A control method, device, electronic equipment, and computer-readable storage medium for unmanned aerial vehicle (UAV) rice transplanting operations.

Abstract

This application proposes a control method, device, electronic equipment, and computer-readable storage medium for a drone rice-throwing operation mode. By acquiring a rice-throwing mode instruction, a target rice-throwing operation mode matching the area to be rice-throwing is confirmed. This target rice-throwing operation mode is used to indicate the target orientation of the rice-throwing mechanism and the operation route. Then, based on the target rice-throwing operation mode, the drone is controlled to move along the operation route so that the rice-throwing mechanism performs rice-throwing operations based on the target orientation. This provides a more flexible rice-throwing operation mode based on the area to be rice-throwing, thereby improving the efficiency of rice-throwing operations.

Description

Technical Field

[0001] This application relates to the field of agricultural drone control, and more specifically, to a control method, device, electronic equipment, and computer-readable storage medium for a drone rice transplanting operation mode. Background Technology

[0002] For the technology of using plant protection equipment for rice transplanting, existing technologies often plan fixed operating routes for the corresponding operating area, and then control the plant protection equipment to carry out rice transplanting operations along the fixed operating routes.

[0003] However, due to the structural design of the plant protection equipment itself, the specific rice transplanting requirements, and the differences in the operating area, fixed operating routes often cannot adapt to specific operating needs, reducing the rice 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 equipment, and computer-readable storage medium for unmanned aerial vehicle (UAV) rice transplanting operation mode, which provides a flexible control mode for UAV rice transplanting operation mode and improves the efficiency of UAV rice transplanting operation.

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

[0006] In a first aspect, embodiments of this application provide a control method for a drone rice-throwing operation mode. The method is applied to a drone equipped with a rice-throwing mechanism, which has at least one set of oppositely arranged rice-grabbing modules. The method includes:

[0007] Obtain a rice-throwing mode instruction, wherein the rice-throwing mode instruction is used to characterize a target rice-throwing operation mode that matches the rice-throwing operation area; the target rice-throwing operation mode is used to indicate the target orientation of the rice-throwing mechanism and the operation route.

[0008] According to the target rice-throwing operation mode, the drone is controlled to move along the operation route so that the rice-throwing mechanism can perform rice-throwing operation based on the target orientation.

[0009] Optionally, the step of controlling the UAV to move along the operation route according to the target rice transplanting operation mode includes:

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

[0011] Optionally, the step of controlling the UAV to move along the operation route according to the target rice transplanting operation mode includes:

[0012] When the target rice seedling throwing operation mode is the second rice seedling throwing operation mode, the UAV is controlled to maintain the second attitude and move along the operation route; in the second attitude, the rice seedling picking module throws rice seedlings in a direction perpendicular to the operation route.

[0013] Optionally, the step of obtaining the rice transplanting mode instruction includes:

[0014] Based on the plot data of the area where rice seedlings are to be transplanted, determine the number of rows to be transplanted;

[0015] Based on the number of rows to be transplanted, determine the corresponding operating route for each transplanting operation mode;

[0016] Based on the described operational route, determine the corresponding operational duration for each of the rice transplanting operation modes;

[0017] The rice transplanting operation mode corresponding to the shortest operation time is taken as the target rice transplanting operation mode.

[0018] Optionally, the step of determining the operation route corresponding to each rice transplanting operation mode based on the number of rows to be transplanted includes:

[0019] When the spacing between two adjacent groups of seedlings in a single-trip 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 spacing between any two adjacent groups of seedlings after seedling throwing operation based on the operation route is equal to the target row spacing.

[0020] Optionally, the step of obtaining the operation route corresponding to the rice transplanting operation mode when the spacing between two adjacent groups of transplanting rows corresponding to a single-trip operation route of the rice transplanting operation mode is greater than the target row spacing includes:

[0021] When the row spacing between two adjacent groups of seedlings in a single-trip 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 contains N single-trip operation routes, where N≥2; the row spacing between any two adjacent single-trip operation routes is equal to the target row spacing; any adjacent route groups are spaced N+1 times the target row spacing.

[0022] All the aforementioned routes are combined to form the operational route corresponding to the rice transplanting operation mode.

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

[0024] Confirm whether the drone's current orientation matches the target's orientation;

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

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

[0027] According to the target rice transplanting operation mode, control the UAV to move along the operation route;

[0028] After each sampling module separates the seedlings from the corresponding seedling delivery module, it throws them out towards the target using centrifugal force and / or ejection force.

[0029] Secondly, embodiments of this application provide a control method for a drone rice-throwing operation mode. The method is applied to a user equipment, which is communicatively connected to a drone. The drone is equipped with a rice-throwing mechanism, which has at least one set of oppositely arranged rice-collecting modules. The method includes:

[0030] The interactive interface displays the drone rice-throwing operation mode;

[0031] In response to the user's mode selection operation, a mode control message is sent to the drone to cause the drone to move along the operation route and the seedling throwing mechanism to perform seedling throwing operation based on the target orientation; the mode control message contains the seedling throwing mode instruction; the seedling throwing mode instruction is used to characterize the target seedling throwing operation mode that matches the area to be seeded; the target seedling throwing operation mode is used to indicate the target orientation of the seedling throwing mechanism corresponding to the operation route.

[0032] Optionally, the seedling throwing mechanism has a set of seedling picking modules arranged opposite each other; the step of sending a mode control message to the drone in response to the user's mode selection operation includes:

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

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

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

[0036] The area for transplanting rice seedlings is displayed in the designated area for transplanting rice seedlings.

[0037] The list of modes displays information for each rice transplanting operation mode.

[0038] Optionally, the step of responding to the user's mode selection operation by sending a mode control message to the drone includes:

[0039] Responding to user operation request data in the area to be planted with rice seedlings, the operation request data includes plot data;

[0040] Based on the plot data, determine the number of rows to be planted with rice seedlings;

[0041] Based on the number of rows to be transplanted, the corresponding operation route for each transplanting operation mode is determined; each operation route has a corresponding operation duration.

[0042] The mode list displays the operation duration corresponding to each of the rice transplanting operation modes;

[0043] In response to the user's mode selection operation in the mode list, the target rice transplanting operation mode is determined;

[0044] Send mode control messages 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 rice transplanting operation mode and the operation status information of the UAV are displayed in the rice transplanting operation area.

[0047] Thirdly, embodiments of this application provide a control device for a drone rice-throwing operation mode, the device comprising: an acquisition module and a control module;

[0048] The acquisition module is used to acquire a rice-throwing mode instruction, which is used to characterize a target rice-throwing operation mode that matches the rice-throwing operation area; the target rice-throwing operation mode is used to indicate the target orientation of the rice-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 rice-throwing operation mode, so that the rice-throwing mechanism can perform rice-throwing operation based on the target orientation.

[0050] Fourthly, embodiments of this application provide a control device for a drone rice-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 drone rice-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 operation route and the seedling throwing mechanism performs seedling throwing operation based on the target orientation; the mode control message includes the seedling throwing mode instruction; the seedling throwing mode instruction is used to characterize the target seedling throwing operation mode that matches the area to be seeded; the target seedling throwing operation mode is used to indicate the target orientation of the seedling throwing mechanism corresponding to the operation route.

