Material throwing control method and system of unmanned aerial vehicle

Abstract

The invention discloses a material throwing control method and system of an unmanned aerial vehicle, the unmanned aerial vehicle is provided with a throwing device, the throwing device comprises a charging barrel and an electric control mechanism installed on the charging barrel, and the electric control mechanism is in communication connection with the unmanned aerial vehicle; a charging tray and a driving part for driving the charging tray to rotate are arranged in the charging barrel, the electric control mechanism drives and controls the driving part, and a plurality of annularly distributed blanking bins are formed in the charging tray; the method comprises the following steps: acquiring a set material throwing mode, wherein the material throwing mode comprises a manual single-point mode, a continuous equidistant throwing mode and an automatic fixed-point throwing mode; and obtaining one or more material throwing points and a throwing route, and executing material throwing operation according to the set material throwing mode and the preset material throwing strategy. According to the invention, the material throwing operation can be automatically executed according to actual requirements, and the accuracy and efficiency of material throwing are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of plant protection UAVs, and in particular to a material throwing control method and system of a UAV. Background Art

[0002] At present, the continuous improvement of plant protection drones has played a huge role in the development of intelligent agriculture. More and more people use plant protection drones to achieve high efficiency and intelligent operations. Plant protection drone material throwing is a method of using drone technology to quickly and accurately deliver materials to the target area. At present, plant protection drones equipped with different equipment can meet different feeding needs, such as spraying, sowing, lifting, etc.

[0003] However, for the large-scale automatic and precise rodent control that needs to be carried out by drones, the precise and targeted fertilization of trees, the targeted sowing of crops, etc., precise and targeted delivery operations are required. The existing plant protection drones mostly fly directly to the sky above the designated location and deliver the materials they carry at one time. However, they are unable to deliver materials in precise quantities within a certain range according to delivery needs. As a result, in the process of regional material delivery, drones need to frequently load materials, which greatly affects operational efficiency. Summary of the invention

[0004] In order to solve the technical problems existing in the background technology, the present invention proposes a material throwing control method and system for an unmanned aerial vehicle.

[0005] The present invention proposes a material throwing control method for an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a thrower, the thrower comprises a barrel and an electric control mechanism installed on the barrel, the electric control mechanism is connected to the unmanned aerial vehicle for communication; a material tray and a driving member for driving the material tray to rotate are provided in the barrel, and the electric control mechanism drives and controls the driving member, and a plurality of material dropping bins distributed in an annular shape are formed in the material tray; the method comprises the following steps: S1. Obtain a set material throwing mode, wherein the material throwing mode includes a manual single-point mode, a continuous equidistant throwing mode, and an automatic fixed-point throwing mode; S2. Obtain one or more material throwing points and throwing routes, and perform material throwing operations according to the set material throwing mode and preset material throwing strategy; S3. After executing a material throwing operation, the state of the thrower is detected to determine the result of the material throwing operation.

[0006] Preferably, step S3 specifically includes: After executing a material throwing operation, the working state of the material tray of the thrower is detected. When the material tray completes one throwing, the result of the material throwing operation is a successful throwing. When the material tray is blocked, the driving part controls the material tray to reverse so that the material tray returns to normal.

[0007] Preferably, the material throwing mode is specifically a manual single-point mode; the preset material throwing strategy specifically includes: manually flying to the material throwing point according to the throwing route and manually throwing the material.

[0008] Preferably, the material throwing mode is specifically a continuous equidistant throwing mode; the preset material throwing strategy specifically includes: When the acquired material throwing point is one, the material throwing point is located on the throwing route; Execute the throwing route, and when the material throwing point is reached, perform the material throwing operation; When the acquired material throwing points are multiple continuous and equidistant points, the material throwing section is located on the throwing route, and multiple material throwing operations are configured according to the multiple material throwing points; Execute the throwing route, and when reaching the material throwing section, perform multiple material throwing operations.

[0009] Preferably, the material throwing mode is specifically an automatic fixed-point throwing mode; the preset material throwing strategy specifically includes: Acquire multiple discontinuous material throwing points and throwing routes, and locate multiple discontinuous material throwing points on the throwing routes; Execute the throwing route after positioning, and when the material throwing point is reached, perform the material throwing operation.

