Unmanned Aerial Vehicle (UAV) Control Methods and Devices, Rice Throwing Systems and Readable Storage Media

Abstract

This application provides a drone control method and apparatus, a rice seedling throwing system, and a readable storage medium, relating to the field of drone technology. When a drone performs a rice seedling throwing operation, this application controls the rice seedling throwing mechanism, including a seedling delivery tray located on one side of the drone, to move laterally. It also controls the seedling retrieval module, included in the throwing mechanism, to separate seedlings from the seedbed held in the delivery tray and throw them out, thereby achieving the desired rice seedling throwing effect. Simultaneously, during the lateral movement of the delivery tray, this application performs heading control on the drone to suppress heading disturbances caused by the lateral movement of the delivery tray, ensuring the drone's heading stability. This approach considers the disturbance effect of the lateral movement of the delivery tray on the drone's heading during flight and reduces the heading interference of the delivery tray's lateral movement on the final heading control result, thus avoiding lateral swaying of the drone's heading, improving the drone's heading stability, and ensuring that the drone can stably fly and perform the rice seedling throwing operation.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a UAV control method and apparatus, a rice-throwing system, and a readable storage medium. Background Technology

[0002] With the continuous development of science and technology, drone technology is being used more and more widely in various industries (such as agriculture and logistics). Among them, drone rice transplanting technology is a new research direction of drone technology.

[0003] Currently, during the process of drone rice transplanting, the transplanting action usually has a serious impact on the flight stability of the drone. Therefore, how to improve the flight stability of drones during rice transplanting is an important technical problem that urgently needs to be solved. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a UAV control method and device, a rice seedling throwing system and a readable storage medium, which can take into account the disturbance effect of the lateral movement of the rice seedling throwing mechanism on the UAV's heading during the UAV's flight, and reduce the heading interference of the lateral movement of the rice seedling throwing mechanism on the final heading control result, so as to avoid the UAV's heading swaying from side to side, improve the heading stability of the UAV, and ensure that the UAV can carry the rice seedling throwing mechanism to fly stably and realize the flying rice seedling throwing operation.

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

[0006] In a first aspect, this 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 disposed on one side of the drone, and a seedling retrieval module that works in conjunction with the seedling delivery module, the seedling delivery module including a seedling delivery tray that can move laterally; the method includes:

[0007] When the UAV performs the flying rice seedling throwing operation, the rice seedling delivery tray is controlled to move laterally, and the rice seedling picking module is controlled to separate the rice seedlings from the seedlings carried by the rice seedling delivery tray and throw them out.

[0008] During the lateral movement of the seedling tray, the UAV is oriented under heading control to suppress heading disturbances caused by the lateral movement of the seedling tray.

[0009] In an optional implementation, two seedling throwing mechanisms are installed. The seedling delivery module and the seedling retrieval module are respectively arranged on opposite sides of the UAV. When the UAV performs the flying seedling throwing operation, the lateral movement directions of the seedling delivery discs of the two seedling throwing mechanisms are opposite in real time. The heading control operation is used to suppress the heading disturbance caused by the opposite lateral movement of the seedling delivery discs of the two seedling throwing mechanisms.

[0010] In an optional implementation, the step of controlling the heading of the UAV includes:

[0011] If the lateral movement direction of the seedling delivery tray on the drone is clockwise relative to the drone, then the heading of the drone is controlled to deflect clockwise.

[0012] If the transverse direction of the seedling delivery tray on the drone is counterclockwise relative to the drone, then the heading of the drone is controlled to deflect counterclockwise.

[0013] In an optional implementation, the step of controlling the heading of the UAV includes:

[0014] Obtain the directional 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 moment.

[0016] In an optional implementation, the step of adjusting the heading of the UAV based on the heading disturbance moment includes:

[0017] Calculate the heading control disturbance caused by all rice-throwing mechanisms to the UAV based on the heading disturbance moment;

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

[0019] In an optional implementation, when the number of rice-throwing mechanisms is two, the step of calculating the heading control disturbance caused by all rice-throwing mechanisms to the UAV based on the heading disturbance moment includes:

[0020] Based on the kinematic relationship between the two rice-throwing mechanisms and the UAV, the control disturbance is estimated based on the heading disturbance torque generated by each of the two rice-throwing mechanisms, and the heading control disturbance amount exerted by the two rice-throwing mechanisms on the UAV is obtained.

[0021] In an optional implementation, the step of adjusting the heading of the UAV based on the heading control disturbance includes:

[0022] The target heading control quantity is obtained by solving the heading control quantity based on the heading control disturbance, the expected heading data of the UAV, and the actual heading data.

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

[0024] In an optional implementation, the step of solving for the heading control quantity based on the heading control disturbance, the UAV's desired heading data, and the actual heading data to obtain the target heading control quantity includes:

[0025] Substitute the desired heading data and the actual heading data into the preset heading control law equation and solve the equation to obtain the heading control quantity to be output that matches the desired heading data and the actual heading data.

[0026] The target heading control quantity is obtained by performing disturbance removal processing on the heading control disturbance quantity to be output.

[0027] In an optional implementation, if the UAV is equipped with a heading data acquisition device, the step of acquiring the actual heading data of the UAV includes:

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

[0029] The original heading data is cleaned and corrected based on the heading disturbance moment to obtain the actual heading data.

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

[0031] Obtain the frequency of the reciprocating lateral movement of the seedling delivery disc of the seedling throwing mechanism;

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

[0033] In an optional embodiment, the seedling feeding module further includes a driving device for driving the seedling feeding tray to reciprocate laterally. The step of obtaining the reciprocating lateral movement frequency of the seedling feeding tray of the seedling throwing mechanism includes:

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

[0035] Based on the preset motor rotation position at the drive device for each of the two extreme lateral displacement positions of the seedling delivery tray, the actual motor speed and 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 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 based on the actual moving speed, the actual moving position, and the actual distance between the two extreme lateral movement positions.

[0037] Secondly, this 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 disposed on one side of the drone, and a seedling picking module that works in conjunction with the seedling delivery module, wherein the seedling delivery module includes a seedling delivery tray that can move laterally; the device includes:

[0038] The seedling throwing control module is used to control the seedling delivery tray to move laterally and to control the seedling picking module to separate the seedlings from the seedlings on the seedling delivery tray and throw them out when the UAV performs the flying seedling throwing operation.

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

[0040] Thirdly, this application provides a seedling throwing system, the system including 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 includes a seedling delivery module disposed on one side of the drone and a seedling retrieval module cooperating with the seedling delivery module, wherein the seedling delivery module includes a drive device and a seedling delivery tray, the drive device being used to drive the seedling delivery tray carrying the seedlings to move laterally, and the seedling retrieval module being used to separate the seedlings from the seedlings carried by the seedling delivery tray and 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 of the connected drone rotor.

[0042] The main control unit stores a computer program and can execute the computer program to control the drone and the rice-throwing mechanism to work together and implement the drone control method described in any of the foregoing embodiments.

[0043] In an optional implementation, two seedling throwing mechanisms are installed, with the seedling delivery module and the seedling retrieval module respectively arranged on opposite sides of the drone, wherein the lateral movement direction of the seedling delivery discs of the two seedling throwing mechanisms is reversed in real time during the drone seedling throwing operation.

[0044] Fourthly, this application provides a readable storage medium storing a computer program thereon, which, when executed by a rice-throwing system built on a drone, implements the drone control method described in any of the foregoing embodiments.

[0045] The seedling throwing system includes a seedling throwing mechanism installed on the drone. The seedling throwing mechanism includes a seedling delivery module located on one side of the drone and a seedling retrieval module that works in conjunction with the seedling delivery module. The seedling delivery module includes a seedling delivery tray that can carry the seedlings and move laterally. The seedling retrieval module is used to separate the seedlings from the seedlings carried by the seedling delivery tray and throw them out.

