Flight control method and device based on movable counterweight, unmanned aerial vehicle and medium

Abstract

The embodiment of the invention discloses a flight control method and device based on a movable balance weight, an unmanned aerial vehicle and a medium. According to the technical scheme provided by the embodiment of the invention, when the unmanned aerial vehicle performs seedling throwing operation, the first transverse moving position of the seedling feeding disc relative to the initial position is detected, and the real-time weight of the seedling feeding disc corresponding to the first transverse moving position is determined; and controlling the counterweight module to transversely move based on the weight of the counterweight module, the real-time weight and the first transverse movement position so as to balance the attitude of the unmanned aerial vehicle. By adopting the technical means, the center-of-gravity shift of the seedling feeding tray can be determined according to the transverse moving position and the real-time weight of the seedling feeding tray, and then the counterweight module is controlled to transversely move in the opposite direction according to the center-of-gravity shift so as to offset the center-of-gravity shift of the seedling feeding tray, so that the condition that the unmanned aerial vehicle inclines due to the center-of-gravity shift of the seedling feeding tray is avoided; the flying stability of the unmanned aerial vehicle is improved, and the seedling throwing operation effect of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of drone technology, and in particular to a flight control method, device, drone, and medium based on a movable counterweight. Background Art

[0002] At present, with the rapid development of drone technology, it is widely used in various scenarios for high-altitude operations. Especially in agricultural scenarios, some fields are not convenient to operate with ground-based agricultural machinery. For example, in fields with relatively rugged ground such as terraces, drones can be used to carry out high-altitude plant protection for crops planted in such fields. Drones can even be equipped with seedling throwing mechanisms to throw seedlings in the air to plant them in the fields.

[0003] In the related art, a drone can be equipped with a single-sided seedling throwing machine to throw the seedlings over the field to plant the seedlings. However, when the drone uses the seedling throwing machine to throw the seedlings on one side, the throwing operation will cause the drone body to tilt, affecting the flight stability of the drone. Summary of the invention

[0004] The embodiments of the present application provide a flight control method, device, UAV and medium based on a movable counterweight, which can improve the flight stability of the UAV when performing a single-sided seedling throwing operation and solve the problem of fuselage tilting of the UAV when performing a single-sided seedling throwing operation.

[0005] In a first aspect, an embodiment of the present application provides a flight control method based on a movable counterweight, which is applied to a drone equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling sending module and a seedling taking module, the seedling sending module includes a seedling supporting plate and a seedling sending tray, the lower part of the seedling sending tray is located inside the seedling supporting plate, the seedling sending tray reciprocates relative to the seedling supporting plate to transport the seedling blanket, and the seedling taking module is used to separate the seedling blanket transported by the seedling sending module from the seedlings and then throw them out; the drone also includes a counterweight module, which is arranged on the other side of the seedling sending tray and is used to move laterally in the opposite direction of the lateral movement direction of the seedling sending tray;

[0006] The method includes:

[0007] When the UAV performs the seedling throwing operation, the first lateral displacement position of the seedling delivery tray relative to the initial position is detected, and the real-time weight of the seedling delivery tray corresponding to the first lateral displacement position is determined;

[0008] The counterweight module is controlled to move laterally based on the weight of the counterweight module, the real-time weight and the first lateral position, so as to balance the attitude of the UAV.

[0009] In a second aspect, an embodiment of the present application provides a flight control device based on a movable counterweight, which is applied to a drone mounted with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling sending module and a seedling taking module, the seedling sending module includes a seedling supporting plate and a seedling sending tray, the lower part of the seedling sending tray is located inside the seedling supporting plate, the seedling sending tray reciprocates relative to the seedling supporting plate to transport the blanket seedlings, and the seedling taking module is used to separate the blanket seedlings transported by the seedling sending module from the seedlings and then throw them out; the drone also includes a counterweight module, which is arranged on the other side of the seedling sending tray and is used to move laterally in the opposite direction of the lateral movement direction of the seedling sending tray;

[0010] The device includes:

[0011] The detection module is configured to detect a first lateral displacement position of the seedling delivery tray relative to an initial position and determine a real-time weight of the seedling delivery tray when the drone performs a seedling throwing operation;

[0012] The control module is configured to control the lateral movement of the counterweight module based on the weight of the counterweight module, the real-time weight and the first lateral movement position so as to balance the attitude of the drone.

[0013] In a third aspect, an embodiment of the present application provides a drone, including:

[0014] memory and one or more processors;

[0015] A memory for storing one or more programs;

[0016] When one or more programs are executed by one or more processors, the one or more processors implement the flight control method based on movable counterweight as described in the first aspect.

[0017] In a fourth aspect, an embodiment of the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to perform the flight control method based on movable counterweight as in the first aspect.

[0018] In a fifth aspect, an embodiment of the present application provides a seedling throwing system, including a drone and a seedling throwing mechanism, the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, and the drone includes a counterweight module, wherein:

[0019] The seedling delivery module includes a seedling support plate and a seedling delivery tray. The lower part of the seedling delivery tray is located inside the seedling support plate. The seedling delivery tray moves back and forth relative to the seedling support plate to deliver the seedlings.

[0020] The seedling taking module is used to separate the seedlings from the blanket delivered by the seedling delivery module and then throw them out;

[0021] The counterweight module is arranged on the other side of the seedling delivery tray, and is used for transverse movement in the opposite direction of the transverse movement direction of the seedling delivery tray;

[0022] Drones are used for:

[0023] When performing the seedling throwing operation, detecting a first lateral displacement position of the seedling delivery tray relative to the initial position, and determining a real-time weight of the seedling delivery tray corresponding to the first lateral displacement position;

[0024] The counterweight module is controlled to move laterally based on the weight of the counterweight module, the real-time weight and the first lateral position, so as to balance the attitude of the UAV.