[0053] Fifthly, embodiments of this application provide an electronic device, including: a memory for storing one or more programs; a processor; and when the one or more programs are executed by the processor, implementing the method as described in the first aspect and any possible implementation thereof, or the method as described in the second aspect and any possible implementation thereof.

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

[0055] Compared to existing technologies, the control method, apparatus, electronic device, and computer-readable storage medium for a drone rice-throwing operation mode provided in this application embodiment acquires a rice-throwing mode instruction, confirms a target rice-throwing operation mode that matches the area to be rice-throwing, and the target rice-throwing operation mode is used to indicate the target orientation corresponding to the rice-throwing mechanism and the operation route; then, based on the target rice-throwing operation mode, the drone is controlled to move along the operation route so that the rice-throwing mechanism performs rice-throwing operations based on the target orientation, thereby providing a more flexible rice-throwing operation mode based on the area to be rice-throwing and improving the efficiency of rice-throwing operations.

[0056] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0057] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a structural diagram of a rice transplanting system provided in one embodiment of this patent;

[0059] Figure 2This is a structural diagram of a rice-throwing mechanism provided in an embodiment of this patent, viewed from a first perspective.

[0060] Figure 3 This is a structural diagram of the rice-throwing mechanism provided in an embodiment of this patent from a second perspective.

[0061] Figure 4 This is a structural diagram of a rice transplanting system provided in another embodiment of this patent, viewed from a first perspective.

[0062] Figure 5 This is a structural diagram of a rice transplanting system provided in another embodiment of this patent, viewed from a second perspective.

[0063] Figure 6 This is a top view schematic diagram of a rice seedling throwing operation mode provided in an embodiment of the present invention;

[0064] Figure 7 A flowchart illustrating a control method for a drone rice-throwing operation mode provided in an embodiment of the present invention;

[0065] Figure 8 A flowchart illustrating another control method for a drone rice-throwing operation mode provided in an embodiment of the present invention;

[0066] Figure 9 This is a schematic diagram illustrating the spatial relationship between a seedling-harvesting module and an operational route, provided in an embodiment of the present invention.

[0067] Figure 10 A flowchart illustrating another control method for a drone rice-throwing operation mode provided in an embodiment of the present invention;

[0068] Figure 11 This is a schematic diagram illustrating the spatial relationship between another seedling-harvesting module and the operating route provided in an embodiment of the present invention;

[0069] Figure 12 A flowchart illustrating another control method for a drone rice-throwing operation mode provided in an embodiment of the present invention;

[0070] Figure 13 This is a schematic diagram of the required plant spacing and single-trip operation plant spacing provided in an embodiment of the present invention;

[0071] Figure 14A A schematic diagram of a work route planning provided for an embodiment of the present invention;

[0072] Figure 14B A schematic diagram illustrating another operational route planning method provided in an embodiment of the present invention;

[0073] Figure 14C A schematic diagram illustrating another operational route planning method provided in an embodiment of the present invention;

[0074] Figure 15 A flowchart illustrating another control method for a drone rice-throwing operation mode provided in an embodiment of the present invention;

[0075] Figure 16 A flowchart illustrating another control method for a drone rice-throwing operation mode provided in an embodiment of the present invention;

[0076] Figure 17 A flowchart illustrating another control method for a drone rice-throwing operation mode provided in an embodiment of the present invention;

[0077] Figure 18 A flowchart illustrating another control method for a drone rice-throwing operation mode provided in an embodiment of the present invention;

[0078] Figure 19A A schematic diagram of an interactive interface provided in an embodiment of the present invention;

[0079] Figure 19B A schematic diagram of another interactive interface provided in an embodiment of the present invention;

[0080] Figure 20 A flowchart illustrating another control method for a drone rice-throwing operation mode provided in an embodiment of the present invention;

[0081] Figure 21 A schematic diagram of another interactive interface provided in an embodiment of the present invention;

[0082] Figure 22 This is a schematic diagram of the structure of a control device for a drone rice-throwing operation mode provided in an embodiment of the present invention;

[0083] Figure 23 A schematic diagram of the structure of a control device for another unmanned aerial vehicle (UAV) rice-throwing operation mode provided in an embodiment of the present invention;

[0084] Figure 24 This is a schematic structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0085] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0086] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0087] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0088] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0089] In the description of this application, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0090] In the description of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0091] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0092] Please refer to Figure 1 and Figure 2 This 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 seedling throwing mechanism 100, which is mounted on the drone 200. The seedling throwing mechanism 100 separates the seedlings 300 and throws the separated seedlings 310 using centrifugal force and / or ejection force. Simultaneously, it coordinates with the flight of the drone 200 to achieve aerial seedling throwing.

[0093] The seedling throwing mechanism 100 can throw the seedlings 310 in several ways. In one embodiment, after separating the seedlings 310 from the seedbed 300, the seedling throwing mechanism 100 can use centrifugal force to throw the seedlings 310 out. In another embodiment, after separating the seedlings 310 from the seedbed 300, the seedling throwing mechanism 100 can use a catapult force to launch the separated seedlings 310 (the seedling throwing mechanism 100 may be equipped with a catapult component that can provide catapult force). In one embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and catapult force to launch the separated seedlings 310.

[0094] The seedling throwing mechanism 100 includes a load module 10, a seedling delivery module 20, and a seedling collection module 30. The load module 10 is mounted on a drone 200. The seedling delivery module 20 is mounted on the load module 10 and is used to deliver the seedling mat 300. The seedling collection module 30 is mounted on the load module 10 and is used to separate the seedling 310 from the seedling mat 300 on the seedling delivery module 20 and throw it out using centrifugal force and / or ejection force. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform seedling throwing operations. The seedling delivery module 20 delivers the seedling mat 300, and the seedling collection module 30 separates the seedling mat 300 and throws out the seedling 310, realizing the aerial seedling throwing operation of the seedling mat 300.

[0095] It should be noted that there are many ways to separate seedlings, such as cutting, grabbing, pushing, or pressing. The specific method of separation and seedling removal is not limited.

[0096] In this embodiment, the drone 200 is a rotary-wing drone, specifically a quadcopter drone. Of course, it could also be a single-rotor drone, a dual-rotor drone, a hexacopter drone, an octacopter drone, etc. The drone 200 can operate automatically according to a preset path, flight speed, and attitude, or it can be manually controlled by an operator. For ease of description, the accompanying drawings show the forward, backward, left, right, up, and down directions, which are relative positional relationships that can be clearly understood by those skilled in the art when the drone 200 is conventionally placed or in flight.

[0097] Figure 1 The diagram shows a split-type rice-throwing system 1000. Specifically, the load module 10 of the rice-throwing mechanism 100 is detachably mounted on the lower part of the drone 200. That is, the drone 200 and the rice-throwing mechanism 100 adopt a split-type design, with the drone 200 serving as a mobile platform and the rice-throwing mechanism 100 being a separate design. In other words, this type of rice-throwing mechanism 100 is an independent structure, not dependent on the fuselage frame of the drone 200. Based on this type, appropriate devices can be replaced according to actual operational needs in specific operational scenarios. For example, after disassembling the rice-throwing mechanism 100, a spreading device can be installed to spread pesticides, fertilizers, seeds, etc. Similarly, after disassembling the rice-throwing mechanism 100, agricultural operation mechanisms such as surveying devices and spraying devices can be installed.

[0098] Please refer to Figure 2 and Figure 3 The following will provide a detailed description of each module of the rice transplanting mechanism 100.

