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

Abstract

This application discloses a flight control method, device, drone, and medium based on a movable counterweight. The technical solution provided in this application detects the first lateral displacement of the seed delivery tray relative to its initial position during seedling throwing operations, and determines the real-time weight of the seed delivery tray at the corresponding first lateral displacement position. Based on the weight of the counterweight module, the real-time weight, and the first lateral displacement position, the counterweight module is controlled to move laterally to maintain the drone's attitude balance. Using this technique, the center of gravity shift of the seed delivery tray can be determined by the lateral displacement position and real-time weight. Then, based on this center of gravity shift, the counterweight module is controlled to move laterally in the opposite direction to counteract the center of gravity shift of the seed delivery tray, preventing the drone from tilting due to the shift in the center of gravity of the seed delivery tray, improving the drone's flight stability, and thus improving the seedling throwing operation effect.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a flight control method, device, UAV, and medium based on movable counterweight. Background Technology

[0002] Currently, with the rapid development of drone technology, it is widely used for aerial operations in various scenarios. Especially in agriculture, some fields are not convenient to operate on the ground, such as terraced fields or other rugged terrain. Drones can be used for aerial plant protection of crops in these fields. Drones can even be equipped with seedling-throwing mechanisms to deliver seedlings into the fields from the air.

[0003] In related technologies, drones can be equipped with single-sided rice transplanters to transplant seedlings into the field. However, when drones use single-sided rice transplanters, the transplanting operation causes the drone's fuselage to tilt, affecting its flight stability. Summary of the Invention

[0004] This application provides a flight control method, device, drone, and medium based on movable counterweight, which can improve the flight stability of the drone when performing unilateral rice transplanting operations and solve the problem of fuselage tilting when performing unilateral rice transplanting operations.

[0005] In a first aspect, embodiments of this application provide a flight control method based on a movable counterweight. This method is applied to a drone equipped with a seedling throwing mechanism. The seedling throwing mechanism includes a seedling delivery module and a seedling collection module. 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 reciprocates laterally relative to the seedling support plate to deliver seedlings. The seedling collection module is used to separate the seedlings delivered by the seedling delivery module and then throw them out. The drone also includes a counterweight module, which is disposed on the other side relative to the seedling delivery tray and is used to move laterally in the opposite direction to the lateral movement direction of the seedling delivery tray.

[0006] The method includes:

[0007] When the drone is performing rice seedling throwing, the first lateral movement 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 movement position is determined.

[0008] The counterweight module is lateralized based on its weight, real-time weight, and first lateral position to maintain the drone's attitude balance.

[0009] In a second aspect, embodiments of this application provide a flight control device based on a movable counterweight. This device is applied to a drone equipped with a seedling throwing mechanism. The seedling throwing mechanism includes a seedling delivery module and a seedling collection module. 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 reciprocates laterally relative to the seedling support plate to deliver the seedlings. The seedling collection module is used to separate the seedlings delivered by the seedling delivery module and then throw them out. The drone also includes a counterweight module, which is disposed on the other side relative to the seedling delivery tray and is used to move laterally in the opposite direction to the lateral movement direction of the seedling delivery tray.

[0010] The device includes:

[0011] The detection module is configured to detect the first lateral displacement of the seed delivery tray relative to its initial position and determine the real-time weight of the seed delivery tray when the drone is performing seedling throwing operations.

[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 position, so as to balance the attitude of the UAV.

[0013] In a third aspect, embodiments of this application provide a drone, including:

[0014] Memory and one or more processors;

[0015] Memory, used to store 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, embodiments of this application provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a flight control method based on movable counterweight as described in the first aspect.

[0018] In a fifth aspect, embodiments of this application provide a rice seedling throwing system, including a drone and a seedling throwing mechanism. The seedling throwing mechanism includes a seedling delivery module and a seedling collection 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 horizontally relative to the seedling support plate to deliver the seedlings.

[0020] The seedling picking module is used to separate the seedlings from the seedlings conveyed by the seedling delivery module and then throw them out.

[0021] The counterweight module is located on the opposite side of the seedling feeding tray and is used to move laterally in the opposite direction to the lateral movement direction of the seedling feeding tray.

[0022] Drones are used for:

[0023] During the rice 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.

[0024] The counterweight module is lateralized based on its weight, real-time weight, and first lateral position to maintain the drone's attitude balance.