[0025] The embodiment of the present application detects the first lateral displacement position of the seedling delivery tray relative to the initial position when the drone is performing the seedling throwing operation, and determines the real-time weight of the seedling delivery tray corresponding to the first lateral displacement position; based on the weight, real-time weight and first lateral displacement position of the counterweight module, the lateral displacement of the counterweight module is controlled to balance the posture of the drone. By adopting the above-mentioned technical means, the center of gravity offset of the seedling delivery tray can be determined by the lateral displacement position and real-time weight of the seedling delivery tray, and then the counterweight module can be controlled to move laterally in the opposite direction according to the center of gravity offset to offset the center of gravity offset of the seedling delivery tray, thereby avoiding the situation where the drone body tilts due to the offset of the center of gravity of the seedling delivery tray, improving the stability of the drone flight, and thus improving the effect of the drone seedling throwing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the seedling throwing system provided in an embodiment of the present application;

[0027] Figure 2 This is one of the structural schematic diagrams of the seedling throwing mechanism provided in the embodiment of the present application;

[0028] Figure 3 This is the second structural schematic diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0029] Figure 4 It is a top view schematic diagram of the balancing mechanism and the seedling throwing mechanism provided in the embodiment of the present application;

[0030] Figure 5 It is a side view schematic diagram of a balancing mechanism and a seedling throwing mechanism provided in an embodiment of the present application;

[0031] Figure 6 This is one of the schematic diagrams of the transverse movement of the seedling delivery tray and the counterweight module provided in the embodiment of the present application;

[0032] Figure 7 This is the second schematic diagram of the transverse movement of the seedling delivery tray and the counterweight module provided in the embodiment of the present application;

[0033] Figure 8 is a flow chart of a flight control method based on a movable counterweight provided in an embodiment of the present application;

[0034] Fig. 9 It is a schematic diagram of the lateral movement distance of the seedling delivery tray and the counterweight module provided in an embodiment of the present application;

[0035] Fig.10 is a structural schematic diagram of a flight control device based on a movable counterweight provided in an embodiment of the present application;

[0036] Fig.11 It is a structural schematic diagram of a drone provided in an embodiment of the present application.

[0037] In the figure, 10, blanket seedlings; 11, seedlings; 20, drone; 30, seedling throwing mechanism; 31, seedling delivery module; 311, seedling delivery tray; 312, seedling support plate; 313, opening; 314, conveying device; 315, driving device; 32, seedling removal module; 321, driving source; 322, cutter head; 40, balancing mechanism; 41, transverse motor; 42, screw rod; 43, counterweight module. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0039] The flight control method based on the movable counterweight in the embodiment of the present application aims to determine the center of gravity offset of the seedling delivery tray by the lateral position and real-time weight of the seedling delivery tray, and then control the counterweight module to move horizontally in the opposite direction according to the center of gravity offset to ensure the flight stability of the drone. Figure 1 Schematic diagram of a seedling throwing system provided in an embodiment of the present application. Figure 1 As shown, the seedling throwing system includes a seedling throwing mechanism 30 and a UAV 20. The seedling throwing mechanism 30 is mounted on the UAV 20. A balancing mechanism 40 is also provided on the seedling throwing mechanism 30 to control the center of gravity balance of the seedling throwing mechanism and avoid the deviation of the UAV fuselage caused by the deviation of the center of gravity of the seedling throwing mechanism. Figure 2 and Figure 3: is a structural schematic diagram of the seedling throwing mechanism provided in an embodiment of the present application. Among them, the seedling delivery module 31 is used to transport the blanket seedlings 10, and the seedling retrieval module 32 is used to separate the seedlings 11 from the blanket seedlings 10 transported by the seedling delivery module 31 and then throw them out. When the drone 20 is equipped with the seedling throwing mechanism 30 to perform a flying seedling throwing operation, the blanket seedlings 10 can be transported by the seedling delivery module 31, and the seedlings 11 can be thrown out after the blanket seedlings 10 are separated by the seedling retrieval module 32. The seedling retrieval module 32 includes a driving source 321 and a cutter head 322. The driving source 321 is used to drive the cutter head 322 to rotate so as to separate the seedlings 11 of the blanket seedlings 10 on the seedling delivery plate 311 through the opening 313, and throw out the separated seedlings 11. Among them, there are many ways to separate the seedlings, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling retrieval methods are not limited in this application.

[0040] The drone 20 can be used to execute the flight control method based on movable counterweight provided in this embodiment. The drone 20 can be implemented by software and / or hardware. The drone 20 can be composed of two or more physical entities, or it can be composed of one physical entity. Among them, the drone 20 refers to a flying device that operates according to remote control instructions or preset instructions. Exemplarily, the drone 20 is a rotor drone, specifically a quad-rotor drone. According to the actual configuration, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone 20 can automatically operate according to a preset path, flight speed, attitude, etc., or the flight can be manually controlled by the operator.

[0041] The drone 20 is installed with at least one type of operating system. The drone 20 can install at least one application based on the operating system. The application can be an application that comes with the operating system or an application downloaded from a third-party device or server. In the embodiment of the present application, the drone 20 has at least an application that can execute flight control based on a movable counterweight.

[0042] Specifically, refer to Figure 1-Figure 3 The seedling delivery module 31 includes a seedling support plate 312, a seedling delivery tray 311 and a driving device 315. The seedling support plate 312 is provided with an opening 313. The lower part of the seedling delivery tray 311 is located inside the seedling support plate 312. The seedling delivery tray 311 is used to place the blanket seedlings 10. The driving device 315 is used to drive the seedling delivery tray 311 to move laterally relative to the seedling support plate 312. The seedling removal module 32 includes a driving source 321 and a cutter head 322. The driving source 321 is used to drive the cutter head 322 to rotate so as to separate the seedlings 11 of the blanket seedlings 10 on the seedling delivery tray 311 through the opening 313, and throw out the separated seedlings 11. Figure 3It can be known that the seedling delivery module 31 includes a plurality of seedling delivery trays 311, and the plurality of seedling delivery trays 311 are arranged side by side on the seedling supporting plate 312, and the plurality of seedling delivery trays 311 move synchronously. Correspondingly, the seedling throwing mechanism 30 includes a plurality of seedling picking modules 32, and the seedling picking modules 32 correspond to the seedling delivery trays 311 one by one. Among them, the opening 313 provided on the seedling supporting plate 312 is the seedling picking point of the seedling picking module 32. The seedling picking module 32 and the seedling supporting plate 312 remain stationary, and the seedling delivery tray 311 can move back and forth in the left and right directions. During the lateral movement of the seedling delivery tray 311, the seedling picking module 32 separates the seedlings 11 exposed in the opening 313 from the adjacent seedlings 11, thereby realizing the separation and throwing of the blanket seedlings 10 row by row and plant by plant. The driving source 321 can drive the cutter head 322 along Figure 1 The cutter head 322 rotates in the direction indicated by the arrow A, thereby separating the seedling blanket 10 during the contact process. The separated seedling 11 rotates along the direction of the arrow A following the cutter head 322. When the seedling 11 rotates to a specific position, the seedling 11 is thrown out under the action of the centrifugal force and / or the ejection force. Further, the seedling removal module 32 can evenly arrange multiple cutter heads 322. For example, when a seedling removal module 32 is provided with two cutter heads 322, the angle between the two cutter heads 322 and the center of the driving source 321 is 180 degrees, three cutter heads 322 can be spaced 120 degrees apart, and four cutter heads 322 can be spaced 90 degrees apart. Figure 2 The seedling delivery module 31 further includes a conveying device 314, which is used to drive the blanket seedlings 10 on the seedling delivery tray 311 to move toward the seedling supporting plate 312. The conveying device 314 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel).

