiment of the present application, in order to improve the control accuracy of the main control unit 50 during the UAV heading deflection control process, avoid excessive deflection of the UAV heading, and ensure the heading stability of the UAV, the main control unit 50 can correspondingly measure the actual lateral movement of the seedling delivery tray on the UAV 200 (including Figure 8 The one-sided seedling delivery tray of the seedling throwing system 1000 shown in the figure moves horizontally, or Fig. 9 The actual heading disturbance torque generated by the reverse lateral movement of the double-sided seedling delivery trays of the seedling throwing system 1000 shown in the figure is measured, and then the heading of the UAV 200 is adjusted based on the measured actual heading disturbance torque, so that the adjusted UAV heading can get rid of the heading disturbance influence of the lateral movement of the seedling delivery trays, thereby improving the UAV heading stability and UAV flight stability.

[0124] In this case, please refer to Fig.10 The above step of “performing heading control on the drone 200” may include sub-step S521 and sub-step S522.

[0125] Sub-step S521, obtaining the heading disturbance torque generated by the lateral movement of the seedling delivery disc of the seedling throwing mechanism.

[0126] Optionally, in one implementation of the present embodiment, a counter-torque sensor can be installed on the drone 200 for each seedling delivery tray 22 of the seedling throwing mechanism 100, so that each counter-torque sensor monitors in real time the actual counter-torque generated by the corresponding seedling delivery tray 22 during lateral movement, and obtains the heading disturbance torque generated by the lateral movement of the corresponding seedling delivery tray.

[0127] Optionally, in another implementation of the present embodiment, the reciprocating lateral movement frequency of the seedling delivery tray 22 of each seedling delivery mechanism 100 can be determined by collecting the real-time operation data of the driving device 23 of each seedling delivery mechanism 100, and based on the reciprocating lateral movement frequency of the seedling delivery tray 22, the counter-torque calculation formula is used to perform counter-torque calculation to obtain the heading disturbance torque generated by the lateral movement of the corresponding seedling delivery tray, wherein the operation data of each driving device 23 includes the current actual motor speed and actual motor rotation position of the corresponding driving device 23. At this time, the step of "obtaining the heading disturbance torque generated by the lateral movement of the seedling delivery tray of the seedling delivery mechanism 100" in the above sub-step S521 may include:

[0128] Obtaining the reciprocating lateral movement frequency of the lateral movement of the seedling delivery plate of the seedling throwing mechanism 100;

[0129] According to the kinematic relationship between the seedling throwing mechanism 100 and the UAV 200, the actual reaction torque of the seedling delivery tray 22 at the aforementioned reciprocating lateral motion frequency is calculated to obtain the heading disturbance torque generated by the lateral motion of the seedling delivery tray.

[0130] Among them, the kinematic relationship between the above-mentioned seedling throwing mechanism 100 and the drone 200 can be obtained by kinematic simulation using the system structure model of the above-mentioned seedling throwing system 1000, which can be directly characterized by the system structure model of the seedling throwing system 1000 in the process of calculating the actual reaction torque, so as to obtain a heading disturbance torque with higher data accuracy through the reaction torque calculation operation.

[0131] Therefore, the present application can effectively improve the data accuracy of the heading disturbance torque by executing the specific step flow of the above sub-step S521. For a single seedling delivery tray 22, the step of obtaining the reciprocating lateral movement frequency of the lateral movement of the seedling delivery tray 22 may include:

[0132] Obtaining the actual motor speed and actual motor rotation position of the driving device 23;

[0133] According to the preset motor rotation positions of the two extreme lateral displacement positions of the seedling delivery tray 22 at the driving device 23, the actual motor speed and the actual motor rotation position of the driving device 23 are converted into the lateral displacement of the seedling delivery tray to obtain the actual moving speed and the actual moving position of the seedling delivery tray 22 between the two extreme lateral displacement positions;

[0134] The reciprocating lateral movement frequency of the seedling sending tray 22 is calculated according to the actual moving speed, the actual moving position and the actual distance between the two extreme lateral movement positions of the seedling sending tray 22 .

