Unmanned aerial vehicle seedling throwing operation mode control method and device, electronic equipment and computer readable storage medium

Abstract

The invention provides an unmanned aerial vehicle seedling throwing operation mode control method and device, electronic equipment and a computer readable storage medium, a target seedling throwing operation mode matched with a to-be-thrown operation area is confirmed by obtaining a seedling throwing mode instruction, and the target seedling throwing operation mode is used for indicating a target orientation, corresponding to an operation route, of a seedling throwing mechanism; according to the target seedling throwing operation mode, the unmanned aerial vehicle is controlled to move along the operation route, so that the seedling throwing mechanism carries out seedling throwing operation based on the target orientation, a more flexible seedling throwing operation mode is provided based on the area to be subjected to seedling throwing operation, and the seedling throwing operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of plant protection UAV control, and more specifically, to a control method, device, electronic device and computer-readable storage medium for a UAV rice seedling throwing operation mode. Background Art

[0002] Regarding the technology of transplanting rice seedlings using plant protection equipment, the prior art often plans a fixed operation route for the corresponding operation area, and then controls the plant protection equipment to perform the transplanting operation along the fixed operation route.

[0003] However, due to the differences in the structural design of the plant protection equipment itself, the specific transplanting requirements and the operating areas, the fixed operating routes are often unable to adapt to the specific operating requirements, reducing the transplanting efficiency and control flexibility of the plant protection equipment. Summary of the invention

[0004] The purpose of this application is to provide a control method, device, electronic device and computer-readable storage medium for a drone seedling throwing operation mode, so as to provide a flexible drone seedling throwing operation mode control method and improve the efficiency of the drone seedling throwing operation.

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

[0006] In a first aspect, an embodiment of the present application provides a control method for a drone seedling throwing operation mode, the method being applied to a drone, the drone being equipped with a seedling throwing mechanism, the seedling throwing mechanism having at least one set of relatively arranged seedling taking modules; the method comprising:

[0007] Acquire a seedling throwing mode instruction, wherein the seedling throwing mode instruction is used to represent a target seedling throwing operation mode that matches the seedling throwing operation area to be thrown; the target seedling throwing operation mode is used to indicate a target orientation of the seedling throwing mechanism corresponding to an operation route;

[0008] According to the target seedling throwing operation mode, the UAV is controlled to move along the operation route so that the seedling throwing mechanism performs the seedling throwing operation based on the target direction.

[0009] Optionally, the step of controlling the drone to move along the operation route according to the target seedling throwing operation mode includes:

[0010] When the target seedling throwing operation mode is the first seedling throwing operation mode, the UAV is controlled to maintain a first posture and move along the operation route; in the first posture, the seedling throwing direction of the seedling picking module is parallel to the operation route.

[0011] Optionally, the step of controlling the drone to move along the operation route according to the target seedling throwing operation mode includes:

[0012] When the target seedling throwing operation mode is the second seedling throwing operation mode, the UAV is controlled to maintain a second posture and move along the operation route; in the second posture, the seedling throwing direction of the seedling taking module is perpendicular to the operation route.

[0013] Optionally, the step of obtaining the seedling throwing mode instruction includes:

[0014] Determining the number of rows to be transplanted according to the plot data of the area to be transplanted;

[0015] Determine the operation route corresponding to each seedling throwing operation mode according to the number of rows to be thrown;

[0016] Determine the operation duration corresponding to each of the seedling throwing operation modes according to the operation route;

[0017] The seedling-throwing operation mode corresponding to the shortest operation duration is used as the target seedling-throwing operation mode.

[0018] Optionally, the step of determining the operation route corresponding to each seedling throwing operation mode according to the number of rows to be thrown includes:

[0019] When the row spacing between two adjacent groups of seedling throwing corresponding to the one-way operation route of the seedling throwing operation mode is greater than the target row spacing, the operation route corresponding to the seedling throwing operation mode is obtained so that the row spacing between any two adjacent groups of seedling throwing after the seedling throwing operation based on the operation route is equal to the target row spacing.

[0020] Optionally, when the row spacing between two adjacent groups of seedling throwing corresponding to the one-way operation route of the seedling throwing operation mode is greater than the target row spacing, the step of obtaining the operation route corresponding to the seedling throwing operation mode includes:

[0021] When the row spacing between two adjacent groups of seedling throwing corresponding to the one-way operation route of the seedling throwing operation mode is greater than the target row spacing, at least one route group is determined; each route group includes N one-way operation routes, wherein N≥2; the row spacing between any two adjacent one-way operation routes is equal to the target row spacing; any adjacent route groups are spaced N+1 times the target row spacing;

[0022] All of the route groups constitute the operation route corresponding to the seedling throwing operation mode.

[0023] Optionally, after the step of obtaining the seedling throwing mode instruction, the method further includes:

[0024] Confirm whether the current orientation of the drone is consistent with the target orientation;

[0025] If not, the attitude of the drone is adjusted so that the current orientation of the drone is consistent with the target orientation.

[0026] Optionally, the seedling throwing mechanism further includes a seedling sending module corresponding to the sampling module; the step of controlling the drone to move along the operation route according to the target seedling throwing operation mode so that the seedling throwing mechanism performs the seedling throwing operation based on the target orientation includes:

[0027] According to the target seedling throwing operation mode, controlling the UAV to move along the operation route;

[0028] Each sampling module is controlled to separate the seedlings from the blanket of seedlings on the corresponding seedling feeding module and then thrown out in the target direction by centrifugal force and / or ejection force.

[0029] In a second aspect, an embodiment of the present application provides a control method for a drone seedling throwing operation mode, the method being applied to a user device, the user device being communicatively connected to a drone, the drone being equipped with a seedling throwing mechanism, the seedling throwing mechanism having at least one set of relatively arranged seedling taking modules; the method comprising:

[0030] An interactive interface showing the UAV rice seedling throwing operation mode;

[0031] In response to the user's mode selection operation, a mode control message is sent to the UAV so that the UAV moves along the operating route and the seedling throwing mechanism performs the seedling throwing operation based on the target direction; the mode control message includes the seedling throwing mode instruction; the seedling throwing mode instruction is used to represent the target seedling throwing operation mode that matches the seedling throwing operation area to be operated; the target seedling throwing operation mode is used to indicate the target direction of the seedling throwing mechanism corresponding to the operating route.

[0032] Optionally, the seedling throwing mechanism has a group of relatively arranged seedling taking modules; the step of responding to the user's mode selection operation and sending a mode control message to the drone comprises:

[0033] In response to the user's mode selection operation, the target seedling throwing operation mode is determined to be the first seedling throwing operation mode or the second seedling throwing operation mode; the first seedling throwing operation mode indicates that the seedling throwing direction of the seedling picking module is parallel to the operation route; the second seedling throwing operation mode indicates that the seedling throwing direction of the seedling picking module is perpendicular to the operation route;

[0034] The mode control message is sent to the drone; the mode control message includes the seedling throwing mode instruction; the seedling throwing mode instruction is used to represent the first seedling throwing operation mode or the second seedling throwing operation mode.

[0035] Optionally, the interactive interface includes a job information interactive area and a mode list, and the method further includes:

[0036] Displaying the seedling-transplanting operation area in the seedling-transplanting operation area;

[0037] The mode list displays information of each rice seedling throwing operation mode.

[0038] Optionally, in response to the user's mode selection operation, sending a mode control message to the drone includes:

[0039] Responding to the operation demand data of the user in the area to be transplanted, wherein the operation demand data includes plot data;

[0040] Determine the number of rows to be transplanted according to the plot data;

[0041] According to the number of rows to be thrown, the operation route corresponding to each seedling throwing operation mode is determined; each operation route has a corresponding operation time;

[0042] The operation time corresponding to each of the seedling throwing operation modes is displayed in the mode list;

[0043] In response to a mode selection operation in the mode list by a user, determining the target seedling throwing operation mode;

[0044] A mode control message is sent to the drone.

[0045] Optionally, after the step of sending the mode control message to the drone, the method further includes:

[0046] The operation route corresponding to the target seedling throwing operation mode and the operation status information of the UAV are displayed in the seedling throwing operation area.