[0043] When performing the seedling throwing operation, the seedling delivery tray 311 initially places eight rows and five columns of blanket seedlings 10, and the initial position of the seedling delivery tray 311 is the right side of the seedling support plate 312. When the drone 20 starts to perform the flying seedling throwing operation, the seedling delivery tray 311 is controlled to start to move horizontally and the seedling picking module 32 is controlled to start to rotate. The cutter head 322 of the seedling picking module 32 rotates to the opening 313 to cut off the connection between the seedlings 11 in the first row and the first column of the blanket seedling 10 and the seedlings 11 in the first row and the second column, and throw the seedlings 11 in the first row and the first column into the field for planting. The seedling delivery tray 311 moves horizontally to the left, and when the seedlings 11 in the first row and the second column move to the opening 313, the cutter head 322 of the seedling picking module 32 rotates to the opening 313 to cut off the connection between the seedlings 11 in the first row and the third column, and throw the seedlings 11 in the first row and the second column into the field for planting. This is repeated, and when the seedling delivery tray 311 moves horizontally to the left side of the seedling support board 312, the seedlings 11 in the first row and the fifth column move to the opening 313, and the cutter head 322 of the seedling removal module 32 rotates to the opening 313 to throw the seedlings 11 in the first row and the fifth column into the field for planting. At this time, the seedlings 11 in the first row of the blanket 10 have been thrown out, and the seedling delivery tray 311 can be controlled to stop moving horizontally and the conveying device 314 can be started to move the blanket 10 on the seedling delivery tray 311 toward the seedling support board 312, and the conveying device 314 is stopped when the seedlings 11 in the second row of the blanket 10 move to the seedling support board 312. At the same time as the conveying device 314 stops, the cutter head 322 of the seedling removal module 32 just rotates to the opening 313 and cuts off the connection between the seedlings 11 in the second row and the fourth column at the opening 313, and throws out the seedlings 11 in the second row and the fifth column. At the same time, the seedling delivery tray 311 is started to move rightward to move the seedlings 11 in the fourth column of the second row to the opening 313, and this is repeated until the seedlings 11 on the seedling delivery tray 311 are all thrown. It should be noted that the initial position of the seedling delivery tray 311 can also be the left side of the seedling support plate 312, and move rightward after starting. This embodiment does not limit the initial position of the seedling delivery tray 311.

[0044] It is understandable that, during the seedling throwing operation, the seedling delivery tray 311 moves sideways, and the sideways movement of the seedling delivery tray causes its center of gravity to change, and this change in center of gravity causes the fuselage of the drone to tilt. Based on this, a balancing mechanism 40 is provided on the seedling throwing mechanism 30 to control the center of gravity balance of the seedling delivery tray of the seedling throwing mechanism, so as to ensure the center of gravity balance of the entire seedling throwing mechanism.

[0045] Among them, refer to Figure 4, a top view schematic diagram of a balancing mechanism 40 and a seedling throwing mechanism 30 is provided, and the balancing mechanism includes a transverse movement motor 41, a screw rod 42 and a counterweight module 43. Among them, the transverse movement motor 41 is used to drive the screw rod 42 to rotate, and the counterweight module 43 is slidably connected to the screw rod 42. Through the forward or reverse rotation of the screw rod 42, the counterweight module 43 can be reciprocated on the screw rod. The center of gravity offset of the counterweight module 43 in the initial position just offsets the center of gravity offset of the seedling delivery tray 311 in the initial position. Then, by detecting the transverse movement of the seedling delivery tray 311, the counterweight module 43 can be adaptively adjusted to move horizontally to offset the center of gravity offset.

[0046] Based on the above-mentioned balancing mechanism 40, when performing the seedling throwing operation, the seedling delivery tray 311 reciprocates along the seedling supporting plate 312 so that the seedling picking module 32 sequentially picks up the seedlings for the seedling throwing operation. In this process, it is only necessary to control the counterweight module 43 to move in the opposite direction to the lateral movement of the seedling delivery tray 311 to offset the center of gravity deviation of the seedling delivery tray 311, so that the center of gravity of the seedling throwing mechanism 30 can be balanced.

[0047] like Figure 5 As shown, when the seedling delivery tray 311 moves to the left to transport the seedlings, the screw rod 42 rotates to drive the counterweight module 43 to move to the right by a corresponding distance, so that the center of gravity offset of the seedling delivery tray 311 can be offset in real time.