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

[0047] This application controls the lateral movement of a seedling delivery tray, located on one side of the drone, during drone seedling throwing operations. It also controls the seedling retrieval module to separate seedlings from the seedlings on the tray and throw them out, achieving the desired drone seedling throwing effect. Simultaneously, during the lateral movement of the seedling delivery tray, the application performs heading control on the drone to suppress heading disturbances caused by the tray's movement, ensuring the drone's heading stability. This approach considers the impact of the seedling delivery tray's lateral movement on the drone's heading during flight and reduces its interference with the final heading control result, preventing the drone from swaying left and right, improving heading stability, and ensuring the drone can carry the seedling throwing mechanism and achieve stable flight seedling throwing operations.

[0048] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0049] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a schematic diagram of the structure of a rice transplanting system provided in one embodiment of this application;

[0051] Figure 2 This is a schematic diagram of the structure of a rice-throwing mechanism provided in an embodiment of this application from a first-view perspective;

[0052] Figure 3 A schematic diagram of the rice-throwing mechanism provided in an embodiment of this application from a second perspective;

[0053] Figure 4 A schematic diagram of the structure of a rice-throwing system provided in another embodiment of this application from a first-view perspective;

[0054] Figure 5 A schematic diagram of the rice-throwing system provided in yet another embodiment of this application from a second perspective;

[0055] Figure 6 This is a schematic diagram of the communication connection of the rice transplanting system provided in the embodiments of this application;

[0056] Figure 7 A flowchart illustrating the unmanned aerial vehicle (UAV) control method provided in an embodiment of this application;

[0057] Figure 8 for Figure 1 The diagram shows the directional disturbance generation of the rice transplanting system.

[0058] Figure 9 for Figure 4 The diagram shows the directional disturbance generation of the rice transplanting system.

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

[0060] Figure 11 This is a schematic diagram of UAV heading control provided in an embodiment of this application;

[0061] Figure 12 This is a schematic diagram of the composition of the unmanned aerial vehicle (UAV) control device provided in the embodiments of this 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-Drive Device; 24-Conveying Device; 25-Seedling Pressing Device; 251-Rotating Shaft; 252-Pressure Strip; 30-Seedling Retrieval Module; 31-Drive Source; 32-Transmission Box; 33-Cutter Head; 331-Mounting Part; 332-Cutter Body; 333-Groove; 40-Support Module; 43-First Support; 46-Second Support; 47-Third Support; 200-UAV; 300-Seedling Blanket; 310-Seedling; 50-Main Control Unit; 201-Rotor Drive Motor; 400-UAV Control Device; 410-Seedling Throwing Control Module; 420-Heading Control Module. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0064] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0065] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0066] In the description of this application, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are used only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the equipment or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0067] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0068] Furthermore, it should be understood in the description of this application that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0069] During the research and development process, the applicant discovered that when the drone performs aerial rice-throwing operations, the lateral movement of the rice-throwing tray of its rice-throwing module will cause impact to the drone during flight, causing disturbance to the drone's heading. This results in the drone's actual heading during flight exhibiting a "left-right swaying" motion, which seriously affects the drone's heading stability and flight stability.

[0070] To address this, this application provides a drone control method and apparatus, a rice-throwing system, and a readable storage medium. These methods consider the disturbance effect of the lateral movement of the rice-throwing mechanism's delivery tray on the drone's heading during flight, and reduce the heading interference of the delivery tray's lateral movement on the final heading control result. This prevents the drone's heading from swaying left and right, improves the drone's heading stability, and ensures that the drone can carry the rice-throwing mechanism and fly stably to achieve aerial rice-throwing operations.

[0071] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0072] Please refer to the reference. Figure 1 and Figure 2 This application provides a seedling throwing mechanism 100 and a seedling throwing system 1000. Specifically, the seedling throwing system 1000 includes a drone 200 and at least one seedling throwing mechanism 100. The seedling throwing mechanism 100 is mounted on the drone 200 to separate the seedlings 300 and throw the separated seedlings 310 using centrifugal force and / or ejection force. At the same time, it cooperates with the flight of the drone 200 to realize the flying seedling throwing operation.

[0073] The seedling throwing mechanism 100 can throw the seedlings 310 in several ways. In one embodiment, after separating the seedlings 310 from the seedbed 300, the seedling throwing mechanism 100 can use centrifugal force to throw the seedlings 310 out. In another embodiment, after separating the seedlings 310 from the seedbed 300, the seedling throwing mechanism 100 can use a catapult force to launch the separated seedlings 310 (the seedling throwing mechanism 100 may be equipped with a catapult component that can provide catapult force). In another embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and catapult force to launch the separated seedlings 310.

[0074] The seedling throwing mechanism 100 may include a load module 10, a seedling delivery module 20, and a seedling collection module 30. The load module 10 is mounted on the fuselage frame of the drone 200. The seedling delivery module 20 is mounted on the load module 10 and is used to deliver the seedling mat 300. The seedling collection module 30 is mounted on the load module 10 and is used to separate the seedling mat 300 from the seedling mat 300 on the seedling delivery module 20 and then throw it out using centrifugal force and / or ejection force. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform seedling throwing operations in flight. The seedling mat 300 is delivered by the seedling delivery module 20, and the seedling collection module 30 separates the seedling mat 300 and throws out the seedling 310, realizing the aerial seedling throwing operation of the seedling mat 300. In one embodiment of this invention, the number of seed-throwing mechanisms 100 installed on the drone 200 is one. The seed-feeding module 20 and seed-retrieving module 30 included in the seed-throwing mechanism 100 can be disposed on one side of the drone 200's fuselage frame (e.g., Figure 1 The diagram showing the specific distribution of the rice-throwing mechanism 100, and... Figure 8 (The seedling delivery module and seedling picking module are located on the left side of the drone fuselage from a top-down view.)

[0075] It should be noted that there are many ways to separate seedlings, such as cutting, grabbing, pushing, or pressing. The specific method of separation and seedling removal is not limited.

[0076] In this embodiment, the drone 200 is specifically a quadcopter drone, but it can also be a single-rotor drone, a dual-rotor drone, a hexacopter drone, an octacopter drone, etc. The drone 200 can operate automatically according to a preset path, flight speed, and attitude, or it can be manually controlled by an operator. For ease of description, the accompanying drawings show the forward, backward, left, right, up, and down directions, which are relative positional relationships that can be clearly understood by those skilled in the art when the drone 200 is conventionally placed or in flight.

[0077] Figure 1 The diagram shows a split-type rice-throwing system 1000. Specifically, the load module 10 of the rice-throwing mechanism 100 is detachably mounted on the lower part of the drone 200. That is, the drone 200 and the rice-throwing mechanism 100 adopt a split-type design, with the drone 200 serving as a mobile platform and the rice-throwing mechanism 100 being a separate design. In other words, this type of rice-throwing mechanism 100 is an independent structure, not dependent on the fuselage frame of the drone 200. Based on this type, appropriate devices can be replaced according to actual operational needs in specific operational scenarios. For example, after disassembling the rice-throwing mechanism 100, a spreading device can be installed to spread pesticides, fertilizers, seeds, etc. Similarly, after disassembling the rice-throwing mechanism 100, agricultural operation mechanisms such as surveying devices and spraying devices can be installed.

[0078] Please refer to the reference. Figure 2 and Figure 3 The following will provide a detailed description of each module of the rice transplanting mechanism 100.

[0079] Specifically, the seedling picking module 30 may include a drive source 31 and a cutter head 33. The drive source 31 is connected to the cutter head 33 and is used to drive the cutter head 33 to separate the seedlings 300 on the seedling delivery module 20, and to throw the separated seedlings 310 out by centrifugal force and / or ejection force. Generally, the drive source 31 is a motor, which drives the cutter head 33 along... Figure 2 The blade 33 rotates in the direction indicated by arrow A, thereby separating the seedlings 300 during contact. The separated seedlings 310 follow the rotation of the blade 33 in the direction of arrow A. When the blade reaches a specific position, the seedlings 310 are ejected under the action of centrifugal force and / or ejection force. The blade 33 may be equipped with an ejector component, which can store and release energy through a cam component during the rotation of the blade. When the ejector component releases energy, the seedlings 310 are ejected under the ejection force provided by the ejector component.