[0047] In a third aspect, an embodiment of the present application provides a control device for a UAV seedling throwing operation mode, the device comprising: an acquisition module and a control module;

[0048] The acquisition module is used to acquire a seedling throwing mode instruction, wherein the seedling throwing mode instruction is used to represent a target seedling throwing operation mode that matches the seedling throwing operation area to be thrown; the target seedling throwing operation mode is used to indicate a target orientation corresponding to the seedling throwing mechanism and the operation route;

[0049] The control module is used to control the UAV to move along the operation route according to the target seedling throwing operation mode, so that the seedling throwing mechanism performs the seedling throwing operation based on the target direction.

[0050] In a fourth aspect, an embodiment of the present application provides a control device for a UAV seedling throwing operation mode, the device comprising: an interaction module and a communication module;

[0051] The interactive module is used to display the interactive interface of the UAV seedling throwing operation mode;

[0052] The communication module is used to respond to the user's mode selection operation and send a mode control message to the drone so that the drone moves along the operating route and the seedling throwing mechanism performs seedling throwing operations based on the target direction; the mode control message includes the seedling throwing mode instruction; the seedling throwing mode instruction is used to represent a target seedling throwing operation mode that matches the seedling throwing operation area to be operated; the target seedling throwing operation mode is used to indicate the target direction of the seedling throwing mechanism corresponding to the operating route.

[0053] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising: a memory for storing one or more programs; a processor; when the one or more programs are executed by the processor, the method described in the first aspect and any possible implementation method or the method described in the second aspect and any possible implementation method is implemented.

[0054] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect and any possible implementation method or the method described in the second aspect and any possible implementation method.

[0055] Compared with the prior art, the control method, device, electronic device and computer-readable storage medium of a drone seedling throwing operation mode provided in the embodiments of the present application obtain the seedling throwing mode instruction to confirm the target seedling throwing operation mode matching the seedling throwing operation area to be operated, and the target seedling throwing operation mode is used to indicate the target direction corresponding to the seedling throwing mechanism and the operation route; then, based on the target seedling throwing operation mode, the drone is controlled to move along the operation route so that the seedling throwing mechanism performs the seedling throwing operation based on the target direction, thereby providing a more flexible seedling throwing operation mode based on the seedling throwing operation area to improve the efficiency of the seedling throwing operation.

[0056] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0058] Figure 1 A structural diagram of a seedling throwing system provided in an embodiment of the present patent;

[0059] Figure 2A structural diagram of the seedling throwing mechanism provided in an embodiment of the present patent from the first perspective;

[0060] Figure 3 A structural diagram of the seedling throwing mechanism provided in an embodiment of the present patent from a second viewing angle;

[0061] Figure 4 A structural diagram of a seedling throwing system provided in another embodiment of the present patent from a first perspective;

[0062] Figure 5 A structural diagram of a seedling throwing system provided in another embodiment of the present patent from a second perspective;

[0063] Figure 6 A schematic top view of a seedling throwing operation mode provided by an embodiment of the present invention;

[0064] Figure 7 A schematic flow chart of a control method for a UAV rice seedling throwing operation mode provided by an embodiment of the present invention;

[0065] Figure 8 A schematic flow chart of another control method for a UAV rice seedling throwing operation mode provided by an embodiment of the present invention;

[0066] Fig. 9 A schematic diagram of the spatial relationship between a seedling removal module and an operation route provided in an embodiment of the present invention;

[0067] Fig.10 A schematic flow chart of another control method for a UAV rice seedling throwing operation mode provided by an embodiment of the present invention;

[0068] Fig.11 A schematic diagram of the spatial relationship between another seedling removal module and an operation route provided in an embodiment of the present invention;

[0069] Fig.12 A schematic flow chart of another control method for a UAV rice seedling throwing operation mode provided by an embodiment of the present invention;

[0070] Fig.13 A schematic diagram of a required plant spacing and a one-way operation plant spacing provided in an embodiment of the present invention;

[0071] Fig.14A A schematic diagram of a planning of an operation route provided by an embodiment of the present invention;

[0072] Fig. 14B A schematic diagram of another operation route planning provided by an embodiment of the present invention;

[0073] Fig. 14C A schematic diagram of another operation route planning provided by an embodiment of the present invention;

[0074] Fig.15 A schematic flow chart of another control method for a UAV rice seedling throwing operation mode provided by an embodiment of the present invention;

[0075] Fig.16 A schematic flow chart of another control method for a UAV rice seedling throwing operation mode provided by an embodiment of the present invention;

[0076] Fig.17 A schematic flow chart of another control method for a UAV rice seedling throwing operation mode provided by an embodiment of the present invention;

[0077] Fig.18 A schematic flow chart of another control method for a UAV rice seedling throwing operation mode provided by an embodiment of the present invention;

[0078] Fig.19A A schematic diagram of an interactive interface provided by an embodiment of the present invention;

[0079] Fig.19B A schematic diagram of another interactive interface provided by an embodiment of the present invention;

[0080] Fig. 20 A schematic flow chart of another control method for a UAV rice seedling throwing operation mode provided by an embodiment of the present invention;

[0081] Fig.21 A schematic diagram of another interactive interface provided by an embodiment of the present invention;

[0082] Fig. 22 A schematic diagram of the structure of a control device for a UAV seedling throwing operation mode provided by an embodiment of the present invention;

[0083] Fig.23 A schematic diagram of the structure of another control device for a UAV seedling throwing operation mode provided by an embodiment of the present invention;

[0084] Fig.24 A schematic structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0085] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0086] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0087] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0088] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0089] In the description of the present application, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0090] In the description of this application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0091] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0092] Please refer to Figure 1 and Figure 2 The present embodiment provides a seedling throwing mechanism 100 and a seedling throwing system 1000. Specifically, the seedling throwing system 1000 includes a drone 200 and at least one set of seedling throwing mechanisms 100, and the seedling throwing mechanisms 100 are mounted on the drone 200. The seedling throwing mechanism 100 is used to separate the blanket seedlings 300, and the separated seedlings 310 are thrown out by centrifugal force and / or ejection force to achieve the seedling throwing operation. At the same time, the flying seedling throwing operation is achieved in conjunction with the flight of the drone 200.

[0093] There are many ways for the seedling throwing mechanism 100 to throw the seedlings 310. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the seedlings 310 can be thrown out by centrifugal force. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the separated seedlings 310 can be ejected and thrown out by an ejection force (the seedling throwing mechanism 100 can be provided with an ejection member, and the ejection member can provide an ejection force). In one embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and ejection force to throw out the separated seedlings 310.

[0094] The seedling throwing mechanism 100 includes a load module 10, a seedling delivery module 20 and a seedling retrieval module 30. The load module 10 is used to be set on the drone 200. The seedling delivery module 20 is set on the load module 10, and the seedling delivery module 20 is used to transport the blanket seedlings 300. The seedling retrieval module 30 is set on the load module 10, and the seedling retrieval module 30 is used to separate the seedlings 310 from the blanket seedlings 300 on the seedling delivery module 20 and then throw them out through centrifugal force and / or ejection force. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation, and the blanket seedlings 300 are transported by the seedling delivery module 20, and the seedling retrieval module 30 separates the blanket seedlings 300 and then throws the seedlings 310, so as to realize the flying seedling throwing operation of the blanket seedlings 300.

[0095] It should be noted that there are many ways to separate, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling removal method is not limited.

[0096] In this embodiment, the drone 200 is a rotor drone, specifically a quad-rotor drone. Of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone 200 can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. For ease of description, the drawings show directions such as front, back, left, right, up, and down. These directions are all relative positional relationships that can be clearly known to those skilled in the art when the drone 200 is conventionally placed or flying.

[0097] Figure 1 What is shown is a split-type seedling throwing system 1000. Specifically, the load module 10 of the seedling throwing mechanism 100 can be detachably mounted on the lower part of the drone 200, that is, the drone 200 and the seedling throwing mechanism 100 adopt an upper and lower split design. The drone 200 serves as a mobile platform and is a split design with the seedling throwing mechanism 100. In other words, this type of seedling throwing mechanism 100 is an independent structure that does not rely on the fuselage frame of the drone 200. Based on this type, the corresponding device can be replaced according to actual operation requirements in a specific operation scene. For example, after the seedling throwing mechanism 100 is disassembled, a sowing device is installed to achieve the sowing of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0098] Please refer to Figure 2 and Figure 3 , each module of the seedling throwing mechanism 100 will be described in detail below.