[0025] This embodiment of the application detects the first lateral displacement of the seed delivery tray relative to its initial position during the seedling throwing operation of the UAV, and determines the real-time weight of the seed delivery tray at the corresponding first lateral displacement position. Based on the weight of the counterweight module, the real-time weight, and the first lateral displacement position, the counterweight module is controlled to move laterally to maintain the attitude balance of the UAV. Using the above technical means, the center of gravity shift of the seed delivery tray can be determined by the lateral displacement position and real-time weight. Then, based on this center of gravity shift, the counterweight module is controlled to move laterally in the opposite direction to counteract the center of gravity shift of the seed delivery tray, preventing the UAV from tilting due to the shift in the center of gravity of the seed delivery tray, improving the stability of the UAV flight, and thus improving the seedling throwing operation effect. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the rice transplanting system provided in the embodiments of this application;

[0027] Figure 2 This is one of the structural schematic diagrams of the rice-throwing mechanism provided in the embodiments of this application;

[0028] Figure 3 This is the second structural schematic diagram of the rice-throwing mechanism provided in the embodiments of this application;

[0029] Figure 4 This is a top view of the balancing mechanism and the rice-throwing mechanism provided in the embodiments of this application;

[0030] Figure 5 This is a side view of the balancing mechanism and the rice-throwing mechanism provided in the embodiments of this application;

[0031] Figure 6 This is one of the schematic diagrams showing the lateral movement of the seedling delivery tray and the counterweight module provided in the embodiments of this application;

[0032] Figure 7 This is the second schematic diagram of the lateral movement of the seedling delivery tray and the counterweight module provided in the embodiments of this application;

[0033] Figure 8 This is a flowchart of a flight control method based on movable counterweight provided in an embodiment of this application;

[0034] Figure 9 This is a schematic diagram of the lateral movement distance between the seedling delivery tray and the counterweight module provided in the embodiments of this application;

[0035] Figure 10 This is a schematic diagram of a flight control device based on a movable counterweight provided in an embodiment of this application;

[0036] Figure 11 This is a schematic diagram of the structure of a drone provided in an embodiment of this application.

[0037] In the diagram, 10 is a seedbed; 11 is a seedling; 20 is a drone; 30 is a seedling throwing mechanism; 31 is a seedling delivery module; 311 is a seedling delivery tray; 312 is a seedling support plate; 313 is an opening; 314 is a conveying device; 315 is a drive device; 32 is a seedling picking module; 321 is a drive source; 322 is a cutter head; 40 is a balancing mechanism; 41 is a transverse motor; 42 is a lead screw; and 43 is a counterweight module. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0039] This application's embodiment is based on a flight control method using movable counterweights. The method aims to determine the center of gravity offset of the seedling delivery tray by its lateral position and real-time weight, and then control the counterweight module to move laterally in the opposite direction based on this offset, thus ensuring the flight stability of the UAV. Figure 1 This is a schematic diagram of the structure of a rice seedling throwing system provided in an embodiment of this application. Figure 1 As shown, the rice-throwing system includes a rice-throwing mechanism 30 and a drone 20. The rice-throwing mechanism 30 is mounted on the drone 20. A balancing mechanism 40 is also provided on the rice-throwing mechanism 30 to control the balance of the center of gravity of the rice-throwing mechanism and avoid the drone body from shifting due to the shift of the center of gravity of the rice-throwing mechanism. Figure 2 and Figure 3This is a schematic diagram of the seedling throwing mechanism provided in this application embodiment. The seedling delivery module 31 delivers the seedling mat 10, and the seedling collection module 32 separates the seedlings 10 delivered by the delivery module 31 and throws them out as seedlings 11. When the drone 20 carries the seedling throwing mechanism 30 for aerial seedling throwing operations, the seedling delivery module 31 delivers the seedling mat 10, and the seedling collection module 32 separates the seedlings 10 and throws them out as seedlings 11. The seedling collection module 32 includes a drive source 321 and a cutter head 322. The drive source 321 drives the cutter head 322 to rotate so as to separate the seedlings 11 from the seedling mat 10 on the delivery tray 311 through the opening 313, and throw the separated seedlings 11 out. There are many ways to separate the seedlings, such as cutting, grabbing, pushing, and pressing. This application does not limit the specific separation and seedling collection methods.

[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 through software and / or hardware, and can consist of two or more physical entities, or a single physical entity. The drone 20 refers to a flight device that operates according to remote control commands or preset commands. For example, the drone 20 is a rotary-wing drone, specifically a quadcopter drone. Depending on the actual configuration, it can also be a single-rotor drone, a dual-rotor drone, a hexacopter drone, an octacopter drone, etc. The drone 20 can operate automatically according to preset paths, flight speeds, attitudes, etc., or be manually controlled by an operator.

[0041] The drone 20 is equipped with at least one type of operating system. The drone 20 can install at least one application based on this operating system. The application can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the drone 20 has at least one application capable of performing flight control based on a movable counterweight.