[0135] Among them, the two extreme lateral displacement positions of the seedling delivery tray 22 are the two farthest displacement positions of the seedling delivery tray 22 when performing reciprocating lateral displacement motion; on the basis of determining the actual spacing between the two extreme lateral displacement positions of a single seedling delivery tray 22, according to the actual displacement speed and actual displacement position of the seedling delivery tray 22 between the two extreme lateral displacement positions, the current lateral displacement motion of the seedling delivery tray 22 can be regarded as a simple harmonic motion, and then by solving the time length required for the seedling delivery tray 22 to perform a complete simple harmonic motion, the reciprocating lateral displacement motion cycle corresponding to the lateral displacement motion of the seedling delivery tray 22 is obtained, and then the inverse of the reciprocating lateral displacement motion cycle is calculated to obtain the reciprocating lateral displacement motion frequency of the seedling delivery tray 22. Therefore, the present application can adopt the above-mentioned reciprocating motion frequency calculation method to effectively improve the calculation accuracy of the reciprocating motion frequency of each seedling delivery tray 22, and further improve the data accuracy of the heading disturbance torque.

[0136] Sub-step S522, adjusting the heading of the UAV according to the heading disturbance torque.

[0137] In this embodiment, after obtaining the heading disturbance torque generated by the actual lateral movement of the seedling delivery tray on the drone 200, the main control unit 50 can calculate the heading control disturbance amount generated when the lateral movement of all the seedling delivery trays in the seedling throwing system 1000 acts in coordination on the drone 200 based on the obtained heading disturbance torque, and then adjust the heading of the drone based on the calculated heading control disturbance amount to improve the heading control accuracy of the drone. At this time, the step of "adjusting the heading of the drone 200 according to the heading disturbance torque" in sub-step S522 may include:

[0138] Calculate the heading control disturbance amount caused by all seedling throwing mechanisms 100 to the UAV 200 according to the heading disturbance torque;

[0139] The heading of the UAV 200 is adjusted according to the heading control disturbance amount.

[0140] Among them, with regard to the step of "calculating the heading control disturbance amount caused by all seedling throwing mechanisms 100 to the drone 200 according to the heading disturbance torque", the main control unit 50 can construct a system structure model of the seedling throwing system 1000 according to the actual seedling throwing mechanism composition of the seedling throwing system 1000 (that is, how many seedling throwing mechanisms 100 exist in the corresponding seedling throwing system 1000, and the specific deployment position of each seedling throwing mechanism 100 on the drone 200), and fit the specific kinematic relationship between all seedling throwing mechanisms 100 and the drone 200 in the seedling throwing system 1000 through the system structure model, and then fit the specific kinematic relationship between each seedling throwing mechanism 100 and the drone 200 according to the respective seedling sending trays 22 on the drone 200 and the respective seedling throwing mechanisms 100 0, the heading disturbance moments of all the seedling delivery trays 22 corresponding to a single seedling throwing mechanism 100 are grouped together to construct a heading disturbance moment matrix corresponding to the seedling throwing mechanism 100, and then the heading disturbance moment matrices corresponding to all the seedling throwing mechanisms 100 in the seedling throwing system 1000 are deeply combined with the aforementioned specific kinematic relationship to estimate the overall disturbance effect caused by the lateral movement of the seedling delivery tray of all the seedling throwing mechanisms 100 in the seedling throwing system 1000 on the heading control operation of the drone, that is, the heading control disturbance amount caused by the lateral movement of the seedling delivery tray of all the seedling throwing mechanisms 100 in the seedling throwing system 1000 on the drone 200 is obtained (for example, Fig.11 The “data observer” in the algorithm estimates the heading control disturbance based on the obtained heading disturbance torque).