[0099] Specifically, the seedling removal module 30 includes a driving source 31 and a cutter head 33. The driving source 31 is connected to the cutter head 33 to drive the cutter head 33 to separate the seedling blanket 300 on the seedling delivery module 20, and to eject the separated seedlings 310 by centrifugal force and / or ejection force. Generally, the driving source 31 is a motor, which drives the cutter head 33 along the Figure 2 The cutter head 33 rotates in the direction indicated by the arrow A, thereby separating the seedling blanket 300 during the contact process. The separated seedling 310 follows the cutter head 33 to rotate in the direction of the arrow A. When the cutter head 33 rotates to a specific position, the seedling 310 is ejected under the action of the centrifugal force and / or the ejection force. The cutter head 33 may be provided with an ejection member, which can complete energy storage and energy release through the cam member during the rotation of the cutter head. When the ejection member releases energy, the seedling 310 is ejected under the ejection force provided by the ejection member.

[0100] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the driving source 31, and the driving source 31 directly drives the cutter head 33 to rotate, or the cutter head 33 can be rotatably mounted on the load module 10, and the driving source 31 is mounted on the load module 10, and connected to the cutter head 33 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force. Of course, the driving source 31 can also be other than a motor, for example, a pneumatic motor, a gasoline engine, etc.

[0101] In order to facilitate the throwing of the rice seedlings 310, Figure 4 In this embodiment, the cutter head 33 includes a mounting portion 331 and a cutter body 332 disposed on the mounting portion 331. The mounting portion 331 is connected to the driving source 31. A notch 333 is formed on the cutter body 332. The notch 333 is used to hold the rice seedling 310 after the cutter body 332 separates the rice seedling 310, so that the rice seedling 310 rotates with it and is thrown out under the action of centrifugal force and / or ejection force. It can be understood that during the specific operation, the notch 333 on the cutter body 332 will hold the soil part at the root of the rice seedling 310, and then drive it to rotate during the rotation process, so as to throw it out. Of course, the specific structure of the cutter head 33 can also be a rice seedling needle.

[0102] Combination Figure 2 and Figure 3 In this embodiment, the seedling removal module 30 further includes a transmission box 32, a driving source 31 is connected to the transmission box 32, and is used to drive the transmission box 32 to rotate, and at least one cutter head 33 is arranged on each transmission box 32. The transmission box 32 can give the cutter head 33 a specific motion trajectory. Generally, a plurality of mutually meshing gears can be arranged inside the transmission box 32, the driving source 31 meshes with a gear in the transmission box 32, and the cutter head 33 meshes with another gear. The transmission box 32 can make the motion trajectory of the cutter head 33 and the posture of the cutter head 33 during the motion process meet the requirements.

[0103] In order to improve the efficiency of removing seedlings, the rotation speed of the cutter head 33 is usually increased. Of course, too fast a speed may cause other problems such as heat dissipation and unstable separation. In order to solve this problem, in this embodiment, at least two cutter heads 33 are arranged on each transmission box 32, thereby expanding the number of cutter heads 33 at the same separation and throwing position.

[0104] In this embodiment, two cutter heads 33 are distributed on one transmission box 32. Of course, in other embodiments, only one cutter head 33 may be distributed, or three, four or more cutter heads 33 may be distributed. When two cutter heads 33 are distributed on one transmission box 32, the angles of the two cutter heads 33 to the center of the transmission box 32 may be distributed at 180 degrees, three cutter heads 33 may be spaced 120 degrees apart, and four cutter heads 33 may be spaced 90 degrees apart. In other words, the cutter heads 33 may be arranged in a uniform distribution. Of course, it is not excluded that the cutter heads 33 may be arranged in an uneven distribution in a certain scenario.

[0105] By designing a larger number of cutter heads 33 on the transmission box 32, the efficiency of removing seedlings can be improved at the same rotation speed. In addition, in terms of installation, the transmission box 32 can be directly installed on the output shaft of the driving source 31, or the transmission box 32 can be rotatably installed on the load module 10, the driving source 31 is installed on the load module 10, and is connected to the transmission box 32 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force.

[0106] On the other hand, the efficiency of the seedling throwing operation can also be improved by increasing the number of seedling delivery modules 20. Figure 3 In this embodiment, there are multiple seedling delivery modules 20 , and there are multiple seedling taking modules 30 , which correspond one to one with the multiple seedling delivery modules 20 .

[0107] Specifically, Figure 3 In the figure, the number of seedling delivery modules 20 is three, and correspondingly, the number of seedling retrieval modules 30 is also three. Of course, when the number of seedling delivery modules 20 is greater than three, the number of seedling retrieval modules 30 can also be increased accordingly. Generally, the seedlings 310 transported by multiple seedling delivery modules 20 are the same kind of seedlings 310, and the seedling throwing operation is carried out in the same farmland. Therefore, the multiple seedling retrieval modules 30 can be controlled to work synchronously by a control device arranged on the load module 10, or by the flight control of the drone 200. Of course, it is not ruled out that multiple seedling delivery modules 20 work independently, for example, the seedling retrieval efficiencies of the multiple seedling retrieval modules 30 are controlled to be unequal, or some of the seedling retrieval modules 30 are controlled to work while the remaining seedling retrieval modules 30 do not work.

[0108] In order to achieve the separation and throwing of the blanket seedlings 300 row by row and bunch by bunch, in this embodiment, the seedling delivery module 20 includes a seedling supporting plate 21 and a seedling delivery tray 22. The seedling supporting plate 21 is arranged on the load module 10. The seedling supporting plate 21 is provided with an opening 211. The seedling delivery tray 22 is used to transport the blanket seedlings 300. The lower part of the seedling delivery tray 22 is located in the seedling supporting plate 21. The seedling delivery tray 22 can move laterally relative to the seedling supporting plate 21. Among them, the seedling taking module 30 is used to separate the blanket seedlings 300 through the opening 211 and throw out the separated seedlings 310.

[0109] In other words, the positions of the seedling taking module 30, the opening 211 of the seedling supporting plate 21, etc. remain unchanged relative to the load module 10, and the seedling delivery tray 22 can reciprocate in the left and right directions. In this way, the seedling taking module 30 only separates the blanket seedlings 300 exposed in the opening 211, so that the blanket seedlings 300 can be separated and thrown row by row and bunch by bunch. Of course, in other embodiments, the position of the seedling delivery tray 22 relative to the load module 10 can also remain unchanged, while the seedling supporting plate 21 and the seedling taking module 30 can move horizontally in the left and right directions.

[0110] In this embodiment, the seedling support plate 21 can be understood as an open plate in a long strip shape. The seedling support plate 21 is relatively fixed to the load module 10 and does not move with the left and right reciprocating motion of the seedling delivery tray 22. The seedling support plate 21 has a certain supporting effect on the seedling delivery tray 22. Figure 4 In this embodiment, the number of the seedling taking modules 30 is three and they are distributed at intervals. Therefore, the number of the openings 211 is also three and they are distributed at corresponding intervals, so that each seedling taking module 30 can separate and throw the blanket seedlings 300 in the corresponding opening 211.

[0111] In order to facilitate the lateral movement of the seedling delivery tray 22 , in this embodiment, the seedling delivery module 20 further includes a driving device 23 , which is disposed on the load module 10 and is used to drive the seedling delivery tray 22 to move laterally relative to the seedling supporting plate 21 .

[0112] Generally, the driving device 23 can use a motor with a gear rack mechanism to achieve the left and right reciprocating movement of the seedling tray 22, or a motor with a screw mechanism or a synchronous belt. Of course, it is not excluded to use the rotor power of the drone 200 to drive the seedling tray 22 to move left and right.

[0113] Combination Figure 3 Generally, the seedling delivery tray 22 is set to be placed in an inclined state. This design allows the seedling blanket 300 to move downward under the action of gravity after the seedling delivery tray 22 moves horizontally once, so that the seedling removal module 30 can carry out the next round of seedling removal. Of course, a power source can also be set to drive it, for example, in combination with Figure 3 In this embodiment, the seedling delivery module 20 further includes a conveying device 24 , which is disposed on the seedling delivery tray 22 , and is used to drive the seedling blanket 300 to move toward the seedling supporting plate 21 .