[0099] Specifically, the seedling-collecting module 30 includes a drive source 31 and a cutter head 33. The drive source 31 is connected to the cutter head 33 and is used to drive the cutter head 33 to separate the seedlings 300 on the seedling delivery module 20, and to throw the separated seedlings 310 out by centrifugal force and / or ejection force. Generally, the drive source 31 is a motor, which drives the cutter head 33 along... Figure 2 The blade 33 rotates in the direction indicated by arrow A, thereby separating the seedlings 300 during contact. The separated seedlings 310 follow the rotation of the blade 33 in the direction of arrow A. When the blade reaches a specific position, the seedlings 310 are ejected under the action of centrifugal force and / or ejection force. The blade 33 may be equipped with an ejector component, which can store and release energy through a cam component during the rotation of the blade. When the ejector component releases energy, the seedlings 310 are ejected under the ejection force provided by the ejector component.

[0100] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the drive source 31, with the drive source 31 directly driving the cutter head 33 to rotate. Alternatively, the cutter head 33 can be rotatably mounted on the load module 10, with the drive source 31 mounted on the load module 10 and connected to the cutter head 33 via a transmission mechanism, such as a gearbox, linkage mechanism, sprocket mechanism, or pulley mechanism, to provide driving force. Of course, the drive source 31 can also be a pneumatic motor or gasoline engine, instead of an electric motor.

[0101] To facilitate the throwing of seedlings 310, combined with Figure 4 In this embodiment, the cutter head 33 includes a mounting part 331 and a cutter body 332 disposed on the mounting part 331. The mounting part 331 is connected to the drive source 31. A groove 333 is formed on the cutter body 332. The groove 333 is used to hold the seedling 310 after it is separated from the seedling by the cutter body 332, causing the seedling 310 to rotate and be thrown out under the action of centrifugal force and / or ejection force. It can be understood that in the specific operation process, the groove 333 on the cutter body 332 will hold the soil part of the root of the seedling 310, and then drive it to rotate during the rotation, thereby throwing it out. Of course, the specific structure of the cutter head 33 can also be a seedling needle.

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

[0103] To improve seedling picking efficiency, the rotation speed of the cutter head 33 is usually increased. However, excessive speed may lead to other problems such as heat dissipation and unstable separation. To solve this problem, in this embodiment, at least two cutter heads 33 are arranged on each transmission box 32, thereby expanding the number of cutter heads 33 at the same seedling separation and throwing position.

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

[0105] By designing a larger number of cutter heads 33 on the transmission box 32, the seedling harvesting efficiency can be improved at the same rotational speed. Furthermore, in terms of installation, the transmission box 32 can be directly mounted on the output shaft of the drive source 31, or the transmission box 32 can be rotatably mounted on the load module 10, with the drive source 31 mounted on the load module 10 and connected to the transmission box 32 via a transmission mechanism, such as a gearbox, linkage mechanism, sprocket mechanism, or pulley mechanism, to provide driving force.

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

[0107] Specifically, Figure 3 In this system, there are three seedling delivery modules 20, and correspondingly, three seedling collection modules 30. Of course, when the number of seedling delivery modules 20 exceeds three, the number of seedling collection modules 30 can also be increased accordingly. Generally, the seedlings 310 delivered by multiple seedling delivery modules 20 are of the same type and are used for transplanting in the same field. Therefore, the multiple seedling collection modules 30 can be controlled to operate synchronously by a control device mounted on the load module 10, or they can be controlled by the flight control system of the UAV 200. Of course, it is not impossible for multiple seedling delivery modules 20 to operate independently; for example, the seedling collection efficiency of the multiple seedling collection modules 30 can be controlled to be unequal, or some seedling collection modules 30 can be controlled to work while the others do not.

[0108] In order to separate and throw the seedlings 300 row by row and bunch by bunch, in this embodiment, the seedling delivery module 20 includes a seedling support plate 21 and a seedling delivery tray 22. The seedling support plate 21 is disposed on the load module 10 and has an opening 211. The seedling delivery tray 22 is used to transport the seedlings 300. The lower part of the seedling delivery tray 22 is located inside the seedling support plate 21 and the seedling delivery tray 22 can move laterally relative to the seedling support plate 21. The seedling picking module 30 is used to separate the seedlings 300 through the opening 211 and throw out the separated seedlings 310.

[0109] In other words, the positions of the seedling-picking module 30 and the opening 211 of the seedling-supporting plate 21 remain unchanged relative to the load module 10, while the seedling-feeding tray 22 can reciprocate in the left-right direction. In this way, the seedling-picking module 30 only separates the seedlings 300 exposed in the opening 211, thus enabling the separation and throwing of the seedlings 300 row by row and clump by clump. Of course, in other embodiments, the position of the seedling-feeding tray 22 relative to the load module 10 can remain unchanged, while the seedling-supporting plate 21 and the seedling-picking module 30 can move laterally in the left-right direction.

[0110] In this embodiment, the seedling support plate 21 can be understood as a long, open plate. The seedling support plate 21 is fixed relative to the load module 10 and does not move with the left-right reciprocating movement of the seedling feeding tray 22. The seedling support plate 21 provides a certain degree of support for the seedling feeding tray 22. Figure 4 In this embodiment, there are three seedling picking modules 30 that are spaced apart. Therefore, there are also three openings 211 that are spaced apart, so that each seedling picking module 30 can separate and throw the seedlings 300 in the corresponding opening 211.

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

[0112] Generally, the drive device 23 can use a motor in conjunction with a rack and pinion mechanism to achieve the reciprocating left and right movement of the seedling tray 22, or it can use a motor in conjunction with a lead screw mechanism or a synchronous belt. Of course, it is not ruled out that the rotor power of the UAV 200 can be used to drive the seedling tray 22 to move laterally left and right.

[0113] Combination Figure 3 Generally, the seedling delivery tray 22 is set to an inclined position. This design allows the seedling mat 300 to move downwards under gravity after the seedling delivery tray 22 moves horizontally once, facilitating the seedling picking module 30 to pick up seedlings in the next round. Of course, a power source can also be set to drive it, for example, in combination with... Figure 3 In this embodiment, the seedling delivery module 20 also includes a conveying device 24, which is disposed on the seedling delivery tray 22 and is used to drive the seedlings 300 to move toward the seedling support plate 21.

[0114] The conveying device 24 can be a conveyor belt or a conveyor roller (e.g., a toothed roller). Furthermore, the conveying device 24 can be installed at different positions along the height of the seedling tray 22. It should be noted that the inclined design of the seedling tray 22 also allows for efficient use of longitudinal space, reducing the space occupied by the seedling tray 22 in the horizontal width. Simultaneously, due to the inclined design, the seedlings 300 can slide down smoothly under their own weight, further reducing the overall power consumption of the conveying device 24.

[0115] In addition, considering the possibility of seedling detachment after the 300 seedlings are placed in the seedling tray 22, combined with Figure 2 and Figure 3 In this embodiment, the seedling delivery module 20 further includes a seedling pressing device 25, which is disposed on the seedling delivery tray 22 and is used to limit the position of the seedlings 300 within the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or rod. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and multiple pressing strips 252. The rotating shaft 251 is rotatably placed horizontally on the seedling delivery tray 22, and the multiple pressing strips 252 are vertically arranged at intervals on the rotating shaft 251 and are used to limit the position of the seedlings 300 within the seedling delivery tray 22.