[0048] Specifically, refer to Figure 6-Figure 7 , when the seedling throwing operation is performed at the initial moment, the center of gravity offset of the counterweight module 43 just offsets the center of gravity offset of the seedling delivery tray 311. The seedling blanket at the lower left of the seedling delivery tray 311 is located on the opening of the seedling support plate. At this time, the seedling retrieval module 32 completes a seedling retrieval operation, and then controls the seedling delivery tray 311 to move horizontally to the left to transport the next row of seedlings to the opening for the seedling retrieval module to separate and perform the seedling throwing operation. In this process, the counterweight module 43 is controlled to move horizontally to the right to offset the center of gravity offset caused by the horizontal movement of the seedling delivery tray. As the seedling delivery tray 311 gradually moves horizontally to the left, the counterweight module 43 moves horizontally to the left accordingly. When the seedlings in the rightmost column of the seedling delivery tray 311 are aligned with the opening for the seedling retrieval operation, the seedling delivery tray 311 stops moving horizontally, and the seedling retrieval module 32 continues to perform the seedling retrieval operation on the seedlings in the rightmost column of the next row transported by the seedling delivery tray. After the seedling retrieval operation is completed, refer to Figure 7 , the seedling delivery tray 311 starts to move to the right to deliver the next row of seedlings for the seedling removal module 32 to complete the seedling removal operation. At this time, the counterweight module 43 needs to start to move to the left to offset the center of gravity offset of the seedling delivery tray 311. Similarly, according to the reciprocating lateral movement of the seedling delivery tray 311, the counterweight module 43 is controlled to move back and forth in the opposite direction, so that real-time balance control can be achieved to improve the flight stability of the drone.

[0049] It should be noted that the above-mentioned balancing mechanism 40 is only an example of a structure for balancing the center of gravity of the seedling throwing mechanism shown in the embodiment of the present application. In actual applications, the balancing mechanism 40 can be adaptively set according to the lateral movement of the counterweight module 43. The embodiment of the present application does not impose fixed restrictions on the specific structure of the balancing mechanism 40. It only needs to ensure that the counterweight module 43 can perform reciprocating lateral movement in the opposite direction according to the reciprocating lateral movement of the seedling delivery tray 311. In order to achieve precise balance control, it is necessary to accurately control the lateral movement of the counterweight module 43 to the corresponding position according to the real-time center of gravity offset of the seedling delivery tray 311, so as to ensure that the center of gravity of the seedling throwing mechanism will not be offset during the seedling throwing operation.

[0050] In the following, for ease of understanding, this embodiment is described by taking the drone 20 as an example of a subject that executes the flight control method based on a movable counterweight. Figure 8 A flow chart of a flight control method based on a movable counterweight provided in an embodiment of the present application is given. The flight control method based on a movable counterweight specifically includes:

[0051] S110, when the drone performs a seedling throwing operation, detecting a first lateral displacement position of the seedling delivery tray relative to an initial position, and determining a real-time weight of the seedling delivery tray corresponding to the first lateral displacement position;

[0052] Since the counterweight module needs to move laterally to offset the center of gravity shift caused by the lateral shift of the seedling delivery tray, it is necessary to determine the center of gravity shift that occurs during the lateral shift of the seedling delivery tray so that the counterweight module can be controlled to move laterally according to its center of gravity shift. Based on this, the present application determines the lateral shift position of the seedling delivery tray relative to the initial position, which is defined as the first lateral shift position, and combines the weight of the seedling delivery tray and the weight of the counterweight module to balance the seedling throwing mechanism so that the posture of the drone is balanced. It should be noted that since the seedlings carried by the seedling delivery tray are gradually reduced during the seedling throwing process, it is necessary to determine the real-time weight of the seedling delivery tray to accurately offset the center of gravity shift of the seedling delivery tray.

[0053] Wherein, detecting the first lateral displacement position of the seedling delivery tray relative to the initial position comprises:

[0054] Determine a first lateral position of the seedling delivery tray relative to an initial position based on a rotor position sensor provided on a driving device of the seedling delivery tray; or,

[0055] The first lateral position of the seedling sending tray relative to the initial position is determined based on a distance sensor arranged in the lateral direction of the corresponding seedling sending tray.

[0056] When detecting the first lateral position of the seedling delivery tray, the embodiment of the present application determines the lateral position of the seedling delivery tray relative to the initial position through the rotor position sensor provided on the driving device of the seedling delivery tray. It is understandable that each time the driving device drives the seedling delivery tray to lateral movement, the rotor position thereof will change accordingly. It is only necessary to pre-record the corresponding lateral positions under different rotor positions to determine the first lateral position. For example, Figure 3 Take the seedling throwing mechanism shown in the figure as an example, assuming that the rotor rotates one circle, and the seedling delivery plate moves horizontally by the distance of a row of seedlings. Then according to the rotor position determined by the rotor position sensor, when the rotor rotates the first circle, the seedling delivery plate moves to the left by the position of a row of seedlings, and moves to the left to the position of the next row of seedlings when the rotor rotates the second circle. When it rotates to the fourth circle, the seedling delivery plate moves to the left by the position of four rows of seedlings relative to the initial position. Then the rotor starts to reverse and drive the seedling delivery plate to move right to perform the seedling removal operation of the second row of seedlings. By analogy, it is only necessary to determine the number of positive and negative rotations of the rotor and the horizontal displacement distance of the seedling delivery plate corresponding to each rotation of the seedling delivery plate to determine the first horizontal displacement position of the seedling delivery plate relative to the initial position.

[0057] Optionally, a distance sensor can be directly arranged in the lateral direction of the seedling delivery tray, and the initial position and the first lateral position of the seedling delivery tray can be determined according to the relative position of the distance sensor and the seedling delivery tray. The distance sensor can be directly arranged at the initial position, so that the distance information read by the distance sensor can be directly used as the first lateral position.

[0058] Optionally, the first lateral position can also be determined by the lateral distance of each lateral movement set by the seedling throwing mechanism in combination with the seedling throwing sequence. Figure 3 Taking the seedling throwing mechanism shown as an example, the first lateral displacement position of the first seedling throwing is the initial position, the first lateral displacement position of the second seedling throwing is one unit of lateral displacement distance away from the initial position, the first lateral displacement position of the fifth and sixth seedling throwing is four units of lateral displacement distance away from the initial position, and the first lateral displacement position of the seventh seedling throwing is three units of lateral displacement distance away from the initial position due to the reciprocating movement, and so on, the first lateral displacement position of the seedling delivery plate relative to the initial position for each seedling throwing operation can be determined.