[0080] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the drive source 31, with the drive source 31 directly driving the cutter head 33 to rotate. Alternatively, the cutter head 33 can be rotatably mounted on the load module 10, with the drive source 31 mounted on the load module 10 and connected to the cutter head 33 via a transmission mechanism, such as a gearbox, linkage mechanism, sprocket mechanism, or pulley mechanism, to provide driving force. Of course, the drive source 31 can also be a pneumatic motor or gasoline engine, instead of an electric motor.

[0081] To facilitate the throwing of seedlings 310, in this embodiment, the cutter head 33 includes a mounting part 331 and a cutter body 332 disposed on the mounting part 331. The mounting part 331 is connected to the drive source 31. A groove 333 is formed on the cutter body 332. The groove 333 is used to hold the seedling 310 after it is separated from the cutter body 332, causing the seedling 310 to rotate and be thrown out under the action of centrifugal force and / or ejection force. Understandably, during actual operation, the groove 333 on the cutter body 332 will hold the soil portion at the root of the seedling 310, and then rotate it during rotation, thereby throwing it out. Of course, the specific structure of the cutter head 33 can also be a seedling needle.

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

[0083] To improve seedling picking efficiency, the rotation speed of the cutter head 33 is usually increased. However, excessive speed may lead to other problems such as heat dissipation and unstable separation. To solve this problem, in this embodiment, at least two cutter heads 33 are arranged on each transmission box 32, thereby expanding the number of cutter heads 33 at the same seedling separation and throwing position.

[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, or three, four or more cutter heads 33 may be distributed. When two cutter heads 33 are distributed on one transmission box 32, the angle between the two cutter heads 33 and the center of the transmission box 32 can be 180 degrees. Three cutter heads 33 can be spaced 120 degrees apart, and four cutter heads 33 can be spaced 90 degrees apart. In other words, the cutter heads 33 can be arranged in a uniform distribution. Of course, it is not excluded that in some scenarios, the cutter heads 33 may be arranged in a non-uniform distribution.

[0085] By designing a larger number of cutter heads 33 on the transmission box 32, the seedling harvesting efficiency can be improved at the same rotational speed. Furthermore, in terms of installation, the transmission box 32 can be directly mounted on the output shaft of the drive source 31, or the transmission box 32 can be rotatably mounted on the load module 10, with the drive source 31 mounted on the load module 10 and connected to the transmission box 32 via a transmission mechanism, such as a gearbox, linkage mechanism, sprocket mechanism, or pulley mechanism, to provide driving force.

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

[0087] Specifically, Figure 3The system has three seedling delivery modules 20, and correspondingly, three seedling collection modules 30. Of course, when the number of seedling delivery modules 20 exceeds three, the number of seedling collection modules 30 can also be increased accordingly. Generally, the seedlings 310 delivered by multiple seedling delivery modules 20 are of the same type and are used for transplanting in the same field. Therefore, the multiple seedling collection modules 30 can be controlled to operate synchronously by a control device mounted on the load module 10, or they can be controlled by the flight control system of the UAV 200. Of course, it is not impossible for multiple seedling delivery modules 20 to operate independently; for example, the seedling collection efficiency of the multiple seedling collection modules 30 can be controlled to be unequal, or some seedling collection modules 30 can be controlled to work while the others do not.

[0088] In order to separate and throw the seedlings 300 row by row and clump by clump, in this embodiment, the seedling delivery module 20 may include a seedling support plate 21 and a seedling delivery tray 22. The seedling support plate 21 is disposed on the load module 10 and has an opening 211. The seedling delivery tray 22 is used to transport the seedlings 300. The lower part of the seedling delivery tray 22 is located inside the seedling support plate 21 and the seedling delivery tray 22 can move laterally relative to the seedling support plate 21. The seedling picking module 30 is used to separate the seedlings 300 through the opening 211 and throw out the separated seedlings 310.

[0089] In other words, the positions of the seedling-picking module 30 and the opening 211 of the seedling-supporting plate 21 remain unchanged relative to the load module 10, while the seedling-feeding tray 22 can reciprocate in the left-right direction. In this way, the seedling-picking module 30 only separates the seedlings 300 exposed in the opening 211, thus enabling the separation and throwing of the seedlings 300 row by row and clump by clump. Of course, in other embodiments, the position of the seedling-feeding tray 22 relative to the load module 10 can remain unchanged, while the seedling-supporting plate 21 and the seedling-picking module 30 can move laterally in the left-right direction.

[0090] In this embodiment, the seedling support plate 21 can be understood as a long, open plate. The seedling support plate 21 is fixed relative to the load module 10 and does not move with the left-right reciprocating movement of the seedling feeding tray 22. The seedling support plate 21 provides a certain degree of support for the seedling feeding tray 22. Figure 3 In this embodiment, there are three seedling picking modules 30 that are spaced apart. Therefore, there are also three openings 211 that are spaced apart, so that each seedling picking module 30 can separate and throw the seedlings 300 in the corresponding opening 211.

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

[0092] Generally, the drive device 23 can use a motor in conjunction with a rack and pinion mechanism to achieve the reciprocating left and right movement of the seedling tray 22, or it can use a motor in conjunction with a lead screw mechanism or a synchronous belt. Of course, it is not ruled out that the rotor power of the UAV 200 can be used to drive the seedling tray 22 to move laterally left and right.

[0093] Please refer to Figure 2 Generally, the seedling delivery tray 22 is set to an inclined position. This design allows the seedling mat 300 to move downwards under gravity after the seedling delivery tray 22 moves horizontally once, facilitating the seedling picking module 30 to pick up seedlings in the next round. Of course, a power source can also be 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 seedlings 300 to move toward the seedling support plate 21.

[0094] The conveying device 24 can be a conveyor belt or a conveyor roller (e.g., a toothed roller). Furthermore, the conveying device 24 can be installed at different positions along the height of the seedling tray 22. It should be noted that the inclined design of the seedling tray 22 also allows for efficient use of longitudinal space, reducing the space occupied by the seedling tray 22 in the horizontal width. Simultaneously, due to the inclined design, the seedlings 300 can slide down smoothly under their own weight, further reducing the overall power consumption of the conveying device 24.

[0095] In addition, considering the possibility of seedling detachment after the 300 seedlings are placed in the seedling tray 22, combined with Figure 2 and Figure 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 seedlings 300 within the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or rod. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and multiple pressing strips 252. The rotating shaft 251 is rotatably placed horizontally on the seedling delivery tray 22, and the multiple pressing strips 252 are vertically arranged at intervals on the rotating shaft 251 and are used to limit the position of the seedlings 300 within the seedling delivery tray 22.

[0096] In this embodiment, under certain specific scenarios, the rotating shaft 251 can rotate with a certain damping relative to the seedling tray 22, thus adjusting the force exerted by the pressing strip 252 on the seedling mat 300 and maintaining its pressing state. Alternatively, a torsion spring can be fitted onto the rotating shaft 251 to provide pressure for rotation towards the seedling mat 300.