[0116] In this embodiment, under certain specific scenarios, the rotating shaft 251 can rotate with a certain damping relative to the seedling tray 22, thus adjusting the force exerted by the pressing strip 252 on the seedling mat 300 and maintaining its pressing state. Alternatively, a torsion spring can be fitted onto the rotating shaft 251 to provide pressure for rotation towards the seedling mat 300.

[0117] Combination Figure 3 In this embodiment, the seedling delivery tray 22 is a rectangular frame structure. Specifically, it includes a support plate and two baffles disposed on the left and right sides of the support plate. It has no top or bottom baffles, thus forming an upper opening for easy seedling placement and a lower opening for easy seedling removal. The width of the seedling delivery tray 22 can match the width of a tray of seedling mats 300. Furthermore, the height of the seedling delivery tray 22 is not limited to the height of a tray of seedling mats 300. During installation, the two ends of the rotating shaft 251 can be rotatably mounted on the two baffles of the seedling delivery tray 22. Figure 4In this embodiment, four pressing strips 252 are configured on a single rotating shaft 251. In other words, four pressing strips 252 are distributed on a seedling feeding tray 22 to limit the placement of the seedlings 300 within the tray, ensuring that the seedlings 300 are pressed onto the tray 22 by the pressing strips 252, thus greatly ensuring that the seedlings 300 are not blown away during the flight of the drone 200. Of course, the number of pressing strips 252 configured on a single seedling feeding tray 22 is not limited to four; for example, it can be three, five, or more. Furthermore, since there are multiple seedling feeding modules 20 in this embodiment, there can also be multiple seedling pressing devices 25, with each seedling feeding tray 22 corresponding to a seedling pressing device 25. In some scenarios, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 can share a single 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 also includes a support module 40, which 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 tray 22 needs to move laterally, the support positions of the first support 43 and the seedling tray 22 can be achieved through the cooperation of slide rails and pulleys for easy support. For example, pulleys can be installed at the end of the first support 43, and slide rails can be installed on the seedling tray 22, with the two rolling together. Alternatively, slide rails can be installed at the end of the first support 43, and pulleys can be installed on the seedling tray 22. In addition, in certain scenarios, the height of the first support 43 can be adjusted, which can also make the tilt angle of the seedling tray 22 adjustable.

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

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

[0121] Figures 1-3 The illustrated embodiments demonstrate 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 taking module 30, etc.) can be manufactured and sold separately in the early stage, and then assembled into an overall structure in the later stage.

[0122] Figure 4 and Figure 5 Another embodiment of the rice-throwing system 1000 is shown, wherein the description of the same modules, mechanisms, or components can be referred to the foregoing. In this embodiment, the rice-throwing system 1000 is a dual-system, that is, it has two sets of rice-throwing mechanisms 100, and the two rice-throwing mechanisms 100 share a load module 10. The two sets of rice-throwing mechanisms 100 are arranged back-to-back. Of course, in other embodiments, the two sets of rice-throwing mechanisms can also adopt other arrangements (e.g., arranged in the same direction), and three, four, or more sets of rice-throwing mechanisms 100 can also be arranged.

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

[0124] When the UAV 200 is in flight, the drive source 31 drives the transmission box 32 to rotate. The transmission box 32 drives the cutter head 33 to rotate at high speed. When the cutter head 33 rotates to the opening 211, it separates and removes the seedlings 310, causing the seedlings 310 to rotate. When the seedlings 310 rotate to a certain angle, they are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thus realizing the simultaneous flight and throwing of the seedling blanket 300. At the same time, the seedling delivery tray 22 moves laterally, causing the seedling blanket 300 to move left and right, so that the seedling blanket 300 is separated and thrown row by row and clump by clump. After a row of seedlings 310 in the left and right direction of the seedling blanket 300 is separated, the entire seedling blanket 300 moves downward under the action of gravity and the driving force of the conveying device 24. In this way, during the process of the seedling delivery tray 22 moving laterally again, it is separated and thrown row by row and clump by clump by clump by seedling picking module 30. This process is repeated until all the seedling blanket 300 are separated and thrown.

[0125] Optionally, as discussed above, the rice-throwing mechanism can have at least one set of relatively arranged rice-grabbing modules. Figure 5 The following section uses a set of relatively positioned seedling-collecting modules 30 as an example to explain how the specific spatial relationship between this set of seedling-collecting modules 30 and the UAV affects the UAV's seedling-throwing operation mode. It should be noted that for this set of relatively positioned seedling-collecting modules, please refer to... Figure 3 , Figure 4 and Figure 5 It can be configured in two sets of seed-throwing mechanisms 100 arranged opposite each other, with each set of seed-throwing mechanisms 100 having multiple seedling-collecting modules arranged in parallel, such as... Figure 3As shown, three seedling-collecting modules 30 are arranged in parallel within one seedling-throwing mechanism 100, and three seedling-collecting modules 30 are also arranged in the opposite seedling-throwing mechanism 100. Therefore, the three seedling-collecting modules in one seedling-throwing mechanism and the three seedling-collecting modules in the other seedling-throwing mechanism can be understood as being "relatively arranged". It can be understood that one seedling-collecting module in one seedling-throwing mechanism 100 and one opposite seedling-collecting module in the other seedling-throwing mechanism constitute a set of seedling-collecting modules.

[0126] Specifically, Figure 6 This is a top view schematic diagram of a rice transplanting operation mode provided in an embodiment of the present invention. See also: Figure 6 The upper part (A) shows the posture of a drone. When the straight line of the three seedling picking modules 30 in a seedling throwing mechanism 100 is parallel to the direction "D" of the drone's planned operation, when the drone moves along the operation route in the direction "D", the seedlings are separated and thrown by each seedling picking module 30 and finally thrown to the throwing point P. Finally, three rows of seedlings 50a are thrown along a section of the operation route.

[0127] Optionally, see [link to relevant documentation] Figure 6 The lower part (B) shows another type of drone posture, in which the straight line of the three seedling picking modules 30 in a seedling throwing mechanism 100 is perpendicular to the drone's planned operation direction "D". Since the drone is equipped with two seedling throwing mechanisms, when the drone moves along the operation route in the direction "D", the seedlings are separated and thrown by each seedling picking module 30, and finally two rows of seedlings 50b are thrown on a section of the operation route.

[0128] Clearly, based on the number and spatial relationship of the seed-throwing mechanisms, different seed-throwing patterns will occur when the drone operates in different postures. Therefore, considering the differences in operating areas and requirements, the orientation of different seed-throwing mechanisms and their corresponding flight paths can be defined as different seed-throwing operation modes. This allows the drone to match the appropriate seed-throwing operation mode to the actual operating scenario, thereby improving the flexibility and efficiency of seed-throwing operations.

[0129] The following is an illustrative explanation of the control method for unmanned aerial vehicle (UAV) rice-throwing operations. First, the UAV will be used as the control entity for this operation. Specifically, Figure 7 This is a flowchart illustrating a control method for a drone rice-throwing operation mode according to an embodiment of the present invention. (See attached diagram.) Figure 7 The method includes:

[0130] Step 500: Obtain the rice transplanting mode command;

[0131] Among them, the seedling throwing mode instruction is used to characterize the target seedling throwing operation mode that matches the area to be seedled; 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 rice-throwing operation mode, control the drone to move along the operation route so that the rice-throwing mechanism can carry out rice-throwing operation based on the target orientation.