[0059] On the other hand, determining the real-time weight of the seedling delivery tray corresponding to the first transverse position includes:

[0060] Input the weight of the seedling blanket and the empty weight of the seedling delivery tray to determine the real-time seedling retrieval progress of the seedling retrieval module, and determine the real-time weight of the seedling delivery tray based on the weight of the seedling blanket, the empty weight and the seedling retrieval progress.

[0061] When determining the real-time weight of the seedling delivery tray, the total weight of the seedling delivery tray at the beginning of the seedling throwing operation can be determined based on the seedling blanket weight and the empty weight of the seedling delivery tray. Then, combined with the real-time seedling throwing progress of the seedling picking module, the real-time weight of the seedling delivery tray can be determined. Figure 3Taking the 5 columns and 8 rows of seedlings as an example, according to the seedling throwing progress, after taking 5 seedlings in one row, the weight of the seedling blanket becomes 7 / 8 of the original. When the initial weight of the seedling blanket is known, the remaining weight of the seedling blanket can be determined according to the seedling throwing progress. Then add the empty weight of the seedling delivery tray to get the real-time weight of the seedling delivery tray.

[0062] Optionally, in actual applications, a weighing sensor may be provided on the seedling delivery tray. The real-time weight of the seedling delivery tray may be obtained based on the remaining weight of the blanket seedlings detected by the weighing sensor plus the empty weight of the seedling delivery tray.

[0063] There are many implementation methods for determining the first lateral position and real-time weight of the seedling delivery tray. According to the actual settings, the corresponding method can be adaptively selected to collect the above information. The embodiment of the present application does not impose fixed restrictions on the specific method of determining the first lateral position and real-time weight of the seedling delivery tray, which will not be elaborated here.

[0064] S120, controlling the lateral movement of the counterweight module based on the weight of the counterweight module, the real-time weight and the first lateral movement position to balance the attitude of the drone.

[0065] Furthermore, based on the determined weight, real-time weight and first lateral displacement position of the counterweight module, the offset control of the center of gravity of the seedling delivery tray can be adaptively performed to ensure the balance of the center of gravity of the seedling throwing mechanism, thereby balancing the posture of the drone.

[0066] Specifically, controlling the lateral movement of the counterweight module based on the weight, the real-time weight and the first lateral movement position of the counterweight module includes:

[0067] A second lateral position of the counterweight module relative to the initial position is calculated based on the weight of the counterweight module, the real-time weight and the first lateral position, and the counterweight module is controlled to lateral move to the second lateral position.

[0068] Reference Fig. 9 , where (a) position indicates that the seedling delivery tray 311 is located at the initial position, at which point its actual weight is G1, and the weight of the counterweight module G0 remains unchanged. Then, when performing the seedling throwing operation, the seedling delivery tray 311 moves to the left, and its first lateral displacement position is L1, at which point the weight of the seedling delivery tray is G2. In order to offset the center of gravity offset of the seedling delivery tray, it is necessary to control the counterweight module to move horizontally to the second lateral displacement position L2. Among them, according to the force balance principle, it is necessary to ensure that L1*G2=L2*G0 at this time. Based on this, by calculating the second lateral displacement position L2 and controlling the counterweight module to move horizontally to the L2 position, the lateral displacement of the counterweight module can be used to offset the center of gravity offset caused by the lateral displacement of the seedling delivery tray, thereby offsetting the impact force of the seedling delivery tray on the drone during the lateral displacement process. In this way, when the drone is performing aerial seedling throwing, the tilt of the drone's fuselage can be avoided, the posture balance of the drone is ensured, and the safety and stability of the flight during aerial seedling throwing can be improved.

[0069] Further, when calculating the second lateral displacement position, the second lateral displacement position of the counterweight module relative to the initial position is calculated based on the weight of the counterweight module, the real-time weight and the first lateral displacement position, including:

[0070] Based on the product of the real-time weight and the first lateral position divided by the weight of the counterweight module, a second lateral position of the counterweight module relative to the initial position is obtained.

[0071] Based on the force balance principle, the second lateral position L2 = (L1*G2) / G0. Each time the second lateral position of the counterweight module relative to the initial position is calculated, the weight of the counterweight module, the real-time weight and the first lateral position can be accurately calculated based on the above calculation formula, and the counterweight module can be accurately controlled to move to the second lateral position to ensure the stability of the UAV flight.

[0072] Optionally, calculating the second lateral position of the counterweight module relative to the initial position based on the weight of the counterweight module, the real-time weight and the first lateral position comprises:

[0073] The position to be compensated of the counterweight module is obtained based on the product of the real-time weight and the first lateral displacement position divided by the weight of the counterweight module;

[0074] The position compensation information of the counterweight module is obtained, and the second lateral displacement position of the counterweight module relative to the initial position is determined based on the position to be compensated and the position compensation information. The compensated position information is used to characterize the position error caused by the delay.

[0075] It is understandable that, considering the time delay in adjusting the lateral position of the counterweight module after the seedling delivery tray moves laterally, that is, when the counterweight module moves laterally according to the second lateral position, the seedling delivery tray will also move laterally in real time, and at this time it is no longer in the first lateral position. At this time, the counterweight module is moved laterally to the second lateral position, because the continued lateral movement of the seedling delivery tray position will still cause an imbalance in the center of gravity of the seedling throwing mechanism. In order to further improve the accuracy of the lateral control of the counterweight module, the second lateral position of the counterweight module can also be determined based on the first lateral position of the seedling delivery tray combined with the compensation position information determined by the above time delay, and the counterweight module is controlled to move laterally according to the second lateral position after the position is compensated, so as to further eliminate the control error caused by the time delay and further improve the stability of the UAV flight. The compensation position information can be calculated based on the lateral speed of the seedling delivery tray combined with the time delay.

[0076] It should be noted that when the counterweight module is controlled to move laterally based on the weight, real-time weight and first transverse position of the counterweight module, the first transverse position and the corresponding real-time weight can be collected after the seedling delivery tray moves laterally to the first transverse position. Since the transverse position can be determined in advance in combination with the transverse distance and seedling throwing order of each transverse movement set by the seedling throwing mechanism. The real-time weight can also be determined in combination with the weight of the blanket seedlings, the empty weight and the progress of the seedling removal. Therefore, the above-mentioned first transverse position and the real-time weight of the seedling delivery tray at the first transverse position can be determined in advance. Similarly, when the first transverse position and the real-time weight are determined in advance, the second transverse position can also be determined in real time. Then, when the seedling delivery tray is controlled to move laterally to the first transverse position, the counterweight module can be synchronously controlled to move laterally to the second transverse position, without the need to obtain the seedling delivery tray moving to the first transverse position and then control the counterweight module to move laterally.