[0114] The conveying device 24 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel). In addition, the conveying device 24 can be set at different positions in the height direction of the seedling delivery tray 22. It should be noted that the inclined setting of the seedling delivery tray 22 can also achieve effective utilization of the longitudinal space to reduce the space occupied by the seedling delivery tray 22 in the horizontal width. At the same time, due to the inclined setting, the blanket seedlings 300 can use their gravity to slide down, and the power consumption of the conveying device 24 can also be reduced.

[0115] In addition, considering the possible separation of the blanket seedling 300 after being placed on the seedling delivery tray 22, combined with Figure 2 and Figure 3 In this embodiment, the seedling delivery module 20 further includes a seedling pressing device 25, which is disposed on the seedling delivery tray 22, and is used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or a rod, etc. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and a plurality of pressure strips 252, the rotating shaft 251 is rotatably disposed horizontally on the seedling delivery tray 22, and the plurality of pressure strips 252 are vertically and spaced apart from the rotating shaft 251, and the plurality of pressure strips 252 are used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22.

[0116] In this embodiment, in a specific scenario, the rotating shaft 251 can rotate relative to the seedling delivery tray 22 with a certain damping, so the force of the pressure bar 252 on the blanket seedling 300 can be adjusted, and the pressure state can be maintained. Of course, a torsion spring can also be installed on the rotating shaft 251 to provide pressure to rotate in the direction of the blanket seedling 300.

[0117] Combination Figure 3 In this embodiment, the seedling delivery tray 22 is a rectangular frame structure, specifically, it includes a load-bearing plate and two baffles arranged on the left and right edges of the load-bearing plate, and no baffles are arranged above or below it, so that an upper opening is formed at the top to facilitate placing the seedlings, and a lower opening is formed at the bottom to facilitate taking the seedlings. The width of the seedling delivery tray 22 can match the width of a tray of seedling blankets 300. In addition, the height of the seedling delivery tray 22 is not limited to the height of a tray of seedling blankets 300. During installation, the two ends of the rotating shaft 251 can be rotatably arranged on the two baffles of the seedling delivery tray 22, respectively. Figure 4In the embodiment, four pressure strips 252 are correspondingly arranged on a rotating shaft 251. In other words, four pressure strips 252 are distributed on a seedling delivery tray 22 to limit the blanket seedlings 300 in the seedling delivery tray 22, so that the blanket seedlings 300 can be pressed on the seedling delivery tray 22 by the pressure strips 252, which greatly ensures that the blanket seedlings 300 will not be blown away during the flight of the drone 200. Of course, the number of pressure strips 252 corresponding to a seedling delivery tray 22 may not be limited to four, for example, it may also be three, five or more. In addition, since in the present embodiment, the number of seedling delivery modules 20 is multiple, the number of seedling pressing devices 25 may also be multiple, and each seedling delivery tray 22 is correspondingly provided with a seedling pressing device 25. In a certain scenario, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 may share a rotating shaft 251.

[0118] In addition, combined Figure 3 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 further includes a support module 40, for example, the support module 40 includes a first bracket 43, one end of the first bracket 43 is connected to the load module 10, and the other end of the first bracket 43 supports the upper part of the seedling delivery tray 22. Figure 3 and Figure 4 Since the seedling delivery tray 22 needs to move horizontally, in order to facilitate support, the support position of the first bracket 43 and the seedling delivery tray 22 can be supported horizontally by the cooperation of a slide rail and a pulley. For example, a pulley is provided at the end of the first bracket 43, and a slide rail is provided on the seedling delivery tray 22, and the two are rollingly matched. Alternatively, a slide rail is provided at the end of the first bracket 43, and a pulley is provided on the seedling delivery tray 22. In addition, in some scenarios, the height of the first bracket 43 is adjustable, and the inclination angle of the seedling delivery tray 22 can also be adjusted.

[0119] At the same time, the lower part of the seedling delivery tray 22 is supported by the seedling support plate 21 to improve the overall compactness of the structure. Of course, the middle part of the seedling delivery tray 22 can also be supported by the load module 10. It should be noted here that the upper part is only to indicate that the position of the support is higher than the middle and lower parts in the height direction.

[0120] Of course, the support module 40 may also include a second bracket 46 and a third bracket 47. One end of the second bracket 46 is connected to the load module 10, and the other end of the second bracket 46 is installed with the above-mentioned seedling support plate 21. One end of the third bracket 47 is connected to the load module 10, and the other end of the third bracket 47 is installed with the above-mentioned seedling removal module 30 (specifically, the driving source 31). Of course, the second bracket 46 and the third bracket 47 may also be a bracket structure, that is, the seedling support plate 21 and the seedling removal module 30 are installed on the load module 10 through the same bracket.

[0121] Figure 1-Figure 3 The illustrated embodiment demonstrates the main structure of the seedling throwing mechanism 100 provided by the present invention. In addition, the multiple modules mentioned in this application (load module 10, seedling delivery module 20, seedling retrieval module 30, etc.) can be manufactured and sold separately in the early stage, and then assembled to form an integral structure in the later stage.

[0122] Figure 4 and Figure 5 Another embodiment of the seedling throwing system 1000 is shown, wherein the description of the same modules, mechanisms or components can refer to the above text. In this embodiment, the seedling throwing system 1000 is a double system, that is, it has two sets of seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 share a load module 10. The two sets of seedling throwing mechanisms 100 are arranged back to back. Of course, in other embodiments, the two sets of seedling throwing mechanisms can also be arranged in other ways (for example, arranged in the same direction), or three, four or more sets of seedling throwing mechanisms 100 can be arranged.

[0123] According to a seedling throwing system 1000 provided in this embodiment, the working principle of the seedling throwing system 1000 is as follows:

[0124] When the drone 200 is flying, the driving source 31 drives the transmission box 32 to rotate, and the transmission box 32 drives the cutter head 33 to achieve high-speed rotation. When the cutter head 33 rotates to the opening 211, it separates and removes the rice seedlings 310, drives the rice seedlings 310 to rotate, and when the rice seedlings 310 rotate to a certain angle, the rice seedlings 310 are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thereby realizing the flying and throwing of the blanket seedlings 300. At the same time, the rice seedling delivery tray 22 moves horizontally, driving the blanket seedlings 300 to move left and right, so that the blanket seedlings 300 are separated and thrown row by row. After a row of rice seedlings 310 in the left and right directions of the blanket seedlings 300 is separated, the entire blanket seedlings 300 moves downward under the action of gravity and the driving force of the conveying device 24, so that in the process of the rice seedling delivery tray 22 moving horizontally again, it is separated and thrown row by ...

[0125] Optionally, in combination with the above, it can be seen that the seedling throwing mechanism can have at least one set of relatively arranged seedling taking modules. Figure 5 , below, taking a group of relatively arranged seedling picking modules 30 as an example, how the specific spatial relationship between the group of seedling picking modules 30 and the drone affects the seedling throwing operation mode of the drone is explained. It should be noted that for the group of relatively arranged seedling picking modules, see Figure 3 , Figure 4 and Figure 5 , which can be two sets of seedling throwing mechanisms 100 arranged opposite to each other, each set of seedling throwing mechanisms 100 is provided with a plurality of seedling taking modules in parallel, such as Figure 3As shown, three seedling picking modules 30 are arranged in parallel in one set of seedling throwing mechanism 100, and three seedling picking modules 30 are also arranged correspondingly in another set of seedling throwing mechanism 100 on the opposite side. Then the three seedling picking modules in one set of seedling throwing mechanism and the three seedling picking modules in another set of seedling throwing mechanism can be understood as "arranged oppositely". It can be understood that a seedling picking module in one set of seedling throwing mechanism 100 and a seedling picking module in another set of seedling throwing mechanism opposite to each other constitute a set of seedling picking modules.

[0126] Specifically, Figure 6 A top view schematic diagram of a seedling throwing operation mode provided by an embodiment of the present invention, see Figure 6 The upper part (A) shows a posture of a UAV, wherein a straight line in which three seedling picking modules 30 in a set of seedling throwing mechanism 100 are arranged is parallel to the direction "D" in which the UAV plans to operate. When the UAV moves along the operating route in the direction "D", the seedlings are separated and thrown by each seedling picking module 30, and finally thrown to the seedling throwing point P, and finally three rows of seedlings 50a are formed on an operating route.