[0042] Specifically, refer to Figures 1-3 The seedling feeding module 31 includes a seedling support plate 312, a seedling feeding tray 311, and a drive device 315. The seedling support plate 312 has an opening 313. The lower part of the seedling feeding tray 311 is located inside the seedling support plate 312. The seedling feeding tray 311 is used to hold the seedlings 10. The drive device 315 is used to drive the seedling feeding tray 311 to move laterally relative to the seedling support plate 312. The seedling picking module 32 includes a drive source 321 and a cutter head 322. The drive source 321 is used to drive the cutter head 322 to rotate so as to separate the seedlings 11 of the seedlings 10 on the seedling feeding tray 311 through the opening 313 and throw out the separated seedlings 11. Figure 3It can be seen that the seedling delivery module 31 includes multiple seedling delivery trays 311, which are arranged side by side on the seedling support plate 312 and move synchronously. Correspondingly, the seedling throwing mechanism 30 includes multiple seedling picking modules 32, which correspond one-to-one with the seedling delivery trays 311. The opening 313 of the seedling support plate 312 is the seedling picking point of the seedling picking module 32. The seedling picking module 32 and the seedling support plate 312 remain stationary, while the seedling delivery trays 311 can move back and forth in the left and right directions. During the lateral movement of the seedling delivery trays 311, the seedling picking modules 32 separate the seedlings 11 exposed in the opening 313 from the adjacent seedlings 11, thereby realizing the separation and throwing of the seedlings 10 row by row and plant by plant. The drive source 321 can drive the cutter head 322 along the direction of the seedling delivery tray 311. Figure 1 The blade 322 rotates in the direction indicated by arrow A, thereby separating the seedlings 10 during contact. The separated seedlings 11 follow the rotation of the blade 322 in the direction of arrow A. When the blade reaches a specific position, the seedlings 11 are ejected under the action of centrifugal force and / or ejection force. Furthermore, the seedling-harvesting module 32 can evenly arrange multiple blades 322. For example, when one seedling-harvesting module 32 has two blades 322, the angle between the two blades 322 and the center of the drive source 321 is 180 degrees; three blades 322 can be spaced 120 degrees apart; and four blades 322 can be spaced 90 degrees apart. (Reference) Figure 2 The seedling delivery module 31 also includes a conveying device 314, which drives the seedlings 10 on the seedling delivery tray 311 to move toward the seedling support plate 312. The conveying device 314 can be a conveyor belt or a conveyor roller (e.g., a toothed roller).

[0043] During the seedling transplanting operation, the seedling delivery tray 311 initially holds eight rows and five columns of seedlings 10. The initial position of the seedling delivery tray 311 is the right side of the seedling support plate 312. When the drone 20 begins to perform the aerial seedling transplanting operation, the seedling delivery tray 311 is controlled to move laterally and the seedling picking module 32 is controlled to rotate. The blade 322 of the seedling picking module 32 rotates to the opening 313 to cut the connection between the seedlings 11 in the first row and first column of the seedlings 11 and the seedlings 11 in the first row and second column of the seedlings 10, and throws the seedlings 11 in the first row and first column into the field for planting. The seedling delivery tray 311 moves laterally to the left. When the seedlings 11 in the first row and second column move to the opening 313, the blade 322 of the seedling picking module 32 rotates to the opening 313 to cut the connection between the seedlings 11 in the first row and third column of the seedlings 11, and throws the seedlings 11 in the first row and second column into the field for planting. Repeating this process, when the seedling delivery tray 311 moves laterally to the left side of the seedling support plate 312, the seedlings 11 in the first row and fifth column move to the opening 313. The blade 322 of the seedling taking module 32 rotates to the opening 313 and throws the seedlings 11 in the first row and fifth column into the field for planting. At this time, the first row of seedlings 11 of the blanket seedlings 10 has been thrown out. The seedling delivery tray 311 can be stopped from moving laterally and the conveying device 314 can be started to move the blanket seedlings 10 on the seedling delivery tray 311 toward the seedling support plate 312. The conveying device 314 is stopped when the second row of seedlings 11 of the blanket seedlings 10 moves to the seedling support plate 312. At the same time as the conveying device 314 stops, the blade 322 of the seedling taking module 32 rotates to the opening 313 and cuts off the connection between the seedlings 11 in the second row and fifth column and the seedlings 11 in the second row and fourth column at the opening 313, and throws out the seedlings 11 in the second row and fifth column. Simultaneously, the seedling delivery tray 311 is moved laterally to the right to move the seedlings 11 in the fourth column of the second row to the opening 313. This process is repeated until all the seedlings 11 on the seedling delivery tray 311 are delivered. 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 it moves laterally to the right after starting. This embodiment does not limit the initial position of the seedling delivery tray 311.

[0044] Understandably, during the seedling throwing operation, the seedling delivery tray 311 shifts laterally, causing a change in its center of gravity. This change in center of gravity can lead to the drone tilting. Therefore, a balancing mechanism 40 is used on the seedling throwing mechanism 30 to control the balance of the seedling delivery tray's center of gravity, thus ensuring the overall balance of the seedling throwing mechanism.