[0010] Preferably, it also includes: S4. When the material throwing mode is the continuous equidistant throwing mode or the automatic fixed-point throwing mode, after completing a successful material throwing operation, detect the remaining materials in multiple drop bins in the material tray of the thrower. When any drop bin has materials for the next throwing, continue to execute the next material throwing operation.

[0011] Preferably, it also includes: When it is detected that multiple material drop bins of the thrower are out of material, a material shortage prompt is sent to the terminal.

[0012] The present invention proposes a material throwing control system for an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a thrower, the thrower comprises a barrel and an electric control mechanism installed on the barrel, the barrel is provided with a material tray and a driving member for driving the material tray to rotate, and the electric control mechanism drives and controls the driving member, and a plurality of material dropping bins distributed in an annular shape are formed in the material tray; the system comprises: A mode selection module is used to obtain a set material throwing mode, wherein the material throwing mode includes a manual single-point mode, a continuous equidistant throwing mode, and an automatic fixed-point throwing mode; A throwing execution module is used to obtain one or more material throwing landing points and throwing routes, and execute the throwing material operation according to the set material throwing mode and preset material throwing strategy; The throwing detection module is used to detect the state of the thrower after performing a material throwing operation to determine the result of the material throwing operation.

[0013] In the present invention, the proposed UAV material throwing control method and system, by setting different material throwing modes and preset strategies, the UAV can automatically perform material throwing operations according to actual needs and perform real-time detection of the throwing results, thereby improving the accuracy and efficiency of material throwing and reducing the operation difficulty and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the front view of the structure of a throwing device provided in an embodiment of the present invention is shown; Figure 2 A schematic diagram of the top view of the structure of a throwing device provided in an embodiment of the present invention is shown; Figure 3 A schematic diagram of the structure of a thrower provided in an embodiment of the present invention is shown as a bottom view; Figure 4 A cross-sectional schematic diagram of a throwing device provided according to an embodiment of the present invention is shown; Figure 5 A schematic diagram of the explosion structure of a thrower provided according to an embodiment of the present invention is shown; Figure 6 A schematic diagram of a workflow provided according to an embodiment of the present invention is shown; Figure 7 A schematic diagram of an implementation process provided according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0015] Reference Figure 1-7 The present invention proposes a material throwing control method of an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a thrower, the thrower comprises a barrel 1 and an electric control mechanism installed on the barrel 1, the electric control mechanism is connected to the unmanned aerial vehicle for communication; the barrel 1 is provided with a material tray 2 and a driving member for driving the material tray 2 to rotate, and the electric control mechanism drives and controls the driving member, and a plurality of material drop bins 201 distributed in an annular shape are formed in the material tray 2; the method comprises the following steps: S1. Get the set material throwing mode, which includes manual single-point mode, continuous equidistant throwing mode and automatic fixed-point throwing mode.

[0016] In this embodiment, the electronic control mechanism is connected to the drone for communication, so that the drone can obtain the residual material status and throwing status of the thrower in real time, and at the same time, it is convenient for the thrower to receive the operation instructions of the drone in real time, so that the drone can automatically complete the throwing operation according to the set mode to improve the throwing efficiency.

[0017] S2. Obtain one or more material throwing landing points and throwing routes, and perform the material throwing operation according to the set material throwing mode and preset material throwing strategy.

[0018] In this embodiment, the material throwing mode is specifically a manual single-point mode; the preset material throwing strategy specifically includes: manually flying to the material throwing point according to the throwing route and manually throwing the material.

[0019] In this embodiment, the material throwing mode is specifically a continuous equidistant throwing mode; the preset material throwing strategy specifically includes: When the acquired material throwing point is one, the material throwing point is located on the throwing route; Execute the throwing route, and when the material throwing point is reached, perform the material throwing operation; When the acquired material throwing points are multiple continuous and equidistant points, the material throwing section is located on the throwing route, and multiple material throwing operations are configured according to the multiple material throwing points; Execute the throwing route, and when reaching the material throwing section, perform multiple material throwing operations.

[0020] In this embodiment, the material throwing mode is specifically an automatic fixed-point throwing mode; the preset material throwing strategy specifically includes: Acquire multiple discontinuous material throwing points and throwing routes, and locate multiple discontinuous material throwing points on the throwing routes; Execute the throwing route after positioning, and when the material throwing point is reached, perform the material throwing operation.