[0141] Therefore, in one implementation of this embodiment, if the above-mentioned seedling throwing system 1000 has Figure 1The seedling throwing mechanism is composed of the above-mentioned step "calculating the heading control disturbance amount caused by all seedling throwing mechanisms 100 to the UAV 200 according to the heading disturbance torque" can be directly expressed as: according to the kinematic relationship between the seedling throwing mechanism 100 and the UAV 200, the heading disturbance torque generated by all the seedling delivery plates 22 of the seedling throwing mechanism 100 is directly combined to estimate the disturbance control amount, and the heading control disturbance amount acting on the UAV 200 by the seedling throwing mechanism 100 is obtained.

[0142] In another implementation of this embodiment, if the above-mentioned seedling throwing system 1000 has Figure 4 The seedling throwing mechanism is composed of the one shown in the figure, and the above step of "calculating the heading control disturbance amount caused by all seedling throwing mechanisms 100 to the UAV 200 according to the heading disturbance torque" may include: according to the kinematic relationship between the two seedling throwing mechanisms 100 and the UAV 200, the disturbance control amount is estimated based on the heading disturbance torque generated by all the seedling delivery plates 22 of the two seedling throwing mechanisms 100, so as to obtain the heading control disturbance amount on the UAV 200 caused by the coordinated action of the two seedling throwing mechanisms 100.

[0143] In addition, with respect to the step of "adjusting the heading of the drone 200 according to the heading control disturbance amount", the main control unit 50 will obtain the desired heading data and the actual heading data of the drone 200, and then adjust the heading of the drone based on the obtained heading control disturbance amount, the desired heading data and the actual heading data, so that the final heading control result can ensure that the drone 200 flies according to the desired heading data, so as to improve the heading stability of the drone. At this time, the step of "adjusting the heading of the drone 200 according to the heading control disturbance amount" in sub-step S522 may include:

[0144] The heading control amount is solved according to the heading control disturbance amount, the desired heading data and the actual heading data of the UAV 200 to obtain the target heading control amount;

[0145] The drone 200 is controlled to adjust its heading according to the target heading control amount, so that the drone 200 flies according to the expected heading data.

[0146] Among them, the expected heading data is the heading data that the drone 200 expects to maintain during the flight, which may include the expected heading angle and the expected heading angular velocity. The actual heading data is the heading data actually shown by the drone 200 during the flight, which may include the actual heading angle and the actual heading angular velocity. After obtaining the heading control disturbance caused by the lateral movement of the seedling delivery tray of all the seedling throwing mechanisms 100 on the drone 200 to the heading control operation of the drone, the main control unit 50 will deeply consider the disturbance effect of the lateral movement of the seedling delivery tray of the seedling throwing mechanism 100 on the heading of the drone in the process of solving the target heading control amount based on the expected heading data and the actual heading data, and reduce the heading interference of the lateral movement of the seedling delivery tray on the final heading control result (i.e., the target heading control amount), so as to ensure that when the final heading control result acts on the drone 200, it can drive the drone 200 to fly stably according to the expected heading data, so as to suppress the left and right swaying of the heading of the drone caused by the lateral movement of the seedling delivery tray, and improve the heading stability of the drone.

[0147] It can be understood that the expected heading data can be directly extracted by the main control unit 50 from the pre-stored UAV route planning plan (which includes the heading data that the UAV 200 needs to maintain at each flight moment during the preset flight seedling throwing operation), or it can be directly sent to the main control unit 50 by the operator through the network. The specific acquisition method can be configured differently according to the requirements of the flight seedling throwing operation.

[0148] In one implementation of this embodiment, a heading data collector can be deployed on the drone 200 to directly collect real-time heading data of the drone 200 during the flying rice seedling throwing operation through the heading data collector, and the real-time heading data collected by the heading data collector is directly used as the actual heading data of the drone 200. The heading data collector can be implemented by an inertial measurement unit (IMU).