[0045] Among them, reference Figure 4A top view of the balancing mechanism 40 and the seedling throwing mechanism 30 is provided. The balancing mechanism includes a lateral movement motor 41, a lead screw 42, and a counterweight module 43. The lateral movement motor 41 drives the lead screw 42 to rotate. The counterweight module 43 is slidably connected to the lead screw 42. By rotating the lead screw 42 in either the forward or reverse direction, the counterweight module 43 can reciprocate on the lead screw. The center of gravity shift of the counterweight module 43 in the initial position precisely offsets the center of gravity shift of the seedling feeding tray 311 in the initial position. Furthermore, by detecting the lateral movement of the seedling feeding tray 311, the counterweight module 43 can be adaptively adjusted to move laterally to offset the center of gravity shift.

[0046] Based on the aforementioned balancing mechanism 40, during the seedling throwing operation, the seedling delivery tray 311 reciprocates along the seedling support plate 312 so that the seedling picking module 32 picks up seedlings sequentially for the throwing operation. In this process, it is only necessary to control the counterweight module 43 to move laterally in the opposite direction to the lateral movement of the seedling delivery tray 311 to counteract the shift of the center of gravity of the seedling delivery tray 311, thereby balancing the center of gravity of the seedling throwing mechanism 30.

[0047] like Figure 5 As shown, during the process of the seedling delivery tray 311 moving laterally to the left to deliver seedlings, the lead screw 42 rotates, causing the counterweight module 43 to move laterally to the right by a corresponding distance. This can offset the shift in the center of gravity of the seedling delivery tray 311 in real time.

[0048] Specifically, refer to Figures 6-7 At the initial moment of the seedling throwing operation, the center of gravity shift of the counterweight module 43 exactly offsets the center of gravity shift of the seedling delivery tray 311. The seedlings at the lower left of the seedling delivery tray 311 are located on the opening of the seedling support plate. At this time, the seedling picking module 32 completes a seedling picking operation, and then controls the seedling delivery tray 311 to move laterally to the left to transport the next row of seedlings to the opening for the seedling picking module to separate and throw. During this process, the counterweight module 43 is controlled to move laterally to the right to offset the center of gravity shift caused by the lateral movement of the seedling delivery tray. As the seedling delivery tray 311 gradually moves laterally to the left, the counterweight module 43 moves laterally to the left accordingly. When the rightmost row of seedlings on the seedling delivery tray 311 is aligned with the opening for seedling picking, the seedling delivery tray 311 stops moving laterally, and the seedling picking module 32 continues to pick the rightmost row of seedlings transported by the seedling delivery tray. After completing the seedling picking operation, refer to Figure 7 The seedling delivery tray 311 begins to move to the right to deliver the next row of seedlings to the seedling collection module 32 for seedling collection. At this time, the counterweight module 43 needs to move to the left to counteract the shift in the center of gravity of the seedling delivery tray 311. Similarly, by controlling the counterweight module 43 to move in the opposite direction according to the reciprocating lateral movement of the seedling delivery tray 311, real-time balance control can be achieved, improving the flight stability of the UAV.

[0049] It should be noted that the above-described balancing mechanism 40 is merely a structural example of a rice-throwing mechanism for balancing the center of gravity, as shown in this embodiment. In practical applications, the balancing mechanism 40 can be adapted to the lateral movement of the counterweight module 43. This embodiment does not impose fixed limitations on the specific structure of the balancing mechanism 40, as long as it ensures that the counterweight module 43 can reciprocate in the opposite direction to the reciprocating lateral movement of the rice-feeding tray 311. To achieve precise balance control, the counterweight module 43 needs to be precisely controlled to move laterally to the corresponding position based on the real-time center of gravity shift of the rice-feeding tray 311, so as to ensure that the center of gravity of the rice-throwing mechanism does not shift during the rice-throwing operation.

[0050] For ease of understanding, this embodiment will be described below using the UAV 20 as the main body for executing the flight control method based on movable counterweight. Figure 8 A flowchart of a flight control method based on movable counterweights provided in an embodiment of this application is given. The flight control method based on movable counterweights specifically includes:

[0051] S110. When the drone is performing rice seedling throwing operation, detect the first lateral displacement position of the seedling delivery tray relative to the initial position, and determine the real-time weight of the seedling delivery tray corresponding to the first lateral displacement position.

[0052] Since the counterweight module needs to laterally shift to offset the center of gravity shift caused by the lateral movement of the seedling delivery tray, it is necessary to determine the center of gravity shift that occurs during the lateral movement of the seedling delivery tray in order to control the lateral movement of the counterweight module accordingly. Based on this, this application determines the lateral position of the seedling delivery tray relative to its initial position, defining it as the first lateral position, and combines this with the weight of the seedling delivery tray and the weight of the counterweight module to perform balance control of the seedling throwing mechanism, thereby maintaining the attitude balance of the UAV. It should be noted that since the number of seedlings carried by the seedling delivery tray gradually decreases 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] The detection of the first lateral displacement of the seedling delivery tray relative to its initial position includes:

[0054] The first lateral displacement position of the seedling feeding tray relative to its initial position is determined by a rotor position sensor mounted on the drive unit of the seedling feeding tray; or,

[0055] The first lateral movement position of the seedling delivery tray relative to its initial position is determined by a distance sensor positioned along the lateral movement direction of the corresponding seedling delivery tray.