[0077] like Fig. 9 As shown, when the seedling delivery tray is controlled to move horizontally from the initial position L1 to the first horizontal position, the counterweight module is synchronously controlled to move horizontally L2 to the second horizontal position. The seedling delivery tray reaches the first horizontal position and the configuration module reaches the second horizontal position at the same time.

[0078] According to actual needs, before each seedling throwing operation begins, the second lateral shift position of the counterweight module at each time point in the seedling throwing process can be determined in advance, and then the control configuration module can be directly used to move horizontally during the seedling throwing operation according to the predetermined information. This can reduce the calculation pressure of the drone during the seedling throwing operation and improve the control efficiency of the balance control of the seedling throwing mechanism.

[0079] Specifically, controlling the counterweight module to move laterally to the second lateral movement position includes:

[0080] Acquire a first transverse movement speed of the seedling delivery tray when it moves transversely to a first transverse movement position, and calculate a second transverse movement speed of the counterweight module according to the first transverse movement speed, the first transverse movement position, and the second transverse movement position;

[0081] The counterweight module is controlled to transversely move to a second transverse position at a second transverse speed.

[0082] Since the distances between the first lateral position and the second lateral position relative to the initial position are different, in order to make the time nodes when the seedling delivery tray reaches the first lateral position and the time when the configuration module reaches the second lateral position the same. It is necessary to calculate the second lateral speed V2 of the counterweight module based on the first lateral speed V1 of the seedling delivery tray. Among them, since the lateral duration t of the two during this period is the same, L1 / V1=L2 / V2. When the first lateral speed V1, the first lateral position and the second lateral position are known, the corresponding second lateral speed V2 can be calculated. Then, when the seedling delivery tray moves laterally at the first lateral speed, the counterweight module is controlled to move laterally at the second lateral speed. More precise lateral control is achieved to ensure that the center of gravity offset of the seedling delivery tray can be offset in real time, to achieve more refined lateral control, and to further improve the stability and reliability of the UAV flight.

[0083] Optionally, when controlling the lateral movement of the counterweight module, the start, stop, acceleration and deceleration of the lateral movement of the counterweight module can also be adapted according to the start, acceleration and deceleration of the lateral movement of the seedling delivery tray. That is, when the seedling delivery tray starts to move horizontally in one direction, the counterweight module starts synchronously to move horizontally in the opposite direction. When the seedling delivery tray stops moving horizontally, the counterweight module stops synchronously. When the seedling delivery tray moves horizontally at a first acceleration acceleration or deceleration, the counterweight module is controlled to decelerate or decelerate horizontally at a second acceleration through acceleration conversion. Referring to the above-mentioned conversion method of the first lateral movement speed and the second lateral movement speed, it is known that when the seedling delivery tray accelerates to the first lateral movement speed at the first acceleration, the counterweight module needs to move horizontally at the second lateral movement speed. Then, the second lateral movement speed can be determined first, and combined with the time length for the seedling delivery tray to accelerate to the first lateral movement speed at the first acceleration, the second acceleration of the counterweight module to accelerate to the second lateral movement speed within the time length at the current lateral movement speed. In this way, a high degree of synchronization can be achieved in the center of gravity offset during the lateral movement of the seedling delivery tray and the counterweight module, so that at any time point, the center of gravity offset of the seedling delivery tray is just offset by the center of gravity offset caused by the lateral movement of the counterweight module, thereby achieving more refined balance control.

[0084] In addition, optionally, when performing the offset control of the center of gravity offset of the seedling delivery tray, a lateral shift control model of a counterweight module can be pre-constructed, with the weight of the counterweight module, the real-time weight of the seedling delivery tray and the first lateral shift position as the model input, and the lateral shift control information of the counterweight module as the model output. A large number of model training samples are pre-constructed through the above model input and model output to train the lateral shift control model. Subsequently, by inputting the determined weight, real-time weight and first lateral shift position of the counterweight module, the corresponding lateral shift control information of the counterweight module can be output, and then the lateral shift motor of the counterweight module can be controlled based on the lateral shift control information to drive the counterweight module to move laterally. The embodiment of the present application does not impose fixed restrictions on the lateral shift control method of the counterweight module, which will not be elaborated here.

[0085] As mentioned above, when the UAV is performing the seedling throwing operation, the first lateral displacement position of the seedling delivery tray relative to the initial position is detected, and the real-time weight of the seedling delivery tray corresponding to the first lateral displacement position is determined; based on the weight of the counterweight module, the real-time weight and the first lateral displacement position, the lateral displacement of the counterweight module is controlled to balance the posture of the UAV. By adopting the above technical means, the center of gravity offset of the seedling delivery tray can be determined by the lateral displacement position and real-time weight of the seedling delivery tray, and then the counterweight module can be controlled to move laterally in the opposite direction according to the center of gravity offset to offset the center of gravity offset of the seedling delivery tray, thereby avoiding the situation where the UAV fuselage tilts due to the offset of the center of gravity of the seedling delivery tray, improving the flight stability of the UAV, and thus improving the effect of the UAV seedling throwing operation.

[0086] Based on the above embodiments, Fig.10 A schematic diagram of the structure of a flight control device based on a movable counterweight provided in an embodiment of the present application. Fig.10 The flight control device based on movable counterweight provided in this embodiment is applied to a UAV mounted with a seedling throwing mechanism, the seedling throwing mechanism includes a seedling sending module and a seedling taking module, the seedling sending module includes a seedling supporting plate and a seedling sending tray, the lower part of the seedling sending tray is located inside the seedling supporting plate, the seedling sending tray reciprocates relative to the seedling supporting plate to transport the blanket seedlings, and the seedling taking module is used to separate the blanket seedlings transported by the seedling sending module from the seedlings and then throw them out; the UAV also includes a counterweight module, which is arranged on the other side of the seedling sending tray and is used to move laterally in the opposite direction of the lateral movement direction of the seedling sending tray;

[0087] The device includes:

[0088] The detection module 51 is configured to detect a first lateral displacement position of the seedling delivery tray relative to an initial position and determine a real-time weight of the seedling delivery tray when the drone performs a seedling throwing operation;

[0089] The control module 52 is configured to control the lateral movement of the counterweight module based on the weight of the counterweight module, the real-time weight and the first lateral movement position, so as to balance the attitude of the drone.