[0097] Please refer to Figure 3In this embodiment, the seedling tray 22 is a rectangular frame structure. Specifically, it includes a support plate and two baffles disposed on the left and right sides of the support plate. It has no top or bottom baffles, thus forming an upper opening for easy seedling placement and a lower opening for easy seedling removal. The width of the seedling tray 22 can match the width of a tray of seedling mats 300. Furthermore, the height of the seedling tray 22 is not limited to the height of a tray of seedling mats 300. During installation, the two ends of the rotating shaft 251 can be rotatably mounted on the two baffles of the seedling tray 22. Figure 3 Four pressing strips 252 are configured on one rotating shaft 251. In other words, four pressing strips 252 are distributed on a seedling feeding tray 22 to limit the seedlings 300 inside the seedling feeding tray 22, so that the seedlings 300 can be pressed onto the seedling feeding tray 22 by the pressing strips 252, which greatly ensures that the seedlings 300 will not be blown away during the flight of the drone 200. Of course, the number of pressing strips 252 configured for a seedling feeding tray 22 is not limited to four. For example, it can also be three, five or more. In addition, since there are multiple seedling feeding modules 20 in this embodiment, there can also be multiple seedling pressing devices 25, and each seedling feeding tray 22 is provided with a corresponding seedling pressing device 25. In some scenarios, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 can share a 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 also include a support module 40, such as a first bracket 43, one end of which is connected to the load module 10, and the other end of which supports the upper part of the seedling delivery tray 22. Figure 2 and Figure 3 Since the seedling tray 22 needs to move laterally, the support positions of the first support 43 and the seedling tray 22 can be achieved through the cooperation of slide rails and pulleys for easy support. For example, pulleys can be installed at the end of the first support 43, and slide rails can be installed on the seedling tray 22, with the two rolling together. Alternatively, slide rails can be installed at the end of the first support 43, and pulleys can be installed on the seedling tray 22. In addition, in certain scenarios, the height of the first support 43 can be adjusted, which can also make the tilt angle of the seedling tray 22 adjustable.

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

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

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

[0102] Figure 4 and Figure 5 Another embodiment of the rice-throwing system 1000 provided in this application is shown, wherein the description of the same modules, mechanisms or components can be referred to above. In this embodiment, the rice-throwing system 1000 is a dual-system, that is, it has two sets of rice-throwing mechanisms 100, and the two rice-throwing mechanisms 100 share a load module 10. The two sets of rice-throwing mechanisms 100 are arranged back to back. Of course, in other embodiments, the two sets of rice-throwing mechanisms 100 can also adopt other arrangements (e.g., arranged in the same direction), or three, four or more sets of rice-throwing mechanisms 100 can be arranged. In particular, when the rice-throwing system 1000 is provided with two sets of rice-throwing mechanisms 100, by controlling the actual lateral movement direction of the rice-feeding trays 22 of the two sets of rice-throwing mechanisms 100 to maintain opposite states at the same time, the lateral movement impact force can be canceled, thereby improving the flight stability of the UAV 200. In one embodiment of this invention, two seedling throwing mechanisms 100 are installed on the drone 200. The seedling delivery module 20 and seedling collection module 30 of each of the two seedling throwing mechanisms 100 can be arranged on opposite sides of the drone 200's fuselage frame, such that one seedling delivery module 20 and one seedling collection module 30 are deployed on either side of the drone 200's fuselage frame (e.g., Figure 4 The diagram showing the specific distribution of the two sets of rice-throwing mechanisms 100 is shown below, or... Figure 9 From a top-down perspective, the seedling delivery module and seedling collection module are located on the left side of the drone's fuselage, as well as... Figure 9 (The seedling delivery module and seedling picking module are located on the right side of the drone fuselage from an overhead view.)

[0103] Specifically, the working principle of the rice transplanting system 1000 provided in this application embodiment is as follows:

[0104] When the drone 200 flies, the drive source 31 drives the transmission box 32 to rotate. The transmission box 32 drives the cutter head 33 to rotate at high speed. When the cutter head 33 rotates to the opening 211, it separates and removes the seedlings 310, causing the seedlings 310 to rotate. When the seedlings 310 rotate to a certain angle, they are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thus realizing the simultaneous flight and throwing of the seedling blanket 300. At the same time, the seedling delivery tray 22 moves laterally, causing the seedling blanket 300 to move left and right, so that the seedling blanket 300 is separated and thrown row by row and clump by clump. After a row of seedlings 310 in the left and right direction of the seedling blanket 300 is separated, the entire seedling blanket 300 moves downward under the action of gravity and the driving force of the conveying device 24. In this way, during the process of the seedling delivery tray 22 moving laterally again, it is separated and thrown row by row and clump by clump by clump by seedling picking module 30. This process is repeated until all the seedling blanket 300 are separated and thrown.

[0105] Please refer to the reference. Figure 1 and Figure 6 In this embodiment of the application, the above-mentioned rice-throwing system 1000 may further include a main control unit 50, which can be communicatively connected with the rice-throwing mechanism 100 and the drone 200 to control the rice-throwing mechanism 100 and the drone 200 to work together to achieve the effect of drone rice-throwing.

[0106] The drone 200 may include a drone rotor and a rotor drive motor 201. The drone rotor and rotor drive motor 201 are both mounted on the fuselage frame. Each rotor drive motor 201 is connected to a corresponding drone rotor and is used to drive the corresponding drone rotor to rotate. By adjusting the rotation of the connected drone rotor, lift is provided to the drone 200. The number of rotor drive motors of the drone 200 is consistent with the number of drone rotors.

[0107] In this embodiment, the main control unit 50 may include at least one software function module that can be stored in the form of software or firmware. By executing the computer program corresponding to the aforementioned software function module, the software program logic corresponding to the UAV control device 400 can be run to deeply consider the disturbance effect of the lateral movement of the seedling delivery tray of the seedling throwing mechanism 100 on the UAV's heading during the UAV's flight, and reduce the heading interference of the lateral movement of the seedling delivery tray on the final heading control result. This effectively avoids the UAV's heading from left to right, improves the UAV's heading stability, and ensures that the UAV 200 can carry the seedling throwing mechanism 100 to fly stably and achieve the flying seedling throwing operation.

[0108] It is understood that the aforementioned main control unit 50 can be a control electronic device independent of the rice-throwing mechanism 100 and the drone 200, and can regulate the respective operating states of the rice-throwing mechanism 100 and the drone 200; the aforementioned main control unit 50 can also be a control electronic device installed on the drone 200 itself, and this control electronic device directly performs the operation control function of the rice-throwing mechanism 100; the aforementioned main control unit 50 can also be a control electronic device installed on the rice-throwing mechanism 100 itself, and this control electronic device directly performs the operation control function of the drone 200; the aforementioned main control unit 50 can also be regarded as a combination of control electronic devices installed on the drone 200 itself and control electronic devices installed on the rice-throwing mechanism 100 itself, and the specific control functions of the aforementioned main control unit 50 are realized by these two control electronic devices through network communication. The specific main control unit configuration can be configured according to different needs.

[0109] In this application, to ensure that the drone 200 in the aforementioned rice-throwing system 1000 can carry the rice-throwing mechanism 100 and fly stably to achieve the rice-throwing operation, this application provides a drone control method applied to the aforementioned rice-throwing system 1000 to achieve the aforementioned objective. The drone control method provided in this application will be described in detail below.

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

[0111] Step S510: When the drone is performing the flying seedling throwing operation, control the seedling delivery tray to move laterally and control the seedling picking module to separate the seedlings from the seedlings carried by the seedling delivery tray and throw them out.

[0112] In this embodiment, the main control unit 50 can acquire a seedling throwing command for seedling throwing during the flight of the UAV 200, and control the drive device 23 included in the seedling throwing mechanism 100 according to the seedling throwing command. The drive device 23 controls the seedling delivery tray 22 to carry the seedlings 300 and move them back and forth laterally. Then, when the seedling delivery tray 22 moves the seedlings 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 command to separate the seedlings 300 through the opening 211 and throw out the separated seedlings 310, so as to achieve the seedling throwing effect during the flight of the UAV 200.

[0113] The takeoff command can be a control command automatically generated by the main control unit 50 at a specific time point according to the preset rice transplanting operation strategy, or it can be a control command sent directly to the main control unit 50 by the operator through the remote control terminal.

[0114] In step S520, during the lateral movement of the seedling tray, the drone is oriented under directional control to suppress directional disturbances caused by the lateral movement of the seedling tray.