[0056] In this embodiment, when detecting the first lateral movement position of the seedling delivery tray, the lateral movement position of the seedling delivery tray relative to its initial position is determined by a rotor position sensor installed on the drive device of the seedling delivery tray. It is understood that each time the drive device drives the seedling delivery tray to move laterally, its rotor position changes accordingly. Therefore, it is only necessary to pre-record the lateral movement positions corresponding to different rotor positions to determine the first lateral movement position. For example, with... Figure 3 Taking the seedling-throwing mechanism shown as an example, assume that for every revolution of the rotor, the seedling-feeding tray moves laterally by the distance of one row of seedlings. Based on the rotor position determined by the rotor position sensor, when the rotor rotates for the first time, the seedling-feeding tray moves to the left by one row of seedlings; on the second revolution, it moves to the left to the position of the next row of seedlings. On the fourth revolution, the seedling-feeding tray has moved four rows of seedlings to the left relative to its initial position. Then, the rotor reverses direction, driving the seedling-feeding tray to the right to perform the second row of seedling picking operation. This process continues. By determining the number of revolutions of the rotor and the corresponding lateral movement distance of the seedling-feeding tray for each revolution, the first lateral movement position of the seedling-feeding tray relative to its initial position can be determined.

[0057] Alternatively, a distance sensor can be directly installed in the lateral direction of the seedling delivery tray. Based on the relative position of the distance sensor and the seedling delivery tray, the initial position and the first lateral movement position of the seedling delivery tray can be determined. The distance sensor can be directly set at the initial position, so the distance information read by the distance sensor can be directly used as the first lateral movement position.

[0058] Optionally, the first lateral movement position can be determined by combining the lateral movement distance set for each lateral movement of the seedling throwing mechanism with the seedling throwing sequence. Among these, using... Figure 3 Taking the seedling throwing mechanism as an example, the first lateral movement position of the first seedling throwing is the initial position. The first lateral movement position of the second seedling throwing is one unit lateral movement distance from the initial position. The first lateral movement positions of the fifth and sixth seedling throwing are four units lateral movement distance from the initial position. Due to the reciprocating movement, the first lateral movement position of the seventh seedling throwing is three units lateral movement distance from the initial position. And so on, the first lateral movement position of the seedling delivery tray relative to the initial position can be determined for each seedling throwing operation.

[0059] On the other hand, determining the real-time weight of the seedling tray corresponding to the first lateral movement 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 removal progress of the seedling removal module. Based on the weight of the seedling blanket, the empty weight, and the seedling removal progress, determine the real-time weight of the seedling delivery tray.

[0061] When determining the real-time weight of the seedling delivery tray, the total weight of the tray at the start of the seedling throwing operation can be determined based on the weight of the seedlings and the empty weight of the tray. Then, by combining this with the real-time seedling throwing progress of the seedling-collecting module, the real-time weight of the seedling delivery tray can be determined. Figure 3Taking the example of 5 columns and 8 rows of seedlings, after taking 5 seedlings from each row according to the seedling throwing progress, the weight of the seedbed becomes 7 / 8 of the original weight. Knowing the initial weight of the seedbed, the remaining weight of the seedbed can be determined based on the seedling throwing progress. Adding this to the unloaded weight of the seedling delivery tray gives the real-time weight of the seedling delivery tray.

[0062] Optionally, in practical applications, a weighing sensor can be installed on the seedling delivery tray. Based on the weight of the remaining seedlings detected by the weighing sensor, plus the empty weight of the seedling delivery tray, the real-time weight of the seedling delivery tray can be obtained.

[0063] There are many ways to determine the first lateral movement position and real-time weight of the seedling tray. Depending on the actual settings, the corresponding method can be selected to collect the above information. This application does not impose a fixed limitation on the specific method for determining the first lateral movement position and real-time weight of the seedling tray, and will not elaborate on them here.

[0064] S120: Based on the weight of the counterweight module, the real-time weight, and the first lateral position, control the lateral movement of the counterweight module to balance the attitude of the UAV.

[0065] Furthermore, based on the determined weight of the counterweight module, the real-time weight, and the first lateral movement position, adaptive control can be implemented to offset the shift in the center of gravity of the seedling delivery tray, ensuring the balance of the seedling throwing mechanism's center of gravity, and thus balancing the attitude of the drone.

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

[0067] The second lateral movement 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 movement position, and the counterweight module is controlled to move laterally to the second lateral movement position.