[0127] Optionally, continue to see Figure 6 , the lower part (B) shows another posture of the UAV, wherein the straight line in which the three seedling picking modules 30 in a set of seedling throwing mechanisms 100 are arranged is perpendicular to the direction "D" in which the UAV plans to operate. Since the UAV is provided with two sets of seedling throwing mechanisms relatively, when the UAV moves along the operating route in the direction "D", the seedlings are separated and thrown through each seedling picking module 30, and finally two rows of seedlings 50b are formed on a section of the operating route.

[0128] Obviously, based on the number and spatial relationship of the seedling throwing mechanisms, different seedling throwing row forms will be generated when the drone operates in different postures. Therefore, considering the differences in the operation area, operation requirements, etc., different seedling throwing mechanisms and the directions corresponding to the operation routes can be defined as different seedling throwing operation modes, so that the drone can match the corresponding seedling throwing operation mode according to the actual operation scene requirements, thereby improving the flexibility and efficiency of the seedling throwing operation.

[0129] The following is an exemplary description of the control method of the UAV seedling throwing operation mode. First, the UAV is used as the control subject of the UAV seedling throwing operation mode. Specifically, Figure 7 A flow chart of a control method for a UAV seedling throwing operation mode provided by an embodiment of the present invention is shown in FIG. Figure 7 , the method comprising:

[0130] Step 500, obtaining a seedling throwing mode instruction;

[0131] The seedling throwing mode instruction is used to represent the target seedling throwing operation mode that matches the seedling throwing operation area to be thrown; the target seedling throwing operation mode is used to indicate the target orientation corresponding to the seedling throwing mechanism and the operation route;

[0132] Step 503: According to the target seedling throwing operation mode, the UAV is controlled to move along the operation route so that the seedling throwing mechanism performs the seedling throwing operation based on the target direction.

[0133] The control method of the unmanned aerial vehicle seedling throwing operation mode provided in an embodiment of the present invention obtains the seedling throwing mode instruction, confirms the target seedling throwing operation mode matching the seedling throwing operation area to be operated, and the target seedling throwing operation mode is used to indicate the target orientation corresponding to the seedling throwing mechanism and the operation route; then based on the target seedling throwing operation mode, the unmanned aerial vehicle is controlled to move along the operation route so that the seedling throwing mechanism performs the seedling throwing operation based on the target orientation, thereby providing a more flexible seedling throwing operation mode based on the seedling throwing operation area to improve the efficiency of the seedling throwing operation.

[0134] It should be noted that the method for obtaining the seedling throwing mode instruction can be calculated based on the drone's own computing power combined with the scene requirements; it can also be obtained based on user interaction. For example, the user configures the corresponding seedling throwing mode instruction through the control platform provided by the user device, and then the user device sends the seedling throwing mode instruction to the drone through communication.

[0135] Optionally, the target seedling throwing operation mode may include multiple situations, for example, the mode it refers to may be the above-mentioned Figure 6 The situation shown in the upper part (A), accordingly, the embodiment of the present application provides a possible implementation method, specifically, in Figure 7 On the basis of Figure 8 A flow chart of another control method of a UAV seedling throwing operation mode provided by an embodiment of the present invention is shown in FIG. Figure 8 , step 503, comprising:

[0136] Step 503-1: when the target seedling throwing operation mode is the first seedling throwing operation mode, control the UAV to maintain the first posture and move along the operation route;

[0137] Among them, in the first posture, the seedling throwing direction of the seedling taking module is parallel to the operation route.

[0138] Specifically, Fig. 9 A schematic diagram of the spatial relationship between a seedling removal module and an operation route provided in an embodiment of the present invention, see Fig. 9 In the first seedling throwing operation mode, D is the moving direction of the UAV in the operation route. At this time, refer to the previous Figure 2 and Figure 3The separated seedlings 310 rotate along the direction of arrow A following the cutter head 33. When the seedlings 310 rotate to a specific position, they are thrown out under the action of centrifugal force and / or ejection force. Fig. 9 In the figure, for the three seedling taking modules on the right, the seedling throwing direction is P1; corresponding to the three seedling taking modules on the left, the seedling throwing direction is P2; it can be seen that P1 and P2 are both parallel to D.

[0139] Optionally, the target seedling throwing operation mode may include multiple situations, for example, the mode it refers to may be the above-mentioned Figure 6 The situation shown in the lower part (B), accordingly, the embodiment of the present application provides a possible implementation method, specifically, in Figure 7 On the basis of Fig.10 A flow chart of another control method of a UAV seedling throwing operation mode provided by an embodiment of the present invention is shown in FIG. Fig.10 , step 503, comprising:

[0140] Step 503-2: when the target seedling throwing operation mode is the second seedling throwing operation mode, control the UAV to maintain the second posture and move along the operation route;

[0141] Among them, in the second posture, the seedling throwing direction of the seedling taking module is perpendicular to the operation route.

[0142] Specifically, Fig.11 A schematic diagram of the spatial relationship between another seedling removal module and an operation route provided in an embodiment of the present invention, combined with Fig. 9 Description, see Fig.11 In the second seedling throwing operation mode, for the three seedling taking modules on the upper side, the seedling throwing direction is P3; corresponding to the three seedling taking modules on the lower side, the seedling throwing direction is P4; it can be seen that P3 and P4 are both perpendicular to D.

[0143] Optionally, for the seedling throwing mode instruction, when the drone has the corresponding computing power, it can calculate and obtain the target seedling throwing operation mode based on the specific scene and operation requirements. The following embodiment of the present application provides a possible implementation method. Specifically, in Figure 7 On the basis of Fig.12 A flow chart of another control method of a UAV seedling throwing operation mode provided by an embodiment of the present invention is shown in FIG. Fig.12 , step 500, comprising:

[0144] Step 500-1, determining the number of rows to be transplanted according to the plot data of the area to be transplanted;

[0145] Step 500-2, determining the operation route corresponding to each seedling throwing operation mode according to the number of rows to be thrown;

[0146] Step 500-3, determining the operation time corresponding to each seedling throwing operation mode according to the operation route;

[0147] Step 500-4: Use the seedling-casting operation mode corresponding to the shortest operation duration as the target seedling-casting operation mode.

[0148] Specifically, combined with the above Figure 6 As shown, for the first seedling throwing operation mode [ Figure 6 As shown in the upper part (A), the UAV flies in the D direction (which can be defined as the forward and backward direction), and the front and rear seedling taking mechanisms jointly complete a row of seedling throwing. One flight along the route can complete the seedling throwing operation of three rows at the same time. Figure 6 As shown in the lower part (B), the UAV flies in the D direction (which can be defined as left and right direction). In this way, one row is operated by the front seedling taking mechanism, the middle seedling taking mechanism, and the rear seedling taking mechanism, and two rows of seedling throwing operations can be completed simultaneously in one flight.

[0149] Although the second seedling throwing operation mode only does two rows of seedlings in one flight, since one row of seedlings is completed by three cutter heads, under the same plant spacing requirements and the same rotation speed of the seedling taking mechanism, the aircraft can adopt a faster flight speed (up to 1.5 times the flight speed of the first seedling throwing operation mode).

[0150] Assuming that N rows need to be planted now, without considering the time it takes for the aircraft to turn around, the number of flights in the first seedling throwing operation mode is N / 3, and the number of flights in the second seedling throwing operation mode is N / 2. As for the time spent on one flight, the first seedling throwing operation mode is 1.5t, and the second operation mode is t. The total operation time of the first seedling throwing operation mode is The total operation time of the second seedling throwing operation mode is When N is divisible by both 2 and 3, the operating efficiency of the two operation modes is the same. When N is only divisible by 3 but not 2, the operating efficiency of the first seedling throwing operation mode is higher. When N is only divisible by 2 but not 3, the second seedling throwing operation mode is more efficient. When N is neither divisible by 2 nor by 3, the two operation modes may have the same efficiency or the second seedling throwing operation mode may be more efficient.

[0151] For example, N=8, the first seedling throwing operation mode requires 3 flights, the total operation time is 4.5t, and the second seedling throwing operation mode requires 4t. N=7, the first seedling throwing operation mode requires 3 flights, the total operation time is 4.5t, and the second seedling throwing operation mode requires 4 flights, the total operation time is 4t. N=11, the first seedling throwing operation mode requires 4 flights, the total operation time is 6t, and the second seedling throwing operation mode requires 6 flights, the total operation time is 6t.