[0115] In this embodiment, Figure 8 for Figure 1 The diagram shown is a top view illustrating the directional disturbance of the rice seedling throwing system 1000 during the drone's rice seedling throwing process caused by the lateral movement of the seedling delivery tray: (See diagram) Figure 8 As shown in (a), when the rice delivery tray located on the left side of the UAV 200 moves laterally, the rice delivery tray 22 moves upwards (i.e., ... Figure 8 (a) indicated by the white arrow. At this point, the lateral movement direction of the seedling delivery tray is clockwise relative to the UAV 200 viewed from above. The actual direction of the reverse force exerted by the seedling delivery tray 22 on the UAV 200 during lateral movement is downward. Therefore, the yaw disturbance torque exerted on the UAV 200 by the lateral movement of the seedling delivery tray will be distributed counterclockwise (i.e., Figure 8 (a) The black arrow indicates that the main control unit 50 needs to control the flight attitude of the UAV 200 to suppress the directional disturbance caused by the directional disturbance moment, so as to keep the UAV's directional direction stable. The directional disturbance moment is used to characterize the actual directional interference caused by the lateral movement of the seed delivery tray to the UAV 200's directional direction.

[0116] like Figure 8 As shown in (b), when the rice delivery tray located on the left side of the UAV 200 moves laterally, the rice delivery tray 22 moves downwards (i.e., ... Figure 8 (b) indicated by the white arrow. At this point, the lateral movement direction of the seedling delivery tray is counterclockwise relative to the UAV 200 viewed from above. The actual direction of the reverse force exerted by the seedling delivery tray 22 on the UAV 200 during lateral movement is upward. Therefore, the yaw disturbance torque exerted on the UAV 200 by the lateral movement of the seedling delivery tray will be distributed clockwise (i.e., Figure 8 (b) The black arrow indicates that the main control unit 50 needs to control the flight attitude of the UAV 200 to suppress the heading disturbance caused by the heading disturbance torque and keep the UAV heading stable.

[0117] Figure 9 yes Figure 4 The diagram shown is a top view illustrating the directional disturbance of the rice seedling throwing system 1000 during the drone's rice seedling throwing process caused by the lateral movement of the seedling delivery tray: (See diagram) Figure 9 As shown in (a), when the rice delivery tray located on the left side of the UAV 200 moves laterally, the rice delivery tray 22 moves upwards (i.e., ... Figure 9(a) The white arrow on the left indicates that, because the lateral movement directions of the seedling delivery trays of the two seedling throwing mechanisms 100 located on both sides of the drone 200 are opposite in real time (i.e., the seedling delivery trays of the two seedling throwing mechanisms 100 on the drone 200 move laterally in opposite directions), the lateral movement direction of the seedling delivery tray located on the right side of the drone 200 is that the seedling delivery tray 22 moves downwards (i.e., the seedling delivery tray 22 moves downwards). Figure 9 (a) indicated by the white arrow on the right. At this point, the two lateral movement directions of the seedling delivery trays on the UAV 200 are actually clockwise relative to the UAV 200 viewed from above. The actual direction of the reaction force exerted by the left seedling delivery tray 22 on the UAV 200 during lateral movement is downward, while the actual direction of the reaction force exerted by the right seedling delivery tray 22 on the UAV 200 during lateral movement is upward. The yaw disturbance torque exerted by the lateral movement of the left seedling delivery tray on the UAV 200 is as follows: Figure 9 In (a), the distribution is counterclockwise as indicated by the black arrow on the left, and the lateral movement of the seed-feeding tray on the right generates a directional disturbance torque on the UAV 200 fuselage, as shown by... Figure 9 (a) is distributed in a counterclockwise direction as indicated by the black arrow on the right. That is, the yaw disturbance torques of the two types of lateral movement of the seed delivery trays on the UAV 200 are distributed in a counterclockwise direction relative to the UAV 200 from the top view. The main control unit 50 needs to control the flight attitude of the UAV 200 to suppress the yaw disturbances caused by the two types of yaw disturbance torques at the same time, so that the UAV's yaw remains stable.

[0118] like Figure 9 As shown in (b), when the rice delivery tray located on the left side of the UAV 200 moves laterally, the rice delivery tray 22 moves downwards (i.e., ... Figure 9 (b) The white arrow on the left indicates that, because the lateral movement directions of the seedling delivery trays of the two seedling throwing mechanisms 100 located on both sides of the drone 200 are opposite in real time (i.e., the seedling delivery trays of the two seedling throwing mechanisms 100 on the drone 200 move laterally in opposite directions), the lateral movement direction of the seedling delivery tray located on the right side of the drone 200 is that the seedling delivery tray 22 moves upward (i.e., the seedling delivery tray 22 moves upward). Figure 9 (b) indicated by the white arrow on the right. At this point, the two transverse directions of the seedling delivery trays on the UAV 200 are actually distributed counterclockwise relative to the UAV 200 from a top-down perspective. The actual direction of the reverse force exerted by the left seedling delivery tray 22 on the UAV 200 during transverse movement is upward, while the actual direction of the reverse force exerted by the right seedling delivery tray 22 on the UAV 200 during transverse movement is downward. The yaw disturbance torque exerted by the transverse movement of the left seedling delivery tray on the UAV 200 is as follows: Figure 9 (b) shows a clockwise distribution as indicated by the black arrows on the left, and the lateral movement of the seed-feeding trays on the right generates a directional disturbance torque on the UAV 200 fuselage. Figure 9(b) The two types of directional disturbance torques on the UAV 200 are distributed in a clockwise direction, as indicated by the black arrow on the right. This means that the directional disturbance torques of the two types of lateral movement of the seed delivery trays on the UAV 200 are distributed in a clockwise direction relative to the UAV 200 from the top view. The main control unit 50 needs to control the flight attitude of the UAV 200 to simultaneously suppress the directional disturbance caused by the two types of directional disturbance torques and keep the UAV's heading stable.

[0119] Therefore, during the drone's heading control process, regardless of whether the seed-throwing mechanism 100 in the aforementioned seed-throwing system 1000 is in accordance with... Figure 1 Configure it, or follow Figure 4 If the lateral movement direction of the seedling delivery tray on the drone 200 can be distributed clockwise or counterclockwise relative to the drone 200 from the top view at the same time, then the yaw disturbance torque generated by the lateral movement of the seedling delivery tray on the drone 200 will also be distributed counterclockwise or clockwise accordingly.

[0120] In one embodiment of this application, to ensure that the main control unit 50 can control the heading of the UAV 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 UAV 200 to deflect in the opposite direction 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 UAV 200 can counteract the actual lateral movement of the seedling delivery tray (including...). Figure 8 The lateral movement of the single-sided seedling delivery tray of the seedling throwing system 1000 shown, or Figure 9 The directional disturbance caused by the reverse lateral movement of the double-sided seedling delivery trays of the rice-throwing system 1000 shown in the diagram prevents the final directional trajectory of the UAV 200 from swaying left and right, thus improving the directional stability and flight stability of the UAV. Specifically, the steps for directional control of the UAV 200 may include:

[0121] If the lateral movement direction of the seedling delivery tray on the drone 200 is clockwise relative to the drone 200, then the heading of the drone 200 is deflected clockwise, and the lateral disturbance torque generated by the lateral movement of the seedling delivery tray is distributed counterclockwise.

[0122] If the lateral movement direction of the seedling delivery tray on the drone 200 is counterclockwise relative to the drone 200, then the heading of the drone 200 is deflected counterclockwise, and the lateral disturbance torque generated by the lateral movement of the seedling delivery tray is distributed clockwise.

[0123] Optionally, in another embodiment of this application, to improve the control accuracy of the main control unit 50 during the UAV heading deflection control process, avoid excessive heading deflection of the UAV, and ensure the heading stability of the UAV, the main control unit 50 may correspondingly measure the actual lateral movement of the seedling delivery tray on the UAV 200 (including...). Figure 8 The lateral movement of the single-sided seedling delivery tray of the seedling throwing system 1000 shown, or Figure 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 is then measured. Based on the measured actual heading disturbance torque, the heading of the UAV 200 is adjusted so that the adjusted heading of the UAV can get rid of the heading disturbance caused by the lateral movement of the seedling delivery trays, thereby improving the heading stability and flight stability of the UAV.

[0124] In this case, please refer to Figure 10 The above step "to control the heading of the UAV 200" may include sub-steps S521 and S522.

[0125] Sub-step S521: Obtain the directional disturbance torque generated by the lateral movement of the seedling delivery disc of the seedling throwing mechanism.