[0133] The control method for unmanned aerial vehicle (UAV) rice-throwing operation mode provided in this embodiment of the invention obtains a rice-throwing mode instruction, confirms a target rice-throwing operation mode that matches the area to be rice-throwing, and the target rice-throwing operation mode is used to indicate the target orientation of the rice-throwing mechanism and the operation route; then, based on the target rice-throwing operation mode, the UAV is controlled to move along the operation route so that the rice-throwing mechanism performs rice-throwing operation based on the target orientation, thereby providing a more flexible rice-throwing operation mode based on the area to be rice-throwing and improving the efficiency of rice-throwing operation.

[0134] It should be noted that the method for obtaining the rice seedling throwing mode command can be based on the drone's own computing power combined with the scenario requirements; or it can be obtained through user interaction. For example, the user can configure the corresponding rice seedling throwing mode command through the control platform provided by the user device, and then the user device can send the rice seedling throwing mode command to the drone through communication.

[0135] Optionally, the target rice transplanting operation mode can include multiple situations; for example, the mode it refers to can be as described above. Figure 6 As shown in the upper part (A), correspondingly, the embodiments of this application provide a possible implementation, specifically, in Figure 7 On this basis, Figure 8 A flowchart illustrating another control method for unmanned aerial vehicle (UAV) rice-throwing operation mode provided in an embodiment of the present invention is shown below. Figure 8 Step 503 includes:

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

[0137] In the first posture, the direction of the seedling-picking module is parallel to the operation path.

[0138] Specifically, Figure 9 This is a schematic diagram illustrating the spatial relationship between a seedling-harvesting module and an operational flight path, provided in an embodiment of the present invention. (See attached diagram.) Figure 9 In the first rice transplanting operation mode, D represents the direction of movement of the UAV along the operation route. (See previous text for details.) Figure 2 and Figure 3The separated seedlings 310 rotate along the direction of arrow A with the cutter head 33. When they reach a specific position, the seedlings 310 are ejected under the action of centrifugal force and / or ejection force. (Corresponding to...) Figure 9 In the diagram, for the three seedling-collecting modules on the right, the direction of seedling throwing is P1; corresponding to the three seedling-collecting modules on the left, the direction of seedling throwing is P2; it can be seen that both P1 and P2 are parallel to D.

[0139] Optionally, the target rice transplanting operation mode can include multiple situations; for example, the mode it refers to can be as described above. Figure 6 As shown in the following section (B), correspondingly, the embodiments of this application provide a possible implementation, specifically, in Figure 7 On this basis, Figure 10 A flowchart illustrating another control method for unmanned aerial vehicle (UAV) rice-throwing operation mode provided in an embodiment of the present invention is shown below. Figure 10 Step 503 includes:

[0140] Step 503-2: When the target rice transplanting operation mode is the second rice transplanting operation mode, control the UAV to maintain the second attitude and move along the operation route;

[0141] In the second posture, the direction of the seedling-picking module is perpendicular to the operation path.

[0142] Specifically, Figure 11 This is a schematic diagram illustrating the spatial relationship between another seedling-harvesting module and the operating route provided in an embodiment of the present invention, combined with... Figure 9 For description, see [link / reference] Figure 11 In the second seedling throwing operation mode, for the three seedling picking modules on the upper side, the throwing direction is P3; for the three seedling picking modules on the lower side, the throwing direction is P4; it can be seen that P3 and P4 are both perpendicular to D.

[0143] Optionally, for the rice-throwing mode command, when the drone has the corresponding computing power, it can calculate the target rice-throwing operation mode based on the specific scenario and operational requirements. The following embodiment of this application provides a possible implementation method; specifically, in... Figure 7 On this basis, Figure 12 A flowchart illustrating another control method for unmanned aerial vehicle (UAV) rice-throwing operation mode provided in an embodiment of the present invention is shown below. Figure 12 Step 500 includes:

[0144] Step 500-1: Determine the number of rows to be transplanted based on the plot data of the area to be transplanted;

[0145] Step 500-2: Determine the operation route corresponding to each rice transplanting operation mode based on the number of rows to be transplanted;

[0146] Step 500-3: Determine the operation time corresponding to each rice transplanting operation mode based on the operation route;

[0147] Step 500-4: Select the rice transplanting operation mode corresponding to the shortest operation time as the target rice transplanting operation mode.

[0148] Specifically, in conjunction with the above text Figure 6 As shown, for the first rice transplanting operation mode [ Figure 6 [As shown in the upper part (A)], the drone flies in direction D (which can be defined as forward and backward flight). The front and rear seedling picking mechanisms work together to complete one row of seedling throwing. One flight along the flight path can simultaneously complete the throwing of three rows of seedlings. For the second seedling throwing operation mode [ Figure 6 [As shown in the lower part (B)], the drone flies in the direction of D (which can be defined as flying in the left and right direction). In this way, one row is operated by the front seedling picking mechanism, the middle seedling picking mechanism, and the rear seedling picking mechanism. One flight can complete the seedling throwing operation of two rows at the same time.

[0149] Although the second rice-throwing operation mode only performs two rows of rice-throwing in one flight, since each row of rice-throwing is completed by three cutting heads, the aircraft can use a faster flight speed (up to 1.5 times the flight speed of the first rice-throwing operation mode) under the same plant spacing requirements and the same rotation speed of the rice-picking mechanism.

[0150] Assuming N rows need to be planted, and ignoring the time spent by the aircraft turning around, the number of flights in the first rice transplanting mode is N / 3, and the number of flights in the second rice transplanting mode is N / 2. The time spent on one flight is 1.5t for the first mode and t for the second mode. Therefore, the total operation time for the first rice transplanting mode is... The total operation time for the second rice transplanting mode is When N is divisible by both 2 and 3, the efficiency of the two operation modes is the same. When N is divisible by 3 but not by 2, the efficiency of the first transplanting operation mode is higher. When N is divisible by 2 but not by 3, the efficiency of the second transplanting operation mode is higher. When N is divisible by neither 2 nor 3, the efficiency of the two operation modes may be the same or the efficiency of the second transplanting operation mode may be higher.

[0151] For example, when N=8, the first rice transplanting operation mode requires 3 flights, with a total operation time of 4.5t, and the second rice transplanting operation mode has a total operation time of 4t. When N=7, the first rice transplanting operation mode requires 3 flights, with a total operation time of 4.5t, and the second rice transplanting operation mode requires 4 flights, with a total operation time of 4t. When N=11, the first rice transplanting operation mode requires 4 flights, with a total operation time of 6t, and the second rice transplanting operation mode requires 6 flights, with a total operation time of 6t.

[0152] It should be noted that the above example is based on a single rice-throwing mechanism 100 containing three seedling-collecting modules. For other possible numbers of seedling-collecting modules, those skilled in the art can, based on the embodiments of this application, deduce other matching rice-throwing operation modes and corresponding flight paths without any objection. No limitation is imposed here.

[0153] Optionally, Figure 13 This is a schematic diagram illustrating the required plant spacing and single-trip planting spacing provided in an embodiment of the present invention. See also... Figure 13 In part (A), taking the second rice-throwing operation mode as an example, when the drone operates along direction D on a single-journey operation route, the two rice-throwing mechanisms throw rice seedlings separately. In this case, two rows of seedlings will be completed in one single-journey operation. However, the spacing between these two rows of seedlings may be much larger than the required spacing, for example... Figure 13 The spacing between the two rows of seedlings shown in section (B) is 4×L1, where L1 refers to the distance between any two adjacent seedling-taking modules, as shown in (A), where the distance between the seedling-taking modules is L1. In a preferred embodiment, the spacing between two adjacent seedling-taking modules is typically set to the ideal seedling spacing.