[0021] S3. After executing a material throwing operation, the state of the thrower is detected to determine the result of the material throwing operation.

[0022] In this embodiment, step S3 specifically includes: After performing a material throwing operation, the working state of the material tray 2 of the thrower is detected. When the material tray 2 completes one throwing, the result of the material throwing operation is a successful throwing. When the material tray 2 is blocked, the driving member controls the material tray 2 to reverse so that the material tray 2 returns to normal.

[0023] In this embodiment, after the feed tray 2 is reversed, the working state of the feed tray 2 of the thrower is detected again. If the working state of the feed tray 2 of the thrower is still blocked, the drone is controlled to perform a return operation.

[0024] S4. When the material throwing mode is the continuous equidistant throwing mode or the automatic fixed-point throwing mode, after completing a successful material throwing operation, detect the remaining materials in the multiple drop bins 201 in the material tray 2 of the thrower. When any drop bin 201 has materials for the next throwing, continue to execute the next material throwing operation.

[0025] In this embodiment, it also includes: When it is detected that the multiple material drop bins 201 of the thrower are all out of material, a material shortage prompt is sent to the terminal.

[0026] In this embodiment, if the multiple material drop bins 201 of the thrower are all out of material, the drone is controlled to perform a return operation.

[0027] Reference Figure 1-7 The present invention proposes a material throwing control system for an unmanned aerial vehicle. The unmanned aerial vehicle is provided with a thrower, which includes a barrel and an electric control mechanism installed on the barrel. A material tray and a driving member for driving the material tray to rotate are provided in the barrel, and the electric control mechanism drives and controls the driving member. A plurality of material drop bins distributed in an annular shape are formed in the material tray. The system includes: The mode selection module is used to obtain the set material throwing mode, which includes manual single-point mode, continuous equidistant throwing mode and automatic fixed-point throwing mode; A throwing execution module is used to obtain one or more material throwing landing points and throwing routes, and execute the throwing material operation according to the set material throwing mode and preset material throwing strategy; The throwing detection module is used to detect the state of the thrower after performing a material throwing operation to determine the result of the material throwing operation.

[0028] In this embodiment, the barrel 1 can carry a large amount of material inside, and the multiple drop bins 201 in the material tray 2 are used for filling the material before it is thrown in. By controlling the rotation of the material tray 2 through the driving member, the material in the barrel 1 can be quantitatively thrown at multiple points to achieve continuous operation.

[0029] In this embodiment, the material tray 2 is detachable relative to the barrel 1, and the user can replace the material tray 2 according to the material to be thrown, and different material trays 2 can be used to throw materials of different volumes. Corresponding hatch designs can also be made for special materials to meet the throwing operations of various materials, and the expandability is strong. The fewer the number of drop bins 201 distributed relative to the material tray 2, the larger the aperture, so as to cope with the delivery of materials of different volumes. A bottom cover 12 is fixedly provided at the bottom of the barrel 1, and a drop trough 13 is formed in the bottom cover 12. When the drop bin 201 rotates and aligns with the drop trough 13, the material shifting structure is controlled to push away the material above the drop bin 201, and the material entering the drop bin 201 is thrown out through the drop trough 13. Each drop bin 201 on the material tray 2 can drop one material. Under working conditions, the rotation of the material tray 2 is controlled by the driving part, and the materials will rotate to the material drop chute 13 one by one as the material tray 2 rotates. The material accumulated above the drop bin 201 is pushed away by the material shifting structure, ensuring that there is only one material above the drop chute 13 at a time, and the material falls from the drop port, thereby meeting the precise control of material delivery.

[0030] Specifically, Figure 4 and Figure 5 As shown, the driving member includes a steering gear 4 installed in the barrel 1 , an output end of the steering gear 4 is installed with a meshing transmission assembly, and a driven tooth 3 is formed on the side wall of the tray 2 .