[0149] In another implementation of this embodiment, in order to obtain actual heading data with higher data accuracy, data cleaning and data correction can be performed on the real-time heading data collected by the heading data collector to eliminate the negative impact of the lateral movement of the seedling feeding plate on the heading data collection operation, and simultaneously eliminate the negative impact of the device performance change of the heading data collector on the heading data collection operation, thereby ensuring that the actual heading data finally obtained is closer to the actual flight attitude of the drone 200, and ensuring that the actual heading data obtained has high data accuracy (for example, Fig.11The "data observer" in the processing of the original heading data based on the heading disturbance torque to obtain the actual heading data). Among them, the heading data collector usually changes the device performance with the change of the external operating environment. At this time, the step of "obtaining the actual heading data of the drone 200" may include:

[0150] Acquire the original heading data collected by the heading data collector for the UAV 200, wherein the original heading data includes a real-time heading angle and a real-time heading angular velocity;

[0151] According to the heading disturbance torque of each seedling delivery tray 22 on the UAV 200, the obtained original heading data is cleaned and corrected to obtain the actual heading data of the UAV 200.

[0152] Therefore, the present application can eliminate the negative impact of the lateral movement of the seedling delivery tray on the heading data collection operation by executing the specific step process of the above-mentioned step "obtaining the actual heading data of the drone 200", and simultaneously eliminate the negative impact of the device performance changes of the heading data collector on the heading data collection operation, so as to ensure that the actual heading data finally obtained is closer to the actual flight attitude of the drone 200, thereby effectively improving the data accuracy of the actual heading data.

[0153] Optionally, in order to ensure that the calculated target heading control amount effectively removes the heading interference of the lateral movement of the seedling delivery tray and can maintain the heading stability of the drone, the main control unit 50 solves the heading control amount according to the heading control disturbance amount, the expected heading data and the actual heading data of the drone 200 to obtain the target heading control amount. The specific execution process may include:

[0154] Substitute the expected heading data and the actual heading data into the preset heading control law equation to solve the equation, and obtain the heading control quantity to be output that matches the expected heading data and the actual heading data (for example, Fig.11 The "heading controller" in the example solves the heading control quantity to be output based on the expected heading data and the actual heading data);

[0155] The output heading control quantity is subjected to disturbance removal processing according to the heading control disturbance quantity to obtain the target heading control quantity.

[0156] The heading control quantity to be output is used to characterize the heading control quantity that the entire seedling throwing system 1000 expects the drone 200 to implement when any heading disturbance torque is not considered, so as to drive the drone 200 to fly according to the expected heading data. The preset heading control law equation is the specific control logic for the heading controller of the drone 200 to implement the heading control function, wherein the heading controller can be implemented by one or more combinations of controllers such as PID controller, model-free controller, fuzzy controller, etc. The heading control quantity to be output can be obtained by subtracting the heading control disturbance quantity (for example, Fig.11 The "heading control amount to be output" and the "heading control disturbance amount" in the output are superimposed to obtain the target heading control amount), so as to achieve the disturbance removal effect on the heading control amount to be output, thereby ensuring that the target heading control amount finally obtained, when acting on the UAV 200, can cooperate with the lateral movement of the seedling delivery tray to stabilize the real heading data of the UAV 200 at the expected heading data, so that the UAV 200 can also fly stably when the carried seedling throwing mechanism 100 is running, and cooperate with the running seedling throwing mechanism 100 to realize the flying seedling throwing operation.

[0157] In one embodiment, the heading controller is implemented using a PID controller, and the corresponding preset heading control law equation is a conventional PID control equation. The main control unit 50 needs to calculate the heading data difference between the expected heading data and the actual heading data, and use the calculated heading data difference as the input of the conventional PID control equation to solve the equation, and directly use the output of the conventional PID control equation as the output heading control quantity to be matched with the expected heading data and the actual heading data.