[0152] It should be noted that the above example is based on a set of seedling throwing mechanism 100 including three seedling picking modules. For other possible numbers of seedling picking modules, those skilled in the art can deduce other matching seedling throwing operation modes and corresponding routes without any objection after reading the embodiments of the present application. This is not limited here.

[0153] Optionally, Fig.13 A schematic diagram of a required plant spacing and a one-way operation plant spacing provided by an embodiment of the present invention. Fig.13 In part (A), take the second seedling throwing operation mode as an example. When the drone operates in direction D on a one-way operation route, the two sets of seedling throwing mechanisms will throw seedlings separately. At this time, two rows of seedlings will be completed in a one-way operation route. The spacing between the two rows of seedlings may be much larger than the required spacing, for example Fig.13 The spacing between two rows of seedlings shown in part (B) is 4×L1, where L1 refers to the distance between any two adjacent seedling removal modules, and the distance between the seedling removal modules shown in (A) is L1. In a preferred embodiment, the spacing between two adjacent seedling removal modules is usually set to an ideal seedling spacing.

[0154] Further, combined with Fig.13 For example, for step 500-2 above, since there are clear requirements for the spacing of the seedlings for the plants to be thrown, it is necessary to consider whether the spacing of adjacent rows of seedlings meets the operation requirements after the drone performs the seedling throwing operation under a one-way operation route. If the spacing of adjacent seedling picking modules in a set of seedling throwing mechanism is greater than the required seedling spacing, it is necessary to plan the operation route to ensure that after the seedling throwing operation is finally performed through all the operation routes, the spacing of adjacent rows of seedlings meets the operation requirements. Correspondingly, a possible implementation method of step 500-2 is as follows:

[0155] When the row spacing between two adjacent groups of seedling throwing corresponding to the one-way operation route of the seedling throwing operation mode is greater than the target row spacing, the operation route corresponding to the seedling throwing operation mode is obtained so that the row spacing between any two adjacent groups of seedling throwing after the seedling throwing operation based on the operation route is equal to the target row spacing.

[0156] Specifically, for the situation that "when the row spacing between two adjacent seedling throwing groups corresponding to the one-way operation route of the seedling throwing operation mode is greater than the target row spacing", a multi-segment reciprocating route group can be constructed to ensure that after the drone flies along multiple route groups and performs seedling throwing operations, the spacing between adjacent seedling rows meets the operation requirements. The following is a possible implementation method:

[0157] When the row spacings of two adjacent groups of seedling throwing corresponding to the one-way operation route of the seedling throwing operation mode are greater than the target row spacing, at least one route group is determined;

[0158] Each route group contains N one-way operation routes, N ≥ 2; the row distance between any two adjacent one-way operation routes is equal to the target row distance; any adjacent route groups are separated by N + 1 times the target row distance;

[0159] All routes are grouped into an operation route corresponding to the rice seedling throwing operation mode.

[0160] Optionally, a specific example is given for the above route group, combined with Fig.13 , taking the second seedling throwing operation mode as an example, and the spacing between two rows of seedlings corresponding to a one-way operation route is 4×L1, Fig.14A A schematic diagram of a planning of an operation route provided by an embodiment of the present invention, see Fig.14A If the UAV operates along a one-way operation route ①, the seedling throwing mechanism 100a and the seedling throwing mechanism 100b respectively throw seedlings to obtain two rows of seedlings ⑴, and the spacing between the two rows of seedlings ⑴ is 4×L1.

[0161] Furthermore, Fig. 14B Another schematic diagram of the planning of an operation route provided by an embodiment of the present invention is shown in FIG. Fig. 14B , the UAV is perpendicular to the end point of ① and is displaced a distance of L1, and performs a one-way operation route operation ② toward ①, thereby obtaining two rows of seedlings ⑵, and the spacing between the two rows of seedlings ⑵ is 4×L1. At the same time, the spacing between one row of seedlings ⑵ and the adjacent row of seedlings ⑴ is L1, which is the target row spacing.

[0162] Then, by reciprocating the above one-way operation route, it can be ensured that "the row spacing between any two adjacent groups of seedlings after the seedlings are thrown based on the operation route is equal to the target row spacing". Specifically, Fig. 14C Another schematic diagram of the planning of an operation route provided by an embodiment of the present invention is shown in FIG. Fig. 14C , since the spacing between two rows of seedlings corresponding to a one-way operation route is 4×L1, the one-way operation route is operated from ①→②→③→④→⑤, so that the spacing between any two adjacent rows of seedlings corresponding to ①→⑤ is L1. Furthermore, in order to ensure that the spacing between the last row ⑸ and the next one-way operation route is L1, the drone needs to move downward by a corresponding distance, that is, Fig. 14C As shown in , it is 6×L1, which is also equal to the target row spacing of N+1 times the interval between any adjacent route groups mentioned above=5+1 (N=5 in the example).

[0163] Then, after the UAV moves downward 6×L1, it starts the one-way operation route ⑥ and obtains two rows of seedlings ⑹. Then, referring to ①→⑤, the one-way operation route is completed from ⑥→⑦→⑧→⑨→⑩, and the corresponding two rows of seedlings ⑺, ⑻, ⑼ and ⑽ are obtained respectively; thus, the spacing between any two adjacent rows of seedlings is L1, that is, the target row spacing.

[0164] It should be noted that in the above plan, the row spacing between ①, ②, ③, ④, and ⑤ is L1; the row spacing between ⑥, ⑦, ⑧, ⑨, and ⑩ is L1; the spacing between ⑤ and ⑥ is 6 times the target row spacing; therefore, "①, ②, ③, ④, and ⑤" can be defined as route group 1, and "⑥, ⑦, ⑧, ⑨, and ⑩" can be defined as route group 2. It can be seen that for the operation area, its operation route can be composed of one or more route groups to ensure that the spacing between any two adjacent rows of seedlings is the target row spacing.

[0165] Optionally, when obtaining the seedling throwing mode command, it may happen that the drone is not currently in a posture that allows it to directly fly the route and operate. Therefore, after the drone obtains the seedling throwing mode command, it may need to adjust its posture. The following is a possible implementation method for adjusting the drone's posture. Specifically, Figure 7 On the basis of Fig.15 A flow chart of another control method of a UAV seedling throwing operation mode provided by an embodiment of the present invention is shown in FIG. Fig.15 , after step 500, further comprising:

[0166] Step 501: confirm whether the current orientation of the drone is consistent with the target orientation;

[0167] Specifically, if they are inconsistent, execute step 502; if they are consistent, execute step 503;

[0168] Step 502: Adjust the attitude of the drone so that the current orientation of the drone is consistent with the target orientation.

[0169] Specifically, after completing step 502, continue to execute step 503.

[0170] Specifically, for the drone to move along the operating route and perform seedling throwing operations, the following is combined with the above Figure 2 How to perform the seedling throwing operation on the seedling throwing mechanism having the sampling module 30 and the corresponding sample delivery module 20? Specifically, Figure 7 On the basis of Fig.16 A flow chart of another control method of a UAV seedling throwing operation mode provided by an embodiment of the present invention is shown in FIG. Fig.16 , step 503 is exemplarily described as follows:

[0171] Step 503-3: Control the UAV to move along the operation route according to the target seedling throwing operation mode;

[0172] Step 503-4: Control each sampling module to separate the seedlings from the blanket of seedlings on the corresponding seedling delivery module and then throw them out in a target direction by centrifugal force and / or ejection force.

[0173] In a possible implementation of the control method of the drone seedling throwing operation mode provided in the present application, corresponding control can also be implemented based on user interaction to provide a more flexible control method. The following is an introduction using a user device as the control subject of the drone seedling throwing operation mode. The user device can be connected to the drone described above. Specifically, Fig.17 A flow chart of another control method of a UAV seedling throwing operation mode provided by an embodiment of the present invention is shown in FIG. Fig.17 , the method comprising:

[0174] Step 600, displaying an interactive interface of the UAV seedling throwing operation mode;

[0175] Step 601, in response to the user's mode selection operation, sending a mode control message to the drone, so that the drone moves along the operation route and the seedling throwing mechanism performs the seedling throwing operation based on the target direction;

[0176] Among them, the mode control message includes a seedling throwing mode instruction; the seedling throwing mode instruction is used to represent a target seedling throwing operation mode that matches the seedling throwing operation area to be thrown; the target seedling throwing operation mode is used to indicate the target direction corresponding to the seedling throwing mechanism and the operation route.