[0126] Optionally, in one embodiment of this example, a reaction torque sensor can be installed on the UAV 200 for each seedling delivery tray 22 of the seedling throwing mechanism 100, so that each reaction torque sensor can monitor the actual reaction torque generated by the corresponding seedling delivery tray 22 during lateral movement in real time, and obtain the directional disturbance torque generated by the lateral movement of the corresponding seedling delivery tray.

[0127] Optionally, in another embodiment of this invention, the reciprocating lateral movement frequency of the seedling feeding tray 22 of each seedling throwing mechanism 100 can be determined by collecting real-time operating data of the drive device 23 of each seedling throwing mechanism 100. Based on the reciprocating lateral movement frequency of the seedling feeding tray 22, the reaction torque is calculated using the reaction torque calculation formula to obtain the directional disturbance torque generated by the lateral movement of the corresponding seedling feeding tray. The operating data of each drive device 23 includes the current actual motor speed and actual motor rotation position of the corresponding drive device 23. In this case, the step "obtaining the directional disturbance torque generated by the lateral movement of the seedling feeding tray of the seedling throwing mechanism 100" in the above sub-step S521 may include:

[0128] Obtain the frequency of the reciprocating lateral movement of the seedling delivery tray of the seedling throwing mechanism 100;

[0129] Based on the kinematic relationship between the rice-throwing mechanism 100 and the drone 200, the actual reaction torque of the rice-throwing tray 22 at the aforementioned reciprocating lateral movement frequency is calculated to obtain the directional disturbance torque generated by the lateral movement of the corresponding rice-throwing tray.

[0130] The kinematic relationship between the seedling throwing mechanism 100 and the UAV 200 can be obtained by kinematic simulation using the system structure model of the seedling throwing system 1000. It 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 the heading disturbance torque with higher data accuracy through the reaction torque calculation operation.

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

[0132] Obtain the actual motor speed and actual motor rotation position of the drive device 23;

[0133] Based on the preset motor rotation position of the driving device 23 at each of the two extreme lateral displacement positions of the seedling tray 22, the actual motor speed and actual motor rotation position of the driving device 23 are converted to the lateral displacement of the seedling tray to obtain the actual moving speed and actual moving position of the seedling tray 22 between the two extreme lateral displacement positions.

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

[0135] The two extreme lateral displacement positions of the seedling delivery tray 22 are the two furthest moving positions when the seedling delivery tray 22 performs reciprocating lateral movement. Based on the actual distance between the two extreme lateral displacement positions of a single seedling delivery tray 22, and according to the actual moving speed and position of the seedling delivery tray 22 between the two extreme lateral displacement positions, the current lateral movement of the seedling delivery tray 22 is considered as a simple harmonic motion. Then, by calculating the time required for the seedling delivery tray 22 to perform a complete simple harmonic motion, the reciprocating lateral movement period corresponding to the seedling delivery tray 22's lateral movement is obtained. Finally, the reciprocal of this reciprocating lateral movement period is calculated to obtain the reciprocating lateral movement frequency of the seedling delivery tray 22. Therefore, this application can effectively improve the accuracy of the reciprocating motion frequency calculation for each seedling delivery tray 22 by using the above-mentioned reciprocating motion frequency calculation method, further improving the accuracy of the obtained heading disturbance torque data.

[0136] Sub-step S522: Adjust 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 UAV 200, the main control unit 50 can calculate the heading control disturbance amount generated when all the lateral movements of the seedling delivery trays in the seed-throwing system 1000 are coordinated and act on the UAV 200 based on the obtained heading disturbance torque. Then, the heading of the UAV is adjusted based on the calculated heading control disturbance amount to improve the heading control accuracy of the UAV. At this time, the step "adjusting the heading of the UAV 200 according to the heading disturbance torque" in sub-step S522 may include:

[0138] Calculate the heading control disturbance caused by all rice-throwing mechanisms 100 to UAV 200 based on the heading disturbance moment;

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

[0140] Specifically, regarding the step of "calculating the heading control disturbance caused by all seedling throwing mechanisms 100 to the UAV 200 based on the heading disturbance moment," the main control unit 50 can construct a system structure model of the seedling throwing system 1000 based on the actual composition of the seedling throwing mechanisms (i.e., how many seedling throwing mechanisms 100 exist in the seedling throwing system 1000, and the specific deployment position of each seedling throwing mechanism 100 on the UAV 200). Then, it can fit the specific kinematic relationship between all seedling throwing mechanisms 100 and the UAV 200 using this system structure model. Finally, based on the relationship between each seedling delivery tray 22 on the UAV 200 and each seedling throwing mechanism 100... The attribution relationship of 0 is used to aggregate the heading disturbance moments of all the seedling delivery trays 22 corresponding to a single seedling throwing mechanism 100, constructing a heading disturbance moment matrix corresponding to that seedling throwing mechanism 100. Then, the heading disturbance moment matrices corresponding to each of the seedling throwing mechanisms 100 within the seedling throwing system 1000 are deeply combined with the aforementioned specific kinematic relationships to estimate the overall disturbance impact of the seedling throwing mechanisms 100 within the seedling throwing system 1000 on the heading control operation of the UAV through the lateral movement of the seedling delivery trays. This yields the amount of heading control disturbance caused to the UAV 200 by the lateral movement of the seedling delivery trays of all the seedling throwing mechanisms 100 within the seedling throwing system 100 (e.g., ...). Figure 11 The “data observer” in the text estimates the heading control disturbance based on the obtained heading disturbance moment.

[0141] Therefore, in one embodiment of this example, if the above-mentioned rice transplanting system 1000 has Figure 1Given the composition of the rice-throwing mechanism shown, the above step "calculating the heading control disturbance caused by all rice-throwing mechanisms 100 to the UAV 200 based on the heading disturbance moment" can be directly expressed as follows: based on the kinematic relationship between the rice-throwing mechanism 100 and the UAV 200, the disturbance control amount is estimated by directly combining the heading disturbance moment generated by each of the rice-throwing trays 22 of the rice-throwing mechanism 100, and the heading control disturbance amount acting on the UAV 200 by the rice-throwing mechanism 100 is obtained.

[0142] In another embodiment of this example, if the above-mentioned rice transplanting system 1000 has Figure 4 Given the composition of the rice-throwing mechanism shown, the above step "calculating the heading control disturbance amount caused by all rice-throwing mechanisms 100 to the UAV 200 based on the heading disturbance moment" may include: based on the kinematic relationship between the two rice-throwing mechanisms 100 and the UAV 200, estimating the disturbance control amount based on the heading disturbance moment generated by each of the rice-feeding trays 22 of the two rice-throwing mechanisms 100, and obtaining the heading control disturbance amount that the two rice-throwing mechanisms 100 work together to affect the UAV 200.

[0143] Furthermore, regarding the step "adjusting the heading of the UAV 200 according to the heading control disturbance," the main control unit 50 acquires the desired heading data and actual heading data of the UAV 200, and then adjusts the UAV's heading based on the obtained heading control disturbance, desired heading data, and actual heading data, so that the final heading control result ensures that the UAV 200 flies according to the desired heading data, thereby improving the heading stability of the UAV. At this time, the step "adjusting the heading of the UAV 200 according to the heading control disturbance" in sub-step S522 may include:

[0144] The target heading control quantity is obtained by solving the heading control quantity based on the heading control disturbance, the expected heading data of the UAV 200, and the actual heading data.

[0145] The UAV 200 is controlled to adjust its course according to the target heading control value, so that the UAV 200 flies according to the desired heading data.