[0031] The steering gear 4 is a prior art, which is a device that converts electrical signals into mechanical motions. It can accurately adjust the rotation angle according to the input control signal to achieve accurate position control. When the steering gear 4 is running, the driven gear 3 will drive the material tray 2 to rotate under the action of the meshing transmission assembly. The meshing transmission assembly includes a driving gear 6 that is rotatably connected to the bottom cover 12, and the driving gear 6 is meshed with the driven gear 3. A steering disc 5 is embedded in the driving gear 6, and the steering disc 5 is slidably sleeved on the outer side of the output shaft of the steering gear 4. A plug rod 601 is fixed on the driving gear 6, and a slot 501 is formed in the steering disc 5 to match the plug rod 601. The output shaft of the steering gear 4 is slidably matched with the steering disc 5 through a spline. The steering disc 5 is the output component of the steering gear 4, which is directly connected to the output shaft of the steering gear 4. When the steering gear 4 receives the control signal, its output end drives the steering disc 5 to rotate. The steering disc 5 can convert the rotational motion of the steering gear 4 into an angle change to meet different application requirements. The position and angle of the steering disc 5 can be precisely adjusted by an external control signal, which allows the movement of the steering gear 4 to be output to the driving gear 6. Through the plug-in cooperation between the plug rod 601 and the slot 501, and the sliding cooperation between the output shaft of the steering gear 4 and the steering disc 5 through the spline, when the output shaft rotates, the steering disc 5 can be driven to rotate through the spline, and the steering disc 5 drives the driving gear 6 fixed to the plug rod 601 to rotate through the slot 501, and this sliding plug-in cooperation mode makes it convenient for users to disassemble and replace the driving gear 6.

[0032] Specifically, Figure 3-Figure 5 As shown, the bottom cover 12 is fixed with a shaft column 101 coaxially distributed with the material tray 2, and the material tray 2 is rotatably sleeved on the outer side of the shaft column 101. The material-pickup structure is a baffle 9, which is fixed to the shaft column 101 by bolts and extends upward from one end of the material tray 2. When the material bin 201 rotates to align with the material chute 13, the baffle 9 pushes away the material above the material bin 201 and blocks the opening of the material bin 201. When the material tray 2 rotates, the material tray 2 will rotate along the shaft column 101 to realize the cyclic falling of the material. When the material bin 201 rotates to align with the material chute 13, the baffle 9 will push away the remaining material above the material bin 201. As the material bin 201 is aligned with the material chute 13, the top opening of the material bin 201 will be covered by the baffle 9 to ensure that only one material is present above the material chute 13 at a time.

[0033] Specifically, Figure 4 and Figure 5 As shown, a material drop sensor 7 is installed in the barrel 1 to sense and count the materials thrown out of the drop chute 13. A light strip 11 is embedded and installed on the bottom cover 12, and a translucent enclosure 10 is fixed on the bottom cover 12 to match the light strip 11; the material drop sensor 7 is an existing infrared sensor based on the interaction between infrared radiation and matter. Infrared radiation is a type of electromagnetic wave, located between visible light and microwaves. Objects absorb, reflect or transmit these radiations to produce measurable physical effects. The infrared material drop sensor 7 usually includes an infrared transmitter (IR transmitter) and an infrared receiver (IR receiver). The transmitter is used to emit infrared radiation of a specific wavelength, and the receiver is used to detect the reflected infrared radiation. The material falls from the feeding chute 13, and the material falling is detected by the material falling sensor 7 provided in the barrel 1, and the number of falling materials is counted and flashed a corresponding number of times. If a special situation causes the feeding bin 201 to be out of material, the material tray 2 continues to rotate until the required amount of material is guaranteed; if no material is detected falling after one rotation, it will reverse one circle, and if there is still no material, it will feedback that the barrel 1 is out of material. The light strip 11 is an existing three-color lamp. When there is a lack of material, the light strip 11 flashes in different colors to indicate the lack of material; other faults, such as stalling, abnormally high material content, etc., flash in corresponding colors to provide intuitive feedback to the user. When the barrel 1 completes the corresponding amount of feeding at one operating point, it gives a signal to perform the operation at the next operating point until the operation is completed or it returns due to lack of material. The electric control mechanism includes a module housing 15 installed on the side end of the barrel 1, a control module 14 is installed in the module housing 15, and a wiring harness 16 connected to the output end of the mounting device is installed on the module housing 15; the side wall of the barrel 1 is screwed and connected with a threaded ejector 8, and the barrel 1 is installed on the mounting device through the threaded ejector 8.