[0177] The control method of the drone seedling throwing operation mode provided in this embodiment displays the interactive interface of the drone seedling throwing operation mode through the user device; then responds to the user's mode selection operation, sends a mode control message to the drone, so that the drone moves along the operation route and the seedling throwing mechanism performs the seedling throwing operation based on the target direction; wherein the mode control message includes a seedling throwing mode instruction; the seedling throwing mode instruction is used to characterize the target seedling throwing operation mode that matches the seedling throwing operation area to be thrown; the target seedling throwing operation mode is used to indicate the target direction corresponding to the seedling throwing mechanism and the operation route. So that the seedling throwing mechanism performs the seedling throwing operation based on the target direction, thereby providing a more flexible seedling throwing operation mode based on the seedling throwing operation area to be thrown, and improving the efficiency of the seedling throwing operation.

[0178] Optionally, the interactive interface can provide an interactive mechanism for users to select different seedling throwing operation modes, so as to flexibly match the user's usage needs. Specifically, Fig.17 On the basis of Fig.18 A flow chart of another control method of a UAV seedling throwing operation mode provided by an embodiment of the present invention is shown in FIG. Fig.18 , step 601 comprises:

[0179] Step 601-1, responding to the user's mode selection operation, determining that the target seedling throwing operation mode is the first seedling throwing operation mode or the second seedling throwing operation mode;

[0180] The first seedling throwing operation mode indicates that the seedling throwing direction of the seedling picking module is parallel to the operation route; the second seedling throwing operation mode indicates that the seedling throwing direction of the seedling picking module is perpendicular to the operation route;

[0181] Step 601-2, sending a mode control message to the drone;

[0182] Among them, the mode control message includes a seedling throwing mode instruction; the seedling throwing mode instruction is used to represent the first seedling throwing operation mode or the second seedling throwing operation mode.

[0183] Specifically, Fig.19A A schematic diagram of an interactive interface provided by an embodiment of the present invention, see Fig.19A The user device takes a smart phone 70 as an example, and the touch screen 71 is used to display an interactive interface 71. The interactive interface 71 includes an operation information interactive area 710 and a mode list 711. The operation information interactive area 710 displays the area 7101 to be thrown, and can also display the current position mark 200 of the drone. It can also provide interactive buttons for users to freely set the throwing operation mode, for example, Fig.19A The operation requirement configuration 7102 is shown in FIG. 7 ; the information of each seedling throwing operation mode is displayed in the mode list 711 , for example, Fig.19A The graphic symbol 7110 and the interactive area 7111 corresponding to the first seedling throwing operation mode are shown in the figure. The interactive area 7111 can be used to display information related to the seedling throwing operation using the first seedling throwing operation mode in the seedling throwing operation area 7101, such as: plant spacing, the area of ​​the operation area corresponding to the seedling throwing operation area, the number of planting rows, and the estimated operation time.

[0184] Similarly, it may also include a graphic identifier 7112 and an interactive area 7113 corresponding to the second seedling throwing operation mode, which may also display information similar to the above-mentioned seedling throwing operation area 7101.

[0185] It should be noted that the relevant embodiments of the interactive interface herein only use the first seedling throwing operation mode and the second seedling throwing operation mode as exemplary illustrations, and a corresponding number of seedling throwing operation modes can also be matched based on the specific settings of the seedling throwing mechanism. This is not limited here.

[0186] Furthermore, Fig.19B A schematic diagram of another interactive interface provided by an embodiment of the present invention is shown in Fig.19B When the user uses the finger 72 to click the interactive area 7111, the smart phone 70 responds to the user's mode selection operation and determines that the target seedling throwing operation mode is the first seedling throwing operation mode. In addition, according to the plot data of the seedling throwing operation area, the number of rows to be thrown is determined; and then according to the number of rows to be thrown, the operation route and the corresponding operation time corresponding to the first seedling throwing operation mode are determined.

[0187] Optionally, after the smart phone 70 sends a mode control message to the drone, the operation route corresponding to the target seedling throwing operation mode and the operation status information of the drone can also be displayed in the operation information interaction area 710. Fig.19B The smart phone 70 can also display the operation route 7103 in the area 7101 to be transplanted, and can display information related to the drone operation, such as the operation progress 7114.

[0188] Optionally, for the selection of the seedling throwing operation mode, mode matching can be completed based on the operation requirement data configured by the user. The configuration information can be data related to the operation area, such as plot data, planting type, etc. The plot data can be information such as area size, shape, terrain data, etc. The following takes plot data as an example to illustrate the implementation method of matching the user-configured operation requirement data with the seedling throwing operation mode. Specifically, in Fig.17 On the basis of Fig. 20 A flow chart of another control method of a UAV seedling throwing operation mode provided by an embodiment of the present invention is shown in FIG. Fig. 20 , step 601 comprises:

[0189] Step 601-3, responding to the user's operation demand data in the operation information interaction area, where the operation demand data includes plot data;

[0190] Step 601-4, determining the number of rows to be transplanted according to the plot data;

[0191] Step 601-5, determining the operation route corresponding to each seedling throwing operation mode according to the number of rows to be thrown;

[0192] Among them, each operation route has a corresponding operation duration;

[0193] Step 601-6, displaying the operation time corresponding to each seedling throwing operation mode in the mode list;

[0194] Step 601-7, responding to the mode selection operation of the user in the mode list, determining the target seedling transplanting operation mode;

[0195] Step 601-8: Send a mode control message to the drone.

[0196] Optionally, Fig.21 A schematic diagram of another interactive interface provided by an embodiment of the present invention is shown in Fig.21When the user uses finger 72 to click on operation requirement configuration 7102, the configuration interaction interface 7104 is displayed on the interaction interface 71, and the user can input the required plot data, and the smart phone 70 responds to the user input and calculates the number of rows to be thrown corresponding to the plot data and the operation time corresponding to each throwing operation mode, so that the user can interactively select the throwing operation mode. For example, Fig.21 The first seedling throwing operation mode has an operation time of 4 hours; the second seedling throwing operation mode has an operation time of 4.5 hours;

[0197] Optionally, Fig. 22 A schematic diagram of the structure of a control device for a UAV seedling throwing operation mode provided by an embodiment of the present invention. The control device for the UAV seedling throwing operation mode can be set on the above-mentioned UAV to execute the above-mentioned UAV-related method flow to achieve the corresponding technical effect, see Fig. 22 , the device 80 includes: an acquisition module 81 and a control module 82;

[0198] The acquisition module 81 is used to acquire a seedling throwing mode instruction, which is used to represent a target seedling throwing operation mode that matches the seedling throwing operation area to be thrown; the target seedling throwing operation mode is used to indicate a target orientation corresponding to the seedling throwing mechanism and the operation route;

[0199] The control module 82 is used to control the UAV to move along the operation route according to the target seedling throwing operation mode, so that the seedling throwing mechanism performs the seedling throwing operation based on the target direction.

[0200] Optionally, Fig.23 A schematic diagram of the structure of another control device for a UAV seedling throwing operation mode provided in an embodiment of the present invention. The control device for the UAV seedling throwing operation mode can be set on the user device mentioned above to execute the method flow related to the user device mentioned above to achieve the corresponding technical effect, see Fig.23 , the device 90 includes: an interaction module 91 and a communication module 92;

[0201] Interaction module 91, used to display the interactive interface of the UAV seedling throwing operation mode;

[0202] The communication module 92 is used to respond to the user's mode selection operation and send a mode control message to the UAV so that the UAV moves along the operating route and the seedling throwing mechanism performs seedling throwing operations based on the target direction; the mode control message includes a seedling throwing mode instruction; the seedling throwing mode instruction is used to represent a target seedling throwing operation mode that matches the seedling throwing operation area to be thrown; the target seedling throwing operation mode is used to indicate the target direction of the seedling throwing mechanism corresponding to the operating route.

[0203] See also Fig.24 , Fig.24A schematic block diagram of an electronic device provided in an embodiment of the present application. Electronic device 1001 includes memory 1002 and processor 1003, and the memory 1002 and processor 1003 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines. Memory 1002 can be used to store software programs and modules, such as program instructions / modules corresponding to device 80 and device 90 provided in an embodiment of the present application, and processor 1003 executes various functional applications and data processing by executing software programs and modules stored in memory 1002.