[0146] The desired heading data refers to the heading data that the UAV 200 expects to maintain during flight, which may include the desired heading angle and the desired heading angular velocity. The actual heading data refers to the heading data that the UAV 200 actually exhibits during 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 seed-throwing mechanism 100 on the UAV 200 through the lateral movement of the seed-throwing tray, the main control unit 50 will, in the process of solving the target heading control quantity based on the desired heading data and the actual heading data, deeply consider the disturbance effect of the lateral movement of the seed-throwing tray of the seed-throwing mechanism 100 on the heading of the UAV, and reduce the heading interference of the lateral movement of the seed-throwing tray on the final heading control result (i.e., the target heading control quantity), so as to ensure that when the final heading control result is applied to the UAV 200, it can drive the UAV 200 to fly stably according to the desired heading data, thereby suppressing the left and right sway of the UAV's heading caused by the lateral movement of the seed-throwing tray and improving the heading stability of the UAV.

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

[0148] In one embodiment of this invention, a heading data acquisition device can be deployed on the UAV 200 to directly collect real-time heading data of the UAV 200 during the rice-throwing operation. This real-time heading data collected by the heading data acquisition device is then used as the actual heading data of the UAV 200. The heading data acquisition device can be implemented using an Inertial Measurement Unit (IMU).

[0149] In another embodiment of this invention, to obtain more accurate actual heading data, the real-time heading data collected by the heading data collector can be cleaned and corrected to eliminate the negative impact of the lateral movement of the seedling delivery tray on the heading data acquisition operation, and simultaneously eliminate the negative impact of changes in the device performance of the heading data collector on the heading data acquisition operation. This ensures that the final actual heading data is closer to the actual flight attitude of the UAV 200, and ensures that the obtained actual heading data has high accuracy (e.g., Figure 11The "data observer" in the text processes the raw heading data based on the heading disturbance moment to obtain the actual heading data. The heading data acquisition device typically experiences performance changes with variations in the external operating environment. Therefore, the step "acquiring the actual heading data of the UAV 200" may include:

[0150] The raw heading data collected by the heading data acquisition device for the UAV 200 includes the real-time heading angle and real-time heading angular velocity.

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

[0152] Therefore, by executing the specific steps of "obtaining the actual heading data of the UAV 200" described above, this application can eliminate the negative impact of the lateral movement of the seed delivery tray on the heading data acquisition operation, and simultaneously eliminate the negative impact of the device performance changes of the heading data acquisition device on the heading data acquisition operation, so as to ensure that the final actual heading data is closer to the actual flight attitude of the UAV 200, thereby effectively improving the accuracy of the actual heading data.

[0153] Optionally, to ensure that the calculated target heading control quantity effectively removes the heading interference from the lateral movement of the seedling tray and maintains the heading stability of the UAV, the specific execution process of the main control unit 50 to obtain the target heading control quantity by solving for the heading control quantity based on the heading control disturbance, the expected heading data of the UAV 200, and the actual heading data may include:

[0154] Substitute the desired heading data and actual heading data into the preset heading control law equation and solve the equation to obtain the output heading control quantity that matches the desired heading data and actual heading data (e.g., Figure 11 The "heading controller" in the text calculates the heading control quantity to be output based on the desired heading data and the actual heading data.

[0155] The target heading control quantity is obtained by removing the disturbance from the heading control quantity.

[0156] The output heading control quantity is used to characterize the expected heading control quantity of the entire rice-throwing system 1000 when no heading disturbance torque is considered, to drive the UAV 200 to fly according to the desired heading data. The preset heading control law equation is the specific control logic for the heading controller of the UAV 200 to implement the heading control function. The heading controller can be implemented using one or more combinations of controllers such as PID controller, model-free controller, and fuzzy controller. This can be achieved by subtracting the heading control disturbance quantity (e.g., ...) from the output heading control quantity. Figure 11 The method of superimposing the "to be output heading control quantity" and the "-heading control disturbance quantity" to obtain the target heading control quantity achieves the disturbance removal effect of the to be output heading control quantity, thereby ensuring that when the final target heading control quantity is applied to the UAV 200, it can work with the lateral movement of the seed delivery tray to stabilize the actual heading data of the UAV 200 at the desired heading data, so that the UAV 200 can also fly stably under the operation of the seed throwing mechanism 100, and cooperate with the operating seed throwing mechanism 100 to achieve the flying seed throwing operation.

[0157] In one implementation, the heading controller is implemented using a PID controller. The corresponding preset heading control law equation is the conventional PID control equation. The main control unit 50 needs to calculate the heading data difference between the desired 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. The output of the conventional PID control equation is directly used as the heading control quantity to be output to match the desired heading data and the actual heading data.

[0158] Meanwhile, to ensure that the final UAV heading stabilizes the UAV 200 within the desired heading data, the main control unit 50 can pre-collect heading control data used by the UAV 200 when flying under different heading data without the rice delivery tray lateral movement. Based on the collected different heading data and heading control data, a model of the UAV 200's fuselage flight control system when the rice delivery tray lateral movement is eliminated is constructed (e.g., Figure 11 The model uses a "flight control system" to control the target heading. After obtaining the target heading control value, the model inputs the target heading control value into the flight control system model. The model directly adjusts the heading of the UAV 200 itself, so that the adjusted heading can be coordinated with the actual lateral movement of the seed delivery tray to stabilize the UAV 200 in the desired heading data. This effectively suppresses the left and right swaying of the UAV heading, improves the heading stability of the UAV, and ensures that the UAV 200 can carry the seed delivery mechanism 100 to fly stably and achieve the seed delivery operation.

[0159] Therefore, by executing the above steps S510 to S520, this application can consider the disturbance effect of the lateral movement of the seedling delivery tray 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 tray on the final heading control result, so as to avoid the UAV heading swaying left and right, improve the heading stability of the UAV, and ensure that the UAV 200 can carry the seedling throwing mechanism 100 to fly stably and realize the flying seedling throwing operation.

[0160] In this application, to ensure that the main control unit 50 in the rice-throwing system 1000 can control the drone 200 and the rice-throwing mechanism 100 to coordinately execute the aforementioned drone control method, this application achieves the aforementioned function 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 this application is described below.

[0161] Please refer to Figure 12 In this embodiment of the application, the above-mentioned unmanned aerial vehicle control device 400 may include a rice-throwing 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 laterally and to control the seedling picking module to separate the seedlings from the seedlings on the seedling delivery tray and throw them out when the drone is performing the flying seedling throwing operation.

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

[0164] It should be noted that the basic principle and technical effects of the UAV control device 400 provided in this embodiment are the same as those of the aforementioned UAV control method. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the above description of the UAV control method.

[0165] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0166] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. If the various functions provided in this application are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, including several instructions to cause a rice-throwing system 1000 composed of a rice-throwing mechanism 100 and a drone 200 to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned readable storage medium includes: USB flash drives, mobile hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0167] In summary, in the UAV control method and device, rice seedling throwing system, and readable storage medium provided in this application embodiment, when the UAV performs a flight rice seedling throwing operation, this application controls the rice seedling throwing mechanism, including a rice seedling delivery tray disposed on one side of the UAV, to reciprocate laterally, and controls the rice seedling picking module included in the rice seedling throwing mechanism to separate the rice seedlings from the seedlings carried by the rice seedling delivery tray and throw them out, so as to achieve the effect of UAV rice seedling throwing operation. At the same time, this application will perform heading control on the UAV during the reciprocating lateral movement of the rice seedling delivery tray to suppress the heading disturbance caused by the lateral movement of the rice seedling delivery tray, and ensure the heading stability of the UAV. Thus, during the flight of the UAV, the disturbance effect of the lateral movement of the rice seedling delivery tray of the rice seedling throwing mechanism on the heading of the UAV is considered, and the heading interference of the lateral movement of the rice seedling delivery tray on the final heading control result is reduced, so as to avoid the UAV heading swaying left and right, improve the heading stability of the UAV, and ensure that the UAV can carry the rice seedling throwing mechanism to fly stably and achieve flight rice seedling throwing operation.