[0090] Specifically, controlling the lateral movement of the counterweight module based on the weight, the real-time weight and the first lateral movement position of the counterweight module includes:

[0091] A second lateral position of the counterweight module relative to the initial position is calculated based on the weight of the counterweight module, the real-time weight and the first lateral position, and the counterweight module is controlled to lateral move to the second lateral position.

[0092] Calculating the second lateral position of the counterweight module relative to the initial position based on the weight, the real-time weight and the first lateral position of the counterweight module comprises:

[0093] Based on the product of the real-time weight and the first lateral position divided by the weight of the counterweight module, a second lateral position of the counterweight module relative to the initial position is obtained.

[0094] Calculating a second lateral position of the counterweight module relative to the initial position based on the weight of the counterweight module, the real-time weight, and the first lateral position, comprising:

[0095] The position to be compensated of the counterweight module is obtained based on the product of the real-time weight and the first lateral displacement position divided by the weight of the counterweight module;

[0096] The position compensation information of the counterweight module is obtained, and the second lateral displacement position of the counterweight module relative to the initial position is determined based on the position to be compensated and the position compensation information. The compensated position information is used to characterize the position error caused by the delay.

[0097] Specifically, controlling the counterweight module to move laterally to the second lateral movement position includes:

[0098] Acquire a first transverse movement speed of the seedling delivery tray when it moves transversely to a first transverse movement position, and calculate a second transverse movement speed of the counterweight module according to the first transverse movement speed, the first transverse movement position, and the second transverse movement position;

[0099] The counterweight module is controlled to transversely move to a second transverse position at a second transverse speed.

[0100] Specifically, detecting a first lateral displacement position of the seedling delivery tray relative to an initial position includes:

[0101] Determine a first lateral position of the seedling delivery tray relative to an initial position based on a rotor position sensor provided on a driving device of the seedling delivery tray; or,

[0102] The first lateral position of the seedling sending tray relative to the initial position is determined based on a distance sensor arranged in the lateral direction of the corresponding seedling sending tray.

[0103] Specifically, determining the real-time weight of the seedling delivery tray corresponding to the first transverse position includes:

[0104] Input the weight of the seedling blanket and the empty weight of the seedling delivery tray to determine the real-time seedling retrieval progress of the seedling retrieval module, and determine the real-time weight of the seedling delivery tray based on the weight of the seedling blanket, the empty weight and the seedling retrieval progress.

[0105] As mentioned above, when the UAV is performing the seedling throwing operation, the first lateral displacement position of the seedling delivery tray relative to the initial position is detected, and the real-time weight of the seedling delivery tray corresponding to the first lateral displacement position is determined; based on the weight of the counterweight module, the real-time weight and the first lateral displacement position, the lateral displacement of the counterweight module is controlled to balance the posture of the UAV. By adopting the above technical means, the center of gravity offset of the seedling delivery tray can be determined by the lateral displacement position and real-time weight of the seedling delivery tray, and then the counterweight module can be controlled to move laterally in the opposite direction according to the center of gravity offset to offset the center of gravity offset of the seedling delivery tray, thereby avoiding the situation where the UAV fuselage tilts due to the offset of the center of gravity of the seedling delivery tray, improving the flight stability of the UAV, and thus improving the effect of the UAV seedling throwing operation.

[0106] The flight control device based on movable counterweight provided in the embodiment of the present application can be used to execute the flight control method based on movable counterweight provided in the above embodiment, and has corresponding functions and beneficial effects.

[0107] The present application embodiment provides a drone, referring to Fig.11 The drone includes: a processor 61, a memory 62, a communication module 63, an input device 64, and an output device 65. The number of processors in the drone can be one or more, and the number of memories in the drone can be one or more. The processor, memory, communication module, input device, and output device of the drone can be connected via a bus or other means.

[0108] As a computer-readable storage medium, the memory can be used to store software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the flight control method based on the movable counterweight described in any embodiment of the present application (for example, the detection module and the control module in the flight control device based on the movable counterweight). The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0109] The communication module is used for data transmission.

[0110] The processor executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory, that is, realizes the above-mentioned flight control method based on movable counterweight.

[0111] The input device can be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device can include display devices such as display screens.

[0112] The drone provided above can be used to execute the flight control method based on movable counterweight provided in the above embodiment 1, and has corresponding functions and beneficial effects.

[0113] The embodiment of the present application also provides a storage medium containing computer executable instructions, which are used to execute a flight control method based on a movable counterweight when executed by a computer processor. The method is applied to a drone equipped with a seedling throwing mechanism, the seedling throwing mechanism includes a seedling sending module and a seedling taking module, the seedling sending module includes a seedling supporting plate and a seedling sending tray, the lower part of the seedling sending tray is located inside the seedling supporting plate, the seedling sending tray reciprocates relative to the seedling supporting plate to transport the blanket seedlings, and the seedling taking module is used to separate the seedlings from the blanket seedlings transported by the seedling sending module and then throw them out; the drone also includes a counterweight module, which is arranged on the other side of the seedling sending tray and is used to move laterally in the opposite direction of the lateral movement direction of the seedling sending tray; the method includes: when the drone performs a seedling throwing operation, detecting a first lateral movement position of the seedling sending tray relative to an initial position, and determining a real-time weight of the seedling sending tray corresponding to the first lateral movement position; controlling the lateral movement of the counterweight module based on the weight, real-time weight and first lateral movement position to balance the posture of the drone.

[0114] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0115] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present application, whose computer executable instructions are not limited to the flight control method based on movable counterweight as described above, can also execute related operations in the flight control method based on movable counterweight provided in any embodiment of the present application.