[0158] At the same time, in order to ensure that the final drone heading stabilizes the drone 200 in the state of the expected heading data, the main control unit 50 can pre-collect the heading control amount data used when the drone 200 flies according to different heading data without the lateral movement of the seedling tray, and build the fuselage flight control system model of the drone 200 when the lateral movement of the seedling tray is excluded based on the collected different heading data and heading control amount data (for example, Fig.11 The "fuselage flight control system" in the figure) is then input into the fuselage flight control system model when the current target heading control amount is obtained, so as to directly adjust the heading of the drone 200 itself through the fuselage flight control system model, so that the adjusted drone heading can cooperate with the lateral movement of the seedling delivery tray actually generated to stabilize the drone 200 in the state of the expected heading data for flight, thereby effectively suppressing the left and right swaying of the drone heading and improving the heading stability of the drone, so as to ensure that the drone 200 can carry the seedling throwing mechanism 100 for stable flight and realize the flying seedling throwing operation.

[0159] Therefore, the present application can consider the disturbance effect of the lateral movement of the seedling delivery disc of the seedling throwing mechanism 100 on the heading of the UAV during the flight of the UAV by executing the above-mentioned steps S510 to S520, and reduce the heading interference of the lateral movement of the seedling delivery disc on the final heading control result, so as to avoid the left and right swaying of the UAV heading, improve the heading stability of the UAV, and ensure that the UAV 200 can carry the seedling throwing mechanism 100 for stable flight and realize flying seedling throwing operations.

[0160] In the present application, in order to ensure that the main control unit 50 in the above-mentioned rice seedling throwing system 1000 can control the drone 200 and the rice seedling throwing mechanism 100 to cooperate in executing the above-mentioned drone control method, the present application implements the above-mentioned functions by dividing the drone control device 400 stored in the main control unit 50 into functional modules. The specific composition of the drone control device 400 provided in the present application is described below.

[0161] Please refer to Fig.12 In an embodiment of the present application, the above-mentioned drone control device 400 may include a seedling planting control module 410 and a heading control module 420.

[0162] The seedling throwing control module 410 is used to control the seedling delivery tray to move horizontally when the drone performs the flying seedling throwing operation, and control the seedling retrieval module to separate the seedlings from the blanket seedlings carried by the seedling delivery tray and then throw them out.

[0163] The heading control module 420 is used to control the heading of the UAV during the lateral movement of the seedling delivery tray, so as to suppress the heading disturbance caused by the lateral movement of the seedling delivery tray.

[0164] It should be noted that the basic principle and technical effects of the drone control device 400 provided in the embodiment of the present application are the same as those of the aforementioned drone control method. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the description of the aforementioned drone control method.

[0165] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and a module, a program segment or a part of a code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0166] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the various functions provided by the present application are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a readable storage medium, including several instructions to enable a rice seedling throwing system 1000 composed of a rice seedling throwing mechanism 100 and a drone 200 to perform all or part of the steps of the method recorded in each embodiment of the present application. The aforementioned readable storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or CD-ROM and other media that can store program codes.

[0167] To summarize, in a drone control method and device, a seedling throwing system and a readable storage medium provided in an embodiment of the present application, when the drone performs a flying seedling throwing operation, the present application controls the seedling throwing mechanism, including a seedling delivery tray arranged on one side of the drone, to move back and forth, and controls the seedling taking module included in the seedling throwing mechanism to separate the seedlings from the blanket of seedlings carried by the seedling delivery tray and then throw them out, so as to achieve the effect of the drone seedling throwing operation. At the same time, the present application will control the heading of the drone during the reciprocating and lateral movement of the seedling delivery tray, so as to suppress the heading disturbance caused by the lateral movement of the seedling delivery tray, and ensure the heading stability of the drone, so as to consider the disturbance effect of the lateral movement of the seedling delivery tray of the seedling throwing mechanism on the heading of the drone during the flight of the drone, and reduce the heading interference of the lateral movement of the seedling delivery tray on the final heading control result, so as to avoid the left and right swaying of the drone heading, improve the heading stability of the drone, and ensure that the drone can carry the seedling throwing mechanism for stable flight and realize the flying seedling throwing operation.