[0154] Furthermore, in combination Figure 13 For example, in step 500-2 above, since there are specific requirements for the spacing between seedlings to be transplanted, it is necessary to consider whether the spacing between adjacent rows of seedlings meets the operational requirements after the UAV performs the transplanting operation along a single flight path. If the spacing between adjacent seedling-collecting modules in a transplanting mechanism is greater than the required spacing, then it is necessary to plan the flight path to ensure that the spacing between adjacent rows of seedlings meets the operational requirements after transplanting via all flight paths. Therefore, one possible implementation of step 500-2 is as follows:

[0155] When the spacing between two adjacent rows of seedlings in a single-trip 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 spacing between any two adjacent rows of seedlings after seedling throwing operation based on the operation route is equal to the target row spacing.

[0156] Specifically, for the situation where "the spacing between two adjacent rows of seedlings in a single-trip operation path of the seedling throwing mode is greater than the target row spacing", multiple reciprocating flight path groups can be constructed to ensure that after the UAV flies along multiple flight path groups and performs seedling throwing operations, the spacing between adjacent seedling rows meets the operational requirements. A possible implementation method is provided below:

[0157] When the spacing between two adjacent groups of rice-throwing rows corresponding to a single-trip operation route in the rice-throwing operation mode is greater than the target row spacing, at least one route group is determined.

[0158] Each route group contains N one-way operation routes, where N≥2; the row spacing between any two adjacent one-way operation routes is equal to the target row spacing; the interval between any two adjacent route groups is N+1 times the target row spacing.

[0159] All flight paths are combined to form the operational flight path corresponding to the rice transplanting operation mode.

[0160] Optionally, specific examples are provided for the above route groups, in conjunction with... Figure 13 Taking the second rice transplanting operation mode as an example, and the plant spacing between two rows of seedlings corresponding to one single-trip operation route is 4×L1, Figure 14A This is a schematic diagram of a work route planning provided by an embodiment of the present invention. See also: Figure 14A If the drone operates along a single-trip operation route①, the seedling throwing mechanism 100a and seedling throwing mechanism 100b will throw seedlings to obtain two rows of seedlings⑴, and the spacing between the two rows of seedlings⑴ is 4×L1.

[0161] Furthermore, Figure 14B For another schematic diagram of the operation route planning provided in this embodiment of the invention, see [link to schematic diagram]. Figure 14B The UAV operates at the endpoint of ①, perpendicular to the displacement L1 of ①, and performs a single-trip operation ② towards ①, thereby obtaining two rows of seedlings ⑵. The spacing between the two rows of seedlings ⑵ is 4×L1. At the same time, the spacing between the row of seedlings ⑵ and the adjacent row of seedlings ⑴ is L1, which is the target row spacing.

[0162] By repeating the above single-trip operation route, it can be ensured that "the spacing between any two adjacent groups of rice seedlings after the rice seedling transplanting operation based on the operation route is equal to the target row spacing." Specifically, Figure 14C For another schematic diagram of the operation route planning provided in this embodiment of the invention, see [link to schematic diagram]. Figure 14C Since the spacing between two rows of seedlings corresponding to a single-pass operation route is 4×L1, the single-pass operation route proceeds from ①→②→③→④→⑤, ensuring that the spacing between any two adjacent rows of seedlings in ①→⑤ is L1. Furthermore, to ensure that the spacing between the last row (5) and the next single-pass operation route is L1, the drone needs to move downwards a corresponding distance, i.e. Figure 14C The 6×L1 shown is also equal to the target line spacing of N+1 times the interval between any two adjacent line groups mentioned above, which is 5+1 (N=5 in the example).

[0163] Then, after the drone moves downwards by 6×L1, it begins to perform a single-trip operation route ⑥, obtaining two rows of seedlings ⑹. Then, referring to ①→⑤, it completes the operation of the single-trip operation route from ⑥→⑦→⑧→⑨→⑩, obtaining the corresponding two rows of seedlings ⑺, ⑻, ⑼ and ⑽ respectively; thus making the plant spacing between any two adjacent rows of seedlings L1, which is the target row spacing.

[0164] In the above plan, it should be noted that the row spacing between ①, ②, ③, ④, and ⑤ is L1; the row spacing between ⑥, ⑦, ⑧, ⑨, and ⑩ is L1; and the interval 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 is evident that for the work area, the work routes can consist of one or more route groups to ensure that the plant spacing between any two adjacent rows of seedlings is the target row spacing.

[0165] Optionally, regarding the timing of receiving the rice-throwing mode command, it's possible that the drone is not currently in an attitude suitable for direct flight and operation. Therefore, after receiving the rice-throwing mode command, the drone may need to adjust its attitude. The following provides a possible implementation for adjusting the drone's attitude. Specifically, in... Figure 7 On this basis, Figure 15 A flowchart illustrating another control method for unmanned aerial vehicle (UAV) rice-throwing operation mode provided in an embodiment of the present invention is shown below. Figure 15 After step 500, the following is also included:

[0166] Step 501: Confirm whether the drone's current orientation matches the target's orientation;

[0167] Specifically, if they are inconsistent, proceed to step 502; if they are consistent, proceed to step 503.

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

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

[0170] Specifically, regarding the drone moving along the operational route and performing rice transplanting operations, the following section, in conjunction with the above... Figure 2 The structure of the rice-throwing mechanism, which includes a sampling module 30 and a corresponding sample delivery module 20, describes how the rice-throwing operation is performed. Specifically, in... Figure 7 On this basis, Figure 16 A flowchart illustrating another control method for unmanned aerial vehicle (UAV) rice-throwing operation mode provided in an embodiment of the present invention is shown below. Figure 16 Step 503 is illustrated by example:

[0171] Step 503-3: Control the drone to move along the operation route according to the target rice transplanting operation mode;

[0172] Step 503-4: After each sampling module separates the seedlings from the corresponding seedling delivery module, it throws them out based on the target orientation using centrifugal force and / or ejection force.

[0173] Regarding the control method for the drone rice-throwing operation mode provided in this application, one possible implementation is also based on user interaction to provide a more flexible control method. The following description uses user equipment as the control entity for the drone rice-throwing operation mode. This user equipment can communicate with the drone described above. Specifically, Figure 17 A flowchart illustrating another control method for unmanned aerial vehicle (UAV) rice-throwing operation mode provided in an embodiment of the present invention is shown below. Figure 17 The method includes:

[0174] Step 600: Display the interactive interface for the drone rice-throwing operation mode;

[0175] Step 601: In response to the user's mode selection operation, send a mode control message to the drone so that the drone moves along the operation route and the rice-throwing mechanism performs rice-throwing operation based on the target orientation.

[0176] 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 area to be seedled; the target seedling throwing operation mode is used to indicate the target orientation corresponding to the seedling throwing mechanism and the operation route.