[0116] The flight control device based on movable counterweight, storage medium and drone provided in the above embodiments can execute the flight control method based on movable counterweight provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the flight control method based on movable counterweight provided in any embodiment of the present application.

[0117] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A flight control method based on movable counterweight, characterized in that: The method is applied to a drone equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism comprises a seedling sending module and a seedling taking module, the seedling sending module comprises a seedling supporting plate and a seedling sending tray, the lower part of the seedling sending tray is located inside the seedling supporting plate, the seedling sending tray reciprocates relative to the seedling supporting plate to transport the blanket seedlings, and the seedling taking module is used to separate the blanket seedlings transported by the seedling sending module from the seedlings and then throw them out; the drone also comprises a counterweight module, which is arranged on the other side relative to the seedling sending tray and is used to move laterally in a direction opposite to the lateral movement direction of the seedling sending tray; The method comprises: When the drone performs a seedling throwing operation, a first lateral displacement position of the seedling delivery tray relative to an initial position is detected, and a real-time weight of the seedling delivery tray corresponding to the first lateral displacement position is determined; The counterweight module is controlled to move laterally based on the weight of the counterweight module, the real-time weight and the first lateral movement position, so as to balance the attitude of the UAV.

2. The flight control method based on movable counterweight according to claim 1, characterized in that: The step of controlling the lateral movement of the counterweight module based on the weight of the counterweight module, the real-time weight and the first lateral movement position comprises: A second lateral position of the counterweight module relative to an initial position is calculated based on the weight of the counterweight module, the real-time weight and the first lateral position, and the counterweight module is controlled to lateral move to the second lateral position.

3. The flight control method based on movable counterweight according to claim 2, characterized in that: The calculating the second lateral position of the counterweight module relative to the initial position based on the weight of the counterweight module, the real-time weight and the first lateral position comprises: Based on the product of the real-time weight and the first lateral position divided by the weight of the counterweight module, a second lateral position of the counterweight module relative to an initial position is obtained.

4. The flight control method based on movable counterweight according to claim 2, characterized in that: The calculating the second lateral position of the counterweight module relative to the initial position based on the weight of the counterweight module, the real-time weight and the first lateral position comprises: Obtaining a position to be compensated of the counterweight module based on the product of the real-time weight and the first lateral displacement position divided by the weight of the counterweight module; The position compensation information of the counterweight module is obtained, and a second lateral displacement position of the counterweight module relative to an initial position is determined based on the position to be compensated and the position compensation information, wherein the compensated position information is used to characterize a position error caused by a delay.

5. The flight control method based on movable counterweight according to any one of claims 2 to 4, characterized in that: The step of controlling the counterweight module to move laterally to the second lateral movement position comprises: Acquire a first transverse movement speed of the seedling delivery tray when it moves transversely to the first transverse movement position, and calculate a second transverse movement speed of the counterweight module according to the first transverse movement speed, the first transverse movement position, and the second transverse movement position; The counterweight module is controlled to transversely move to the second transverse position at the second transverse speed.

6. The flight control method based on movable counterweight according to claim 1, characterized in that: The detecting of the first lateral displacement position of the seedling delivery tray relative to the initial position comprises: Determining a first lateral position of the seedling delivery tray relative to an initial position based on a rotor position sensor provided on a driving device of the seedling delivery tray; or, A first lateral position of the seedling sending tray relative to an initial position is determined based on a distance sensor arranged in a lateral direction corresponding to the seedling sending tray.

7. The flight control method based on movable counterweight according to claim 1, characterized in that: The determining of the real-time weight of the seedling delivery tray corresponding to the first transverse position includes: Input the weight of the seedling blanket and the empty weight of the seedling delivery tray to determine the real-time seedling retrieval progress of the seedling retrieval module, and determine the real-time weight of the seedling delivery tray based on the weight of the seedling blanket, the empty weight and the seedling retrieval progress.

8. A flight control device based on a movable counterweight, characterized in that: The device is applied to a drone mounted with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling sending module and a seedling taking module, the seedling sending module includes a seedling supporting plate and a seedling sending tray, the lower part of the seedling sending tray is located inside the seedling supporting plate, the seedling sending tray reciprocates relative to the seedling supporting plate to transport the blanket seedlings, and the seedling taking module is used to separate the blanket seedlings transported by the seedling sending module from the seedlings and then throw them out; the drone also includes a counterweight module, which is arranged on the other side relative to the seedling sending tray and is used to move laterally in the direction opposite to the lateral movement direction of the seedling sending tray; The device comprises: a detection module configured to detect a first lateral displacement position of the seedling delivery tray relative to an initial position and determine a real-time weight of the seedling delivery tray when the drone performs a seedling throwing operation; The control module is configured to control the lateral movement of the counterweight module based on the weight of the counterweight module, the real-time weight and the first lateral movement position so as to balance the attitude of the drone.

9. A drone, characterized in that: include: memory and one or more processors; The memory is used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the flight control method based on movable counterweight as described in any one of claims 1-7.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the flight control method based on movable counterweight as described in any one of claims 1-7 when executed by a computer processor.

11. A seedling throwing system, characterized in that: It includes a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling sending module and a seedling taking module, and the drone includes a counterweight module, wherein: The seedling delivery module comprises a seedling supporting plate and a seedling delivery tray, wherein the lower portion of the seedling delivery tray is located inside the seedling supporting plate, and the seedling delivery tray reciprocates and moves laterally relative to the seedling supporting plate to deliver the blanket seedlings; The seedling taking module is used to separate the seedlings from the blanket of seedlings transported by the seedling delivery module and then throw them out; The counterweight module is arranged on the other side of the seedling delivery tray, and is used for transverse movement in the opposite direction of the transverse movement direction of the seedling delivery tray; The drone is used for: When performing the seedling throwing operation, detecting a first lateral displacement position of the seedling sending tray relative to an initial position, and determining a real-time weight of the seedling sending tray corresponding to the first lateral displacement position; The counterweight module is controlled to move laterally based on the weight of the counterweight module, the real-time weight and the first lateral movement position, so as to balance the attitude of the UAV.

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