[0168] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A drone control method, characterized in that: The drone is equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling sending module arranged on one side of the drone, and a seedling taking module cooperating with the seedling sending module, and the seedling sending module includes a seedling sending tray that can move laterally; the method includes: When the drone performs the flying seedling throwing operation, the seedling delivery tray is controlled to move laterally, and the seedling taking module is controlled to separate the seedlings from the blanket seedlings carried by the seedling delivery tray and then throw them out; During the lateral movement of the seedling delivery tray, the UAV is steered to suppress the lateral disturbance caused by the lateral movement of the seedling delivery tray.

2. The method according to claim 1, characterized in that The number of the installed seedling throwing mechanisms is two, and the seedling delivery module and the seedling retrieval module are respectively arranged on opposite sides of the UAV, wherein when the UAV performs flying seedling throwing operations, the lateral movement directions of the seedling delivery discs of the two seedling throwing mechanisms are opposite in real time, and the heading control operation is used to suppress the heading disturbance caused by the reverse lateral movement of the seedling delivery discs of the two seedling throwing mechanisms.

3. The method according to claim 1 or 2, characterized in that: The step of controlling the heading of the UAV comprises: If the lateral movement direction of the seedling delivery tray on the drone is distributed in a clockwise direction relative to the drone, the heading of the drone is controlled to deflect in the clockwise direction; If the lateral movement direction of the seedling delivery tray on the UAV is distributed in a counterclockwise direction relative to the UAV, the heading of the UAV is controlled to deflect in the counterclockwise direction.

4. The method according to claim 1 or 2, characterized in that: The step of controlling the heading of the UAV comprises: Obtaining the heading disturbance torque generated by the lateral movement of the seedling delivery disc of the seedling throwing mechanism; The heading of the UAV is adjusted according to the heading disturbance torque.

5. The method according to claim 4, characterized in that The step of adjusting the heading of the UAV according to the heading disturbance torque comprises: Calculate the heading control disturbance amount caused by all seedling throwing mechanisms to the drone according to the heading disturbance torque; The heading of the UAV is adjusted according to the heading control disturbance amount.

6. The method according to claim 5, characterized in that In the case where the number of the seedling throwing mechanisms installed is two, the step of calculating the heading control disturbance amount caused by all the seedling throwing mechanisms to the drone according to the heading disturbance torque comprises: According to the kinematic relationship between the two seedling throwing mechanisms and the UAV, the control quantity disturbance is estimated based on the heading disturbance torque generated by each of the two seedling throwing mechanisms, and the heading control disturbance quantity of the UAV caused by the coordinated action of the two seedling throwing mechanisms is obtained.

7. The method according to claim 5, characterized in that The step of adjusting the heading of the UAV according to the heading control disturbance amount comprises: Solving the heading control amount according to the heading control disturbance amount, the desired heading data and the actual heading data of the UAV to obtain a target heading control amount; The UAV is controlled to adjust its heading according to the target heading control amount, so that the UAV flies according to the expected heading data.

8. The method according to claim 7, characterized in that The step of solving the heading control amount according to the heading control disturbance amount, the expected heading data and the actual heading data of the UAV to obtain the target heading control amount includes: Substituting the desired heading data and the actual heading data into a preset heading control law equation to solve the equation, and obtaining a heading control amount to be output that matches the desired heading data and the actual heading data; The to-be-output heading control amount is subjected to disturbance removal processing according to the heading control disturbance amount to obtain the target heading control amount.