[0068] Reference Figure 9 In diagram (a), the seedling delivery tray 311 is in its initial position, with a real-time weight of G1 and a fixed weight of the counterweight module G0. During the seedling throwing operation, the seedling delivery tray 311 moves to the left, its first lateral movement position being L1, at which point its weight is G2. To counteract the shift in the center of gravity of the seedling delivery tray, the counterweight module needs to be moved laterally to the second lateral movement position L2. According to the principle of force balance, L1*G2 = L2*G0 must be maintained at this point. Based on this, by calculating the second lateral movement position L2 and controlling the counterweight module to move laterally to position L2, the lateral movement of the counterweight module can counteract the shift in the center of gravity caused by the lateral movement of the seedling delivery tray, thereby offsetting the impact force of the seedling delivery tray on the drone during the lateral movement. Thus, when the drone throws seedlings in the air, the drone's fuselage can be prevented from tilting, ensuring the drone's attitude balance and improving the safety and stability of flight during aerial seedling throwing.

[0069] Furthermore, 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] The second lateral displacement position of the counterweight module relative to its initial position is obtained by dividing the product of the real-time weight and the first lateral displacement position by the weight of the counterweight module.

[0071] Based on the principle of force balance, the second lateral movement position L2 = (L1*G2) / G0. Each time the second lateral movement position of the counterweight module relative to its initial position is calculated, only the weight of the counterweight module, its real-time weight, and the first lateral movement position need to be input based on the above calculation formula to accurately calculate the second lateral movement position. This allows for precise control of the counterweight module to move laterally to this second lateral movement position, ensuring the stability of the UAV's flight.

[0072] Optionally, 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:

[0073] The position to be compensated for by the counterweight module is obtained by dividing the product of the real-time weight and the first lateral displacement position by the weight of the counterweight module.

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

[0075] It is understandable that there is a time delay in adjusting the lateral movement position of the counterweight module after the seedling delivery tray has moved laterally. That is, when the counterweight module moves laterally according to the second lateral movement position, the seedling delivery tray will also move laterally in real time, no longer at the first lateral movement position. Moving the counterweight module to the second lateral movement position at this point would still result in an imbalance of the seedling throwing mechanism's center of gravity if the seedling delivery tray continues to move laterally. Therefore, to further improve the accuracy of the counterweight module's lateral movement control, the second lateral movement position of the counterweight module can be determined based on the first lateral movement position of the seedling delivery tray combined with the compensated position information determined by the aforementioned time delay. The counterweight module can then be controlled to move laterally according to this compensated second lateral movement position, further eliminating control errors caused by the time delay and further improving the stability of the UAV flight. The compensated position information can be calculated based on the lateral movement speed of the seedling delivery tray combined with this time delay.

[0076] It should be noted that when controlling the lateral movement of the counterweight module based on its weight, real-time weight, and first lateral movement position, the first lateral movement position and the corresponding real-time weight can be acquired after the seedling delivery tray has moved to that position. Since the lateral movement position can be determined in advance by combining the lateral movement distance and seedling delivery sequence set by the seedling throwing mechanism for each lateral movement, and the real-time weight can also be determined by combining the weight of the seedling mat, the empty weight, and the seedling picking progress, the first lateral movement position and the real-time weight of the seedling delivery tray at that position can both be determined in advance. Similarly, with the first lateral movement position and real-time weight predetermined, the second lateral movement position can also be determined in real-time. Therefore, when controlling the seedling delivery tray to move to the first lateral movement position, the counterweight module can be simultaneously controlled to move to the second lateral movement position, without needing to wait until the seedling delivery tray has moved to the first lateral movement position before controlling the counterweight module to move.

[0077] like Figure 9 As shown, when the seedling delivery tray moves laterally from its initial position L1 to the first laterally moved position, the counterweight module is simultaneously moved laterally by L2 to the second laterally moved position. The seedling delivery tray reaches the first laterally moved position and the configuration module reaches the second laterally moved position at the same time.

[0078] Depending on actual needs, the second lateral movement position of the counterweight module can be determined in advance at each time point during the rice-throwing operation before the start of each operation. Then, based on the pre-determined information, the lateral movement is directly controlled by the control configuration module during the rice-throwing operation. This reduces the computational burden on the drone during rice-throwing operations and improves the control efficiency of the balance control of the rice-throwing mechanism.

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

[0080] Obtain the first transverse speed of the seedling delivery tray when it moves to the first transverse position, and calculate the second transverse speed of the counterweight module based on the first transverse speed, the first transverse position, and the second transverse position;

[0081] The control counterweight module moves laterally to the second lateral position at the second lateral speed.