[0034] The output end of the control module 14 is connected to the input end of the steering gear 4 and the light strip 11 by telecommunication. The control module 14 is the core part of the UAV throwing system. It is responsible for receiving the command of the UAV, controlling the throwing action, and ensuring the accuracy and safety of the throwing, so as to realize the normal operation of the thrower. At the same time, the control module 14 feeds back the state of the thrower to the UAV in real time, so that the UAV can perform specific operations in time according to the state of the thrower. The control module 14 is also used to drive and control the driving member according to the command transmitted by the UAV, and drive and adjust the material tray 2 through the driving member to complete the throwing operation.

[0035] The wiring harness 16 is connected to the mounting device to ensure power supply and communication.

[0036] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A material throwing control method for an unmanned aerial vehicle, characterized in that: The drone is provided with a thrower, the thrower comprising a barrel (1) and an electric control mechanism mounted on the barrel (1), the electric control mechanism being in communication connection with the drone; a material tray (2) and a driving member for driving the material tray (2) to rotate are provided in the barrel (1), and the electric control mechanism drives and controls the driving member, and a plurality of annularly distributed drop bins (201) are formed in the material tray (2); the method comprises the following steps: S1. Obtain a set material throwing mode, wherein the material throwing mode includes a manual single-point mode, a continuous equidistant throwing mode, and an automatic fixed-point throwing mode; S2. Obtain one or more material throwing points and throwing routes, and perform material throwing operations according to the set material throwing mode and preset material throwing strategy; S3. After executing a material throwing operation, the state of the thrower is detected to determine the result of the material throwing operation.

2. The material throwing control method of a drone according to claim 1, characterized in that: Step S3 specifically includes: After executing a material throwing operation, the working state of the material tray (2) of the thrower is detected. When the material tray (2) completes one throwing, the result of the material throwing operation is successful throwing. When the material tray (2) is blocked, the material tray (2) is controlled to reverse through the driving member so that the material tray (2) returns to normal.

3. The material throwing control method of a drone according to claim 1, characterized in that: The material throwing mode is specifically a manual single-point mode; the preset material throwing strategy specifically includes: manually flying to the material throwing point according to the throwing route and manually throwing the material.

4. The material throwing control method of a drone according to claim 1, characterized in that: The material throwing mode is specifically a continuous equidistant throwing mode; the preset material throwing strategy specifically includes: When the acquired material throwing point is one, the material throwing point is located on the throwing route; Execute the throwing route, and when the material throwing point is reached, perform the material throwing operation; When the acquired material throwing points are multiple continuous and equidistant points, the material throwing section is located on the throwing route, and multiple material throwing operations are configured according to the multiple material throwing points; Execute the throwing route, and when reaching the material throwing section, perform multiple material throwing operations.

5. The material throwing control method of a drone according to claim 1, characterized in that: The material throwing mode is specifically an automatic fixed-point throwing mode; the preset material throwing strategy specifically includes: Acquire multiple discontinuous material throwing points and throwing routes, and locate multiple discontinuous material throwing points on the throwing routes; Execute the throwing route after positioning, and when the material throwing point is reached, perform the material throwing operation.

6. The material throwing control method of a drone according to claim 4 or 5, characterized in that: Also includes: S4. When the material throwing mode is the continuous equidistant throwing mode or the automatic fixed-point throwing mode, after completing a successful material throwing operation, the remaining materials in the multiple material drop bins (201) in the material tray (2) of the thrower are detected, and when any of the material drop bins (201) has materials for the next throwing, the next material throwing operation is continued.

7. The material throwing control method of a drone according to claim 6, characterized in that: Also includes: When it is detected that the multiple material drop bins (201) of the thrower are all short of material, a short of material prompt is sent to the terminal.

8. A material throwing control system for an unmanned aerial vehicle, characterized in that: The drone is provided with a thrower, the thrower comprising a barrel (1) and an electric control mechanism mounted on the barrel (1), the barrel (1) being provided with a material tray (2) and a driving member for driving the material tray (2) to rotate, and the electric control mechanism driving and controlling the driving member, the material tray (2) being provided with a plurality of material drop bins (201) distributed in an annular shape; the system comprising: A mode selection module is used to obtain a set material throwing mode, wherein the material throwing mode includes a manual single-point mode, a continuous equidistant throwing mode, and an automatic fixed-point throwing mode; A throwing execution module is used to obtain one or more material throwing landing points and throwing routes, and execute the throwing material operation according to the set material throwing mode and preset material throwing strategy; The throwing detection module is used to detect the state of the thrower after performing a material throwing operation to determine the result of the material throwing operation.

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