[0177] The control method for unmanned aerial vehicle (UAV) rice-throwing operation mode provided in this embodiment displays an interactive interface for the UAV rice-throwing operation mode on a user device. Then, in response to the user's mode selection operation, a mode control message is sent to the UAV, causing the UAV to move along the operation route and the rice-throwing mechanism to perform rice-throwing operations based on the target orientation. The mode control message includes a rice-throwing mode instruction; this instruction characterizes a target rice-throwing operation mode matching the area to be rice-throwing; the target rice-throwing operation mode indicates the target orientation corresponding to the operation route. This allows the rice-throwing mechanism to perform rice-throwing operations based on the target orientation, thus providing a more flexible rice-throwing operation mode based on the area to be rice-throwing, and improving the efficiency of the rice-throwing operation.

[0178] Optionally, the interface can provide a mechanism for users to select different rice transplanting modes, so as to flexibly match the user's needs. Specifically, in Figure 17 On this basis, Figure 18 A flowchart illustrating another control method for unmanned aerial vehicle (UAV) rice-throwing operation mode provided in an embodiment of the present invention is shown below. Figure 18 Step 601 includes:

[0179] Step 601-1: Respond to the user's mode selection operation and determine the target rice transplanting operation mode as either the first rice transplanting operation mode or the second rice transplanting operation mode.

[0180] The first seedling throwing operation mode indicates that the seedling picking module throws the seedlings in a direction parallel to the operation route; the second seedling throwing operation mode indicates that the seedling picking module throws the seedlings in a direction perpendicular to the operation route.

[0181] Step 601-2: Send a mode control message to the drone;

[0182] The mode control message includes a seedling throwing mode instruction; the seedling throwing mode instruction is used to characterize the first seedling throwing operation mode or the second seedling throwing operation mode.

[0183] Specifically, Figure 19A A schematic diagram of an interactive interface provided in an embodiment of the present invention is shown below. Figure 19A The user equipment, exemplified by a smartphone 70, features a touchscreen display for showing an interactive interface 71. This interface 71 includes a job information interaction area 710 and a mode list 711. The job information interaction area 710 displays the rice-throwing area 7101 to be planted, and can also display the drone's current location marker 200. It also provides interactive buttons for users to freely set rice-throwing operation modes, for example... Figure 19A The operation requirement configuration 7102 is shown in the figure; the mode list 711 displays information about each rice transplanting operation mode, for example, Figure 19A The graphic identifier 7110 and 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 seedling throwing operation in the seedling throwing operation area 7101 using the first seedling throwing operation mode, such as: plant spacing, operation area area corresponding to the seedling throwing operation area, number of planting rows, and estimated operation time.

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

[0185] It should be noted that the embodiments of the interactive interface in this article are only illustrated by the first and second seedling throwing operation modes. The number of seedling throwing operation modes can also be matched according to the specific settings of the seedling throwing mechanism. This is not intended to limit the scope of the embodiments.

[0186] Furthermore, Figure 19B A schematic diagram of another interactive interface provided in an embodiment of the present invention is shown below. Figure 19B When a user taps the interactive area 7111 with their finger 72, the smartphone 70 responds to the user's mode selection operation and determines the target rice transplanting operation mode as the first rice transplanting operation mode. Furthermore, based on the plot data of the area to be transplanted, the number of rows to be transplanted is determined; subsequently, based on the number of rows to be transplanted, the corresponding operation route and operation duration for the first rice transplanting operation mode are determined.

[0187] Optionally, after the smartphone 70 sends a mode control message to the drone, the operation flight path corresponding to the target rice-throwing operation mode and the drone's operation status information can also be displayed in the operation information interaction area 710. For example, see Figure 19B The smartphone 70 can also display the operation route 7103 in the rice transplanting area 7101; and can display information related to the drone operation, such as the operation progress 7114.

[0188] Optionally, the selection of the rice transplanting operation mode can be based on user-configured operation requirement data to complete mode matching. This configuration information can be data related to the operation area, such as plot data, planting type, etc. The plot data can include information such as area size, shape, and terrain data. The following uses plot data as an example to illustrate the implementation method of matching user-configured operation requirement data with the rice transplanting operation mode. Specifically, in Figure 17 On this basis, Figure 20 A flowchart illustrating another control method for unmanned aerial vehicle (UAV) rice-throwing operation mode provided in an embodiment of the present invention is shown below. Figure 20 Step 601 includes:

[0189] Step 601-3: Respond to the user's job request data in the job information interaction area. The job request data includes land parcel data.

[0190] Step 601-4: Determine the number of rows to be planted based on the plot data;

[0191] Step 601-5: Determine the operation route corresponding to each rice transplanting operation mode based on the number of rows to be transplanted;

[0192] Each type of operational route has a corresponding operational duration;

[0193] Step 601-6: Display the operation time corresponding to each rice transplanting operation mode in the mode list;

[0194] Step 601-7: Respond to the user's mode selection operation in the mode list and determine the target rice transplanting operation mode;

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

[0196] Optionally, Figure 21 A schematic diagram of another interactive interface provided in an embodiment of the present invention is shown below. Figure 21When a user taps on the job requirement configuration 7102 with their finger 72, a configuration interaction interface 7104 is displayed on the interaction interface 71. The user can input the required plot data, and the smartphone 70 will respond to the user's input, calculating the number of rows of rice seedlings to be transplanted corresponding to that plot data, as well as the operation time corresponding to each transplanting operation mode, allowing the user to interactively select the transplanting operation mode. For example, Figure 21 In the first transplanting operation mode, the operation time is 4 hours; in the second transplanting operation mode, the operation time is 4.5 hours.

[0197] Optionally, Figure 22 This is a schematic diagram of a control device for a drone rice-throwing operation mode according to an embodiment of the present invention. This control device can be mounted on the aforementioned drone to execute the drone-related method processes described above, thereby achieving the corresponding technical effects. (See also...) Figure 22 The device 80 includes: an acquisition module 81 and a control module 82;

[0198] The acquisition module 81 is used to acquire the rice seedling throwing mode instruction. The rice seedling throwing mode instruction is used to characterize the target rice seedling throwing operation mode that matches the rice seedling throwing operation area. The target rice seedling throwing operation mode is used to indicate the target orientation corresponding to the rice 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 rice-throwing operation mode, so that the rice-throwing mechanism can perform rice-throwing operation based on the target orientation.

[0200] Optionally, Figure 23 This is a schematic diagram of the structure of a control device for another unmanned aerial vehicle (UAV) rice-throwing operation mode provided in an embodiment of the present invention. This control device can be installed on the aforementioned user equipment to execute the method processes related to the user equipment, thereby achieving the corresponding technical effects. (See also...) Figure 23 The device 90 includes: an interaction module 91 and a communication module 92;

[0201] Interactive module 91 is used to display the interactive interface of the drone rice-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 operation route and the rice-throwing mechanism performs rice-throwing operation based on the target orientation; the mode control message contains a rice-throwing mode instruction; the rice-throwing mode instruction is used to characterize the target rice-throwing operation mode that matches the area to be rice-throwing; the target rice-throwing operation mode is used to indicate the target orientation of the rice-throwing mechanism corresponding to the operation route.

[0203] Please see Figure 24 , Figure 24This is a schematic structural block diagram of an electronic device provided in an embodiment of this application. The electronic device 1001 includes a memory 1002 and a processor 1003, which are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The memory 1002 can be used to store software programs and modules, such as the program instructions / modules corresponding to devices 80 and 90 provided in embodiments of this application. The processor 1003 executes the software programs and modules stored in the memory 1002 to perform various functional applications and data processing.