[0168] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling an unmanned aerial vehicle (UAV), characterized in that, The unmanned aerial vehicle is provided with a seedling throwing mechanism, wherein the seedling throwing mechanism comprises a seedling feeding module arranged on one side of the unmanned aerial vehicle and a seedling taking module cooperated with the seedling feeding module, the seedling feeding module comprises a seedling feeding tray capable of moving laterally; the method comprises the following steps: When the unmanned aerial vehicle performs the flying seedling throwing operation, the seedling feeding tray is controlled to move laterally, and the seedling taking module is controlled to throw out the seedlings separated from the seedling mat carried by the seedling feeding tray; During the lateral movement of the seedling feeding tray, the unmanned aerial vehicle is controlled in the heading direction to suppress the heading disturbance caused by the lateral movement of the seedling feeding tray; wherein the step of controlling the unmanned aerial vehicle in the heading direction comprises the following steps: obtaining the heading disturbance torque caused by the lateral movement of the seedling feeding tray of the seedling throwing mechanism; and adjusting the heading direction of the unmanned aerial vehicle according to the heading disturbance torque.

2. The method of claim 1, wherein, The number of the seedling throwing mechanisms is two, and the seedling feeding module and the seedling taking module are arranged on opposite sides of the unmanned aerial vehicle respectively, wherein the lateral movement directions of the seedling feeding trays of the two seedling throwing mechanisms are opposite in real time when the unmanned aerial vehicle performs the flying seedling throwing operation, and the heading control operation is used to suppress the heading disturbance caused by the opposite lateral movement of the seedling feeding trays of the two seedling throwing mechanisms.

3. The method according to claim 1 or 2, characterized in that, The step of controlling the unmanned aerial vehicle in the heading direction comprises the following steps: If the lateral movement direction of the seedling feeding tray on the unmanned aerial vehicle is distributed in the clockwise direction relative to the unmanned aerial vehicle, the heading direction of the unmanned aerial vehicle is controlled to deflect in the clockwise direction; If the lateral movement direction of the seedling feeding tray on the unmanned aerial vehicle is distributed in the counterclockwise direction relative to the unmanned aerial vehicle, the heading direction of the unmanned aerial vehicle is controlled to deflect in the counterclockwise direction.

4. The method according to claim 1 or 2, characterized in that, The step of adjusting the heading direction of the unmanned aerial vehicle according to the heading disturbance torque comprises the following steps: The heading control disturbance amount caused by all the seedling throwing mechanisms to the unmanned aerial vehicle is calculated according to the heading disturbance torque; The heading direction of the unmanned aerial vehicle is adjusted according to the heading control disturbance amount.

5. The method of claim 4, wherein, In the case that the number of the seedling throwing mechanisms is two, the step of calculating the heading control disturbance amount caused by all the seedling throwing mechanisms to the unmanned aerial vehicle according to the heading disturbance torque comprises the following steps: The heading control disturbance amount caused by the two seedling throwing mechanisms to the unmanned aerial vehicle is obtained by disturbance estimation based on the heading disturbance torques generated by the two seedling throwing mechanisms according to the kinematic relationship between the two seedling throwing mechanisms and the unmanned aerial vehicle.

6. The method of claim 4, wherein, The step of adjusting the heading direction of the unmanned aerial vehicle according to the heading control disturbance amount comprises the following steps: The target heading control amount is obtained by solving the heading control amount according to the heading control disturbance amount, the expected heading data and the actual heading data of the unmanned aerial vehicle; The heading direction of the unmanned aerial vehicle is adjusted according to the target heading control amount, so that the unmanned aerial vehicle flies according to the expected heading data.

7. The method of claim 6, wherein, The step of solving the target heading control amount according to the heading control disturbance amount, the expected heading data and the actual heading data of the unmanned aerial vehicle comprises the following steps: The expected heading data and the actual heading data are substituted into a preset heading control law equation for equation solving to obtain a to-be-output heading control quantity matched with the expected heading data and the actual heading data; The to-be-output heading control quantity is disturbed for removal processing according to the heading control disturbance quantity to obtain the target heading control quantity.

8. The method of claim 6, wherein, The unmanned aerial vehicle is provided with a heading data collector, and the actual heading data of the unmanned aerial vehicle is obtained by: Obtaining original heading data collected by the heading data collector for the unmanned aerial vehicle; According to the heading disturbance torque, the original heading data is cleaned and corrected to obtain the actual heading data.

9. The method of claim 1 or 2, wherein, The step of obtaining the heading disturbance torque generated by the transverse movement of the seedling delivery disc of the seedling throwing mechanism includes: Obtaining the reciprocating transverse movement frequency of the transverse movement of the seedling delivery disc of the seedling throwing mechanism; According to the kinematic relationship between the seedling throwing mechanism and the unmanned aerial vehicle, the actual counter torque of the transverse movement of the seedling delivery disc at the reciprocating transverse movement frequency is calculated to obtain the heading disturbance torque.

10. The method of claim 9, wherein, The seedling delivery module further includes a driving device for driving the seedling delivery disc to reciprocate transversely, and the step of obtaining the reciprocating transverse movement frequency of the transverse movement of the seedling delivery disc of the seedling throwing mechanism includes: Obtaining the actual motor speed and the actual motor rotation position of the driving device; According to the preset motor rotation positions of the two limit transverse movement positions of the seedling delivery disc at the driving device, the actual motor speed and the actual motor rotation position of the driving device are converted for seedling delivery disc transverse movement to obtain the actual movement speed and the actual movement position of the seedling delivery disc between the two limit transverse movement positions; According to the actual movement speed, the actual movement position, and the actual distance between the two limit transverse movement positions, the reciprocating transverse movement frequency of the seedling delivery disc is calculated.

11. A drone control device, comprising: The unmanned aerial vehicle is provided with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module arranged on one side of the unmanned aerial vehicle, and a seedling taking module cooperating with the seedling delivery module, wherein the seedling delivery module includes a seedling delivery disc capable of transverse movement; the device includes: A seedling throwing control module is configured to control the seedling delivery disc to transversely move and control the seedling taking module to separate and throw seedlings from the seedlings carried by the seedling delivery disc when the unmanned aerial vehicle performs flight seedling throwing operation; A heading control module is configured to control the heading of the unmanned aerial vehicle to suppress the heading disturbance generated by the transverse movement of the seedling delivery disc during the transverse movement of the seedling delivery disc, wherein the heading control module controls the heading of the unmanned aerial vehicle in the following manner: obtaining the heading disturbance torque generated by the transverse movement of the seedling delivery disc of the seedling throwing mechanism; and adjusting the heading of the unmanned aerial vehicle according to the heading disturbance torque.

12. A throwing system, characterized in that, The system comprises a master control unit, a UAV and a seedling throwing mechanism, the seedling throwing mechanism is installed on the UAV, wherein the seedling throwing mechanism comprises a seedling feeding module arranged on one side of the UAV and a seedling taking module cooperated with the seedling feeding module, the seedling feeding module comprises a driving device and a seedling feeding disc, the driving device is used to drive the seedling feeding disc to carry the seedling mat to move horizontally, the seedling taking module is used to throw out the seedling after separating the seedling from the seedling mat carried by the seedling feeding disc; The UAV comprises UAV rotors and rotor driving motors, each rotor driving motor is connected with one UAV rotor, and is used to adjust the rotation state of the connected UAV rotor; The master control unit stores a computer program and can execute the computer program to control the UAV and the seedling throwing mechanism to cooperate, and realize the UAV control method in any one of claims 1-10.

13. The system of claim 12, wherein, The number of the seedling throwing mechanisms is two, the opposite sides of the UAV are respectively provided with the seedling feeding module and the seedling taking module, and the horizontal moving directions of the seedling feeding discs of the two seedling throwing mechanisms are opposite in real time during the UAV seedling throwing operation.

14. A readable storage medium, having stored thereon a computer program, characterized in that, The computer program is executed by the seedling throwing system based on the UAV to realize the UAV control method in any one of claims 1-10; The seedling throwing system comprises a seedling throwing mechanism installed on the UAV, the seedling throwing mechanism comprises a seedling feeding module arranged on one side of the UAV and a seedling taking module cooperated with the seedling feeding module, the seedling feeding module comprises a seedling feeding disc capable of carrying the seedling mat to move horizontally, and the seedling taking module is used to throw out the seedling after separating the seedling from the seedling mat carried by the seedling feeding disc.

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