9. The method according to claim 7, characterized in that: The UAV is equipped with a heading data collector, and the step of obtaining the actual heading data of the UAV includes: Acquire the original heading data collected by the heading data collector for the UAV; The original heading data is cleaned and corrected according to the heading disturbance torque to obtain the actual heading data.

10. The method according to claim 4, characterized in that The step of obtaining the heading disturbance torque generated by the lateral movement of the seedling delivery disc of the seedling throwing mechanism comprises: Obtaining the reciprocating lateral movement frequency of the lateral movement of the seedling delivery plate of the seedling throwing mechanism; According to the kinematic relationship between the seedling throwing mechanism and the UAV, the actual reaction torque of the lateral movement of the seedling delivery plate at the reciprocating lateral movement frequency is calculated to obtain the heading disturbance torque.

11. The method according to claim 10, characterized in that The seedling sending module further includes a driving device, and the driving device is used to drive the seedling sending plate to move back and forth. Then, the step of obtaining the reciprocating and transverse movement frequency of the transverse movement of the seedling sending plate of the seedling throwing mechanism includes: Obtaining the actual motor speed and actual motor rotation position of the drive device; According to the preset motor rotation positions of the two extreme lateral displacement positions of the seedling delivery tray at the drive device, the actual motor speed and the actual motor rotation position of the drive device are converted into the lateral displacement of the seedling delivery tray to obtain the actual moving speed and the actual moving position of the seedling delivery tray between the two extreme lateral displacement positions; The reciprocating lateral movement frequency of the seedling delivery tray is calculated according to the actual moving speed, the actual moving position and the actual distance between the two extreme lateral movement positions.

12. A drone control device, characterized in that: The drone is equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling sending module arranged on one side of the drone, and a seedling taking module cooperating with the seedling sending module, wherein the seedling sending module includes a seedling sending tray that can move laterally; the device includes: A seedling throwing control module is used to control the seedling delivery tray to move horizontally when the UAV performs the flying seedling throwing operation, and control the seedling taking module to separate the seedlings from the blanket of seedlings carried by the seedling delivery tray and then throw them out; The heading control module is used to control the heading of the UAV during the lateral movement of the seedling delivery tray to suppress the heading disturbance caused by the lateral movement of the seedling delivery tray.

13. A seedling throwing system, characterized in that: The system comprises a main control unit, a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism is installed on the drone, wherein the seedling throwing mechanism comprises a seedling delivery module arranged on one side of the drone, and a seedling taking module cooperating with the seedling delivery module, wherein the seedling delivery module comprises a driving device and a seedling delivery tray, wherein the driving device is used to drive the seedling delivery tray to carry the seedling blanket to move horizontally, and the seedling taking module is used to separate the seedlings from the seedling blanket carried by the seedling delivery tray and then throw them out; The drone includes a drone rotor and a rotor drive motor, wherein each rotor drive motor is connected to a corresponding drone rotor and is used to adjust the rotation state of the connected drone rotor; The main control unit stores a computer program and can execute the computer program to control the UAV and the seedling throwing mechanism to work in coordination and implement the UAV control method described in any one of claims 1-11.

14. The system according to claim 13, characterized in that The number of the seedling throwing mechanisms installed is two, and the seedling delivery module and the seedling retrieval module are respectively arranged on the opposite sides of the drone, wherein the lateral movement directions of the seedling delivery discs of the two seedling throwing mechanisms are opposite in real time during the seedling throwing operation of the drone.

15. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a rice seedling throwing system built based on a drone, the drone control method described in any one of claims 1 to 11 is implemented; Among them, the seedling throwing system includes a seedling throwing mechanism installed on the drone, the seedling throwing mechanism includes a seedling sending module arranged on one side of the drone, and a seedling retrieval module cooperating with the seedling sending module, wherein the seedling sending module includes a seedling sending tray that can carry a blanket of seedlings for horizontal movement, and the seedling retrieval module is used to separate the seedlings from the blanket of seedlings carried by the seedling sending tray and then throw them out.

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