[0204] The memory 1002 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0205] Processor 1003 can be an integrated circuit chip with signal processing capabilities. Processor 102 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can 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] Understandable. Figure 24 The structure shown is for illustrative purposes only; the electronic device 1001 may also include components that are more advanced than those shown. Figure 24 The more or fewer components shown, or having the same Figure 24 The different configurations shown. Figure 24 The components shown can be implemented using hardware, software, or a combination thereof.

[0207] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

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

[0209] If a function is implemented as a software 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 this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0210] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0211] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A control method for a drone rice-throwing operation mode, characterized in that, The method is applied to a drone, the drone being equipped with a rice-throwing mechanism, the rice-throwing mechanism having at least one set of oppositely arranged rice-grabbing modules; the method includes: Obtain a rice-throwing mode instruction, wherein the rice-throwing mode instruction is used to characterize a target rice-throwing operation mode that matches the rice-throwing operation area; the target rice-throwing operation mode is used to indicate the target orientation of the rice-throwing mechanism and the operation route. When the target rice seedling throwing operation mode is the first rice seedling throwing operation mode, the UAV is controlled to maintain a first attitude and move along the operation route; in the first attitude, the rice seedling picking module throws rice seedlings in a direction parallel to the operation route. When the target rice seedling throwing operation mode is the second rice seedling throwing operation mode, the UAV is controlled to maintain the second attitude and move along the operation route; in the second attitude, the rice seedling picking module throws rice seedlings in a direction perpendicular to the operation route.

2. The method as described in claim 1, characterized in that, The step of obtaining the rice transplanting mode instruction includes: Based on the plot data of the area where rice seedlings are to be transplanted, determine the number of rows to be transplanted; Based on the number of rows to be transplanted, determine the corresponding operating route for each transplanting operation mode; Based on the described operational route, determine the corresponding operational duration for each of the rice transplanting operation modes; The rice transplanting operation mode corresponding to the shortest operation time is taken as the target rice transplanting operation mode.

3. The method as described in claim 2, characterized in that, The step of determining the operation route corresponding to each rice transplanting operation mode based on the number of rows to be transplanted includes: When the spacing between two adjacent groups of seedlings in a single-trip 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 spacing between any two adjacent groups of seedlings after seedling throwing operation based on the operation route is equal to the target row spacing.

4. The method as described in claim 3, characterized in that, The step of obtaining the operation route corresponding to the rice transplanting operation mode when the spacing between two adjacent groups of transplanting rows corresponding to a single-trip operation route of the rice transplanting operation mode is greater than the target row spacing includes: When the row spacing between two adjacent groups of seedlings in a single-trip 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 contains N single-trip operation routes, where N≥2; the row spacing between any two adjacent single-trip operation routes is equal to the target row spacing; any adjacent route groups are spaced N+1 times the target row spacing. All the aforementioned routes are combined to form the operational route corresponding to the rice transplanting operation mode.

5. The method as described in claim 1, characterized in that, Following the step of obtaining the rice transplanting mode instruction, the method further includes: Confirm whether the drone's current orientation matches the target's orientation; If not, adjust the attitude of the drone so that the current orientation of the drone is consistent with the orientation of the target.

6. The method as described in claim 1, characterized in that, The seedling throwing mechanism also includes a seedling delivery module corresponding to the seedling picking 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 seedling throwing operation based on the target orientation, includes: According to the target rice transplanting operation mode, control the UAV to move along the operation route; After each seedling picking module separates the seedlings from the corresponding seedling delivery module, it throws them out towards the target using centrifugal force and / or ejection force.

7. A control method for a drone rice-throwing operation mode, characterized in that, The method is applied to a user equipment, which is communicatively connected to a drone. The drone is equipped with a rice-throwing mechanism, which has at least one set of oppositely arranged rice-picking modules. The method includes: The interactive interface displays the drone rice-throwing operation mode; In response to the user's mode selection operation, the target seedling throwing operation mode is determined to be either the first seedling throwing operation mode or the second seedling throwing operation mode; the first seedling throwing operation mode indicates that the seedling picking module's throwing direction is parallel to the operation route; the second seedling throwing operation mode indicates that the seedling picking module's throwing direction is perpendicular to the operation route. Send a mode control message to the drone; the mode control message includes a seedling throwing mode instruction; the seedling throwing mode instruction is used to characterize the first seedling throwing operation mode or the second seedling throwing operation mode that matches the seedling throwing operation area.

8. The method as described in claim 7, characterized in that, The interactive interface includes a job information interaction area and a mode list, and the method further includes: The area to be transplanted is displayed in the operation information interaction area; The list of modes displays information for each rice transplanting operation mode.

9. The method as described in claim 7, characterized in that, The response to the user's mode selection operation, sending a mode control message to the drone, includes: Responding to user operation request data in the area to be planted with rice seedlings, the operation request data includes plot data; Based on the plot data, determine the number of rows to be planted with rice seedlings; Based on the number of rows to be transplanted, the corresponding operation route for each transplanting operation mode is determined; each operation route has a corresponding operation duration. The mode list displays the operation duration corresponding to each of the described rice transplanting operation modes; In response to the user's mode selection operation in the mode list, the target rice transplanting operation mode is determined; The mode control message is sent to the drone.

10. The method as described in claim 7, characterized in that, Following the step of sending a mode control message to the drone, the method further includes: The operation route corresponding to the target rice transplanting operation mode and the operation status information of the UAV are displayed in the rice transplanting operation area.

11. A control device for a drone rice-throwing operation mode, characterized in that, The device includes: an acquisition module and a control module; The acquisition module is used to acquire a rice-throwing mode instruction, which is used to characterize a target rice-throwing operation mode that matches the rice-throwing operation area; the target rice-throwing operation mode is used to indicate the target orientation corresponding to the rice-throwing mechanism and the operation route. The control module is used to control the UAV to maintain a first posture and move along the operation route when the target rice-throwing operation mode is the first rice-throwing operation mode; in the first posture, the rice-throwing direction of the rice-picking module is parallel to the operation route; when the target rice-throwing operation mode is the second rice-throwing operation mode, the control module is used to control the UAV to maintain a second posture and move along the operation route; in the second posture, the rice-throwing direction of the rice-picking module is perpendicular to the operation route.

12. A control device for a drone rice-throwing operation mode, characterized in that, The device includes: an interaction module and a communication module; The interactive module is used to display the interactive interface of the drone rice-throwing operation mode; The communication module is used to respond to the user's mode selection operation and determine the target seedling throwing operation mode as either a first seedling throwing operation mode or a second seedling throwing operation mode; the first seedling throwing operation mode indicates that the seedling picking module's throwing direction is parallel to the operation flight path; the second seedling throwing operation mode indicates that the seedling picking module's throwing direction is perpendicular to the operation flight path; and sends a mode control message to the UAV; the mode control message contains a seedling throwing mode instruction; the seedling throwing mode instruction is used to characterize the first seedling throwing operation mode or the second seedling throwing operation mode that matches the seedling throwing operation area.

13. An electronic device, characterized in that, include: Memory, used to store one or more programs; processor; When the processor executes the one or more programs, it implements the method as described in any one of claims 1-6 or the method as described in any one of claims 7-10.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the method as described in any one of claims 1-6 or the method as described in any one of claims 7-10.

Images