[0082] Since the distances of the first and second lateral movement positions relative to the initial position are different, to ensure that the time points when the seedling delivery tray reaches the first lateral movement position and the configuration module reaches the second lateral movement position are the same, it is necessary to calculate the second lateral movement speed V2 of the counterweight module based on the first lateral movement speed V1 of the seedling delivery tray. Since the lateral movement time t of both is the same during this period, L1 / V1 = L2 / V2. Given the first lateral movement speed V1, the first lateral movement position, and the second lateral movement position, the corresponding second lateral movement speed V2 can be calculated. Therefore, when the seedling delivery tray moves laterally at the first lateral movement speed, the counterweight module is controlled to move laterally at the second lateral movement speed. This achieves more precise lateral movement control, ensuring that the center of gravity shift of the seedling delivery tray can be offset in real time, achieving more refined lateral movement control, and further improving 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 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 laterally in one direction, the counterweight module simultaneously starts to move laterally in the opposite direction. When the seedling delivery tray stops moving laterally, the counterweight module stops simultaneously. When the seedling delivery tray accelerates or decelerates laterally with a first acceleration, the counterweight module is controlled to decelerate or decelerate laterally with a second acceleration through acceleration conversion. Referring to the above conversion method of the first and second lateral movement speeds, it is known that when the seedling delivery tray accelerates to the first lateral movement speed with the first acceleration, the counterweight module needs to move laterally with the second lateral movement speed. Therefore, the second lateral movement speed can be determined first, and combined with the time it takes for the seedling delivery tray to accelerate to the first lateral movement speed with the first acceleration, the second acceleration of the counterweight module to accelerate to the second lateral movement speed within that time can be determined. This allows for high synchronization of the center of gravity shift during the lateral movement of the seedling tray and the counterweight module, ensuring that at any given time, the center of gravity shift of the seedling tray is exactly offset by the center of gravity shift caused by the lateral movement of the counterweight module, thus achieving more refined balance control.

[0084] Optionally, when performing counterbalancing control of the seedling tray's center of gravity shift, a lateral movement control model for the counterweight module can be pre-constructed. The weight of the counterweight module, the real-time weight of the seedling tray, and the first lateral movement position are used as model inputs, and the lateral movement control information of the counterweight module is used as model outputs. A large number of model training samples are pre-constructed using the aforementioned model inputs and outputs to train the lateral movement control model. Subsequently, by inputting the determined weight, real-time weight, and first lateral movement position of the counterweight module, the corresponding lateral movement control information of the counterweight module can be output. Based on this lateral movement control information, the lateral movement motor of the counterweight module is controlled to drive the counterweight module to move laterally. This application does not impose fixed limitations on the lateral movement control method of the counterweight module, and will not elaborate on them here.

[0085] The above-mentioned method involves detecting the first lateral displacement of the seed delivery tray relative to its initial position during the drone's seed-throwing operation and determining the real-time weight of the seed delivery tray at that first lateral displacement position. Based on the weight of the counterweight module, the real-time weight, and the first lateral displacement position, the counterweight module is controlled to move laterally to maintain the drone's attitude balance. Using this technique, the center of gravity shift of the seed delivery tray can be determined by its lateral displacement position and real-time weight. This center of gravity shift allows the counterweight module to be controlled to move laterally in the opposite direction to counteract the shift, preventing the drone from tilting due to the shift in the seed delivery tray's center of gravity. This improves the drone's flight stability and ultimately enhances the seed-throwing operation effect.

[0086] Based on the above embodiments, Figure 10 This is a schematic diagram of a flight control device based on a movable counterweight, provided as an embodiment of this application. (Reference) Figure 10 The flight control device based on movable counterweight provided in this embodiment is applied to a drone equipped with a seedling throwing mechanism. The seedling throwing mechanism includes a seedling delivery module and a seedling picking module. 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 horizontally relative to the seedling support plate to deliver the seedlings. The seedling picking module is used to separate the seedlings delivered by the seedling delivery module and throw them out. The drone also includes a counterweight module, which is set on the other side relative to the seedling delivery tray and is used to move horizontally in the opposite direction to the horizontal movement direction of the seedling delivery tray.

[0087] The device includes:

[0088] The detection module 51 is configured to detect the first lateral displacement of the seed delivery tray relative to the initial position and determine the real-time weight of the seed delivery tray when the drone is performing 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 position, so as to balance the attitude of the UAV.

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

[0091] The second lateral movement 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 movement position, and the counterweight module is controlled to move laterally to the second lateral movement position.

[0092] The calculation of the second lateral displacement position of the counterweight module relative to its initial position, based on the weight of the counterweight module, its real-time weight, and its first lateral displacement position, includes:

[0093] The second lateral displacement position of the counterweight module relative to its initial position is obtained by dividing the product of the real-time weight and the first lateral displacement position by the weight of the counterweight module.

[0094] The second lateral displacement position of the counterweight module relative to its initial position is calculated based on the weight of the counterweight module, the real-time weight, and the first lateral displacement position, including:

[0095] The position to be compensated for by the counterweight module is obtained by dividing the product of the real-time weight and the first lateral displacement position by the weight of the counterweight module.

[0096] The position compensation information of the counterweight module is obtained. Based on the position to be compensated and the position compensation information, the second lateral displacement position of the counterweight module relative to the initial position is determined. The compensation 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 laterally moved position includes:

[0098] Obtain the first transverse speed of the seedling delivery tray when it moves to the first transverse position, and calculate the second transverse speed of the counterweight module based on the first transverse speed, the first transverse position, and the second transverse position;

[0099] The control counterweight module moves laterally to the second lateral position at the second lateral speed.