[0204] Among them, the memory 1002 can be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc.

[0205] The processor 1003 may be an integrated circuit chip with signal processing capability. The processor 102 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0206] Understandably, Fig.24 The structure shown is for illustration only. The electronic device 1001 may also include Fig.24 More or fewer components as shown, or with Fig.24 Different configurations are shown. Fig.24 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0207] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0208] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0209] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0210] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0211] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present application. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A control method for a UAV seedling throwing operation mode, characterized in that: The method is applied to a drone, wherein the drone is equipped with a seedling throwing mechanism, and the seedling throwing mechanism has at least one set of relatively arranged seedling taking modules; the method comprises: Acquire a seedling throwing mode instruction, wherein the seedling throwing mode instruction is used to represent a target seedling throwing operation mode that matches the seedling throwing operation area to be thrown; the target seedling throwing operation mode is used to indicate a target orientation of the seedling throwing mechanism corresponding to an operation route; According to the target seedling throwing operation mode, the UAV is controlled to move along the operation route so that the seedling throwing mechanism performs the seedling throwing operation based on the target direction.

2. The method according to claim 1, characterized in that The step of controlling the drone to move along the operation route according to the target seedling throwing operation mode includes: When the target seedling throwing operation mode is the first seedling throwing operation mode, the UAV is controlled to maintain a first posture and move along the operation route; in the first posture, the seedling throwing direction of the seedling taking module is parallel to the operation route.

3. The method according to claim 1, characterized in that The step of controlling the drone to move along the operation route according to the target seedling throwing operation mode includes: When the target seedling throwing operation mode is the second seedling throwing operation mode, the UAV is controlled to maintain a second posture and move along the operation route; in the second posture, the seedling throwing direction of the seedling taking module is perpendicular to the operation route.

4. The method according to claim 1, characterized in that The step of obtaining the seedling throwing mode instruction includes: Determining the number of rows to be transplanted according to the plot data of the area to be transplanted; According to the number of rows to be thrown, determining the operation route corresponding to each seedling throwing operation mode; Determine the operation duration corresponding to each of the seedling throwing operation modes according to the operation route; The seedling-throwing operation mode corresponding to the shortest operation duration is used as the target seedling-throwing operation mode.

5. The method according to claim 4, characterized in that The step of determining the operation route corresponding to each seedling throwing operation mode according to the number of rows to be thrown includes: When the row spacing between two adjacent groups of seedling throwing corresponding to the one-way operation route of the seedling throwing operation mode is greater than the target row spacing, the operation route corresponding to the seedling throwing operation mode is obtained so that the row spacing between any two adjacent groups of seedling throwing after the seedling throwing operation based on the operation route is equal to the target row spacing.

6. The method according to claim 5, characterized in that When the row spacing between two adjacent groups of seedling throwing corresponding to the one-way operation route of the seedling throwing operation mode is greater than the target row spacing, the step of obtaining the operation route corresponding to the seedling throwing operation mode comprises: When the row spacing between two adjacent groups of seedling throwing corresponding to the one-way operation route of the seedling throwing operation mode is greater than the target row spacing, at least one route group is determined; each route group includes N one-way operation routes, wherein N≥2; the row spacing between any two adjacent one-way operation routes is equal to the target row spacing; any adjacent route groups are spaced N+1 times the target row spacing; All of the route groups constitute the operation route corresponding to the seedling throwing operation mode.

7. The method according to claim 1, characterized in that After the step of obtaining the seedling throwing mode instruction, the method further includes: Confirm whether the current orientation of the drone is consistent with the target orientation; If not, the attitude of the drone is adjusted so that the current orientation of the drone is consistent with the target orientation.

8. The method according to claim 1, characterized in that The seedling throwing mechanism also includes a seedling sending module corresponding to the sampling module; the step of controlling the drone to move along the operation route according to the target seedling throwing operation mode so that the seedling throwing mechanism performs the seedling throwing operation based on the target direction includes: According to the target seedling throwing operation mode, controlling the UAV to move along the operation route; Each sampling module is controlled to separate the seedlings from the blanket of seedlings on the corresponding seedling feeding module and then thrown out in the target direction by centrifugal force and / or ejection force.

9. A control method for a UAV seedling throwing operation mode, characterized in that: The method is applied to a user device, the user device is communicatively connected to a drone, the drone is equipped with a seedling throwing mechanism, and the seedling throwing mechanism has at least one set of relatively arranged seedling taking modules; the method comprises: An interactive interface showing the UAV rice seedling throwing operation mode; In response to the user's mode selection operation, a mode control message is sent to the UAV so that the UAV moves along the operating route and the seedling throwing mechanism performs the seedling throwing operation based on the target direction; the mode control message includes the seedling throwing mode instruction; the seedling throwing mode instruction is used to represent the target seedling throwing operation mode that matches the seedling throwing operation area to be operated; the target seedling throwing operation mode is used to indicate the target direction of the seedling throwing mechanism corresponding to the operating route.

10. The method according to claim 9, characterized in that The seedling throwing mechanism has a group of relatively arranged seedling taking modules; the step of responding to the user's mode selection operation and sending a mode control message to the drone includes: In response to the user's mode selection operation, the target seedling throwing operation mode is determined to be the first seedling throwing operation mode or the second seedling throwing operation mode; the first seedling throwing operation mode indicates that the seedling throwing direction of the seedling picking module is parallel to the operation route; the second seedling throwing operation mode indicates that the seedling throwing direction of the seedling picking module is perpendicular to the operation route; The mode control message is sent to the UAV; the mode control message includes the seedling throwing mode instruction; the seedling throwing mode instruction is used to represent the first seedling throwing operation mode or the second seedling throwing operation mode.

11. The method according to claim 9, characterized in that The interactive interface includes a job information interactive area and a mode list, and the method further includes: Displaying the seedling-transplanting operation area in the seedling-transplanting operation area; The mode list displays information of each rice seedling throwing operation mode.

12. The method according to claim 9, characterized in that The step of responding to the mode selection operation of the user and sending a mode control message to the drone includes: Responding to the operation demand data of the user in the area to be transplanted, wherein the operation demand data includes plot data; Determine the number of rows to be transplanted according to the plot data; According to the number of rows to be thrown, the operation route corresponding to each seedling throwing operation mode is determined; each operation route has a corresponding operation time; The operation time corresponding to each of the seedling throwing operation modes is displayed in the mode list; In response to a mode selection operation in the mode list by a user, determining the target seedling throwing operation mode; A mode control message is sent to the drone.

13. The method according to claim 9, characterized in that After the step of sending a mode control message to the drone, the method further includes: The operation route corresponding to the target seedling throwing operation mode and the operation status information of the UAV are displayed in the seedling throwing operation area.

14. A control device for a UAV seedling throwing operation mode, characterized in that: The device comprises: an acquisition module and a control module; The acquisition module is used to acquire a seedling throwing mode instruction, wherein the seedling throwing mode instruction is used to represent a target seedling throwing operation mode that matches the seedling throwing operation area to be thrown; the target seedling throwing operation mode is used to indicate a target orientation corresponding to the seedling throwing mechanism and the operation route; The control module is used to control the UAV to move along the operation route according to the target seedling throwing operation mode, so that the seedling throwing mechanism performs the seedling throwing operation based on the target direction.

15. A control device for a UAV seedling throwing operation mode, characterized in that: The device comprises: an interaction module and a communication module; The interactive module is used to display the interactive interface of the UAV seedling throwing operation mode; The communication module is used to respond to the user's mode selection operation and send a mode control message to the drone so that the drone moves along the operating route and the seedling throwing mechanism performs seedling throwing operations based on the target direction; the mode control message includes the seedling throwing mode instruction; the seedling throwing mode instruction is used to represent a target seedling throwing operation mode that matches the seedling throwing operation area to be operated; the target seedling throwing operation mode is used to indicate the target direction of the seedling throwing mechanism corresponding to the operating route.

16. An electronic device, characterized in that: include: A memory for storing one or more programs; processor; When the one or more programs are executed by the processor, the method according to any one of claims 1 to 8 or the method according to any one of claims 9 to 13 is implemented.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 or the method according to any one of claims 9 to 13 is implemented.

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