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

[0101] The first lateral displacement position of the seedling feeding tray relative to its initial position is determined by a rotor position sensor mounted on the drive unit of the seedling feeding tray; or,

[0102] The first lateral movement position of the seedling delivery tray relative to its initial position is determined by a distance sensor positioned along the lateral movement direction of the corresponding seedling delivery tray.

[0103] Specifically, determining the real-time weight of the seedling tray at the first lateral movement 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 removal progress of the seedling removal module. Based on the weight of the seedling blanket, the empty weight, and the seedling removal progress, determine the real-time weight of the seedling delivery tray.

[0105] The above-mentioned method involves detecting the first lateral displacement of the seed delivery tray relative to its initial position during the drone's seed-throwing operation and determining the real-time weight of the seed delivery tray at that first lateral displacement position. Based on the weight of the counterweight module, the real-time weight, and the first lateral displacement position, the counterweight module is controlled to move laterally to maintain the drone's attitude balance. Using this technique, the center of gravity shift of the seed delivery tray can be determined by its lateral displacement position and real-time weight. This center of gravity shift allows the counterweight module to be controlled to move laterally in the opposite direction to counteract the shift, preventing the drone from tilting due to the shift in the seed delivery tray's center of gravity. This improves the drone's flight stability and ultimately enhances the seed-throwing operation effect.

[0106] The flight control device based on movable counterweight provided in this application embodiment 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] This application provides an embodiment of a drone, referring to... Figure 11 The drone includes a processor 61, a memory 62, a communication module 63, an input device 64, and an output device 65. The drone may have one or more processors and one or more memories. The processor, memory, communication module, input device, and output device can be connected via a bus or other means.

[0108] Memory, as a computer-readable storage medium, 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 movable counterweight described in any embodiment of this application (e.g., the detection module and control module in a flight control device based on movable counterweight). Memory may primarily include a program storage area and a data storage area, wherein the program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device, etc. Furthermore, memory may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations 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 software programs, instructions, and modules stored in memory, thereby realizing the aforementioned flight control method based on movable counterweight.

[0111] Input devices can be used to receive input numerical or character information, and to generate key signal inputs related to user settings and function control of the device. Output devices may include display devices such as displays.

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

[0113] This application embodiment also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute a flight control method based on a movable counterweight. This method is applied to a drone equipped with a seedling throwing mechanism. The seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module. 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 reciprocates laterally relative to the seedling support plate to deliver seedlings. The seedling retrieval module is used to separate the seedlings delivered by the seedling delivery module and throw them out. The drone also includes a counterweight module, which is disposed on the other side relative to the seedling delivery tray and is used to move laterally in the opposite direction to the lateral movement direction of the seedling delivery tray. The method includes: when the drone is performing seedling throwing operations, detecting a first lateral movement position of the seedling delivery tray relative to an initial position and determining the real-time weight of the seedling delivery tray corresponding to the first lateral movement position; 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.

[0114] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; 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 (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system 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” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0115] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the flight control method based on movable counterweight as described above, but can also execute related operations in the flight control method based on movable counterweight provided in any embodiment of this application.

[0116] The flight control device, storage medium, and UAV based on movable counterweight provided in the above embodiments can execute the flight control method based on movable counterweight provided in any embodiment of this 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 this application.

[0117] The above description is merely a preferred embodiment and the technical principles employed in this application. This 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 depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of this application, the scope of which 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, which includes a seedling delivery module and a seedling collection module. 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 reciprocates laterally relative to the seedling support plate to deliver the seedlings. The seedling collection module is used to separate the seedlings delivered by the seedling delivery module and throw them out. The drone also includes a counterweight module, which is located on the opposite side of the seedling delivery tray and is used to move laterally in the opposite direction to the lateral movement direction of the seedling delivery tray. The method includes: When the drone is performing rice seedling throwing, 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. The counterweight module is controlled to move laterally based on its weight, the real-time weight, and the first lateral 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 method 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 includes: Based on the weight of the counterweight module, the real-time weight, and the first lateral movement position, the second lateral movement position of the counterweight module relative to the initial position is calculated, and the counterweight module is controlled to move laterally to the second lateral movement position.

3. The flight control method based on movable counterweight according to claim 2, characterized in that, The calculation of the second lateral displacement position of the counterweight module relative to its initial position based on the weight of the counterweight module, the real-time weight, and the first lateral displacement position includes: The second lateral displacement position of the counterweight module relative to its initial position is obtained by dividing the product of the real-time weight and the first lateral displacement position by the weight of the counterweight module.

4. The flight control method based on movable counterweight according to claim 2, characterized in that, The calculation of the second lateral displacement position of the counterweight module relative to its initial position based on the weight of the counterweight module, the real-time weight, and the first lateral displacement position includes: The position to be compensated for by the counterweight module is obtained by dividing the product of the real-time weight and the first lateral position by the weight of the counterweight module. 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 position compensation information is used to characterize the position error caused by the delay.

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

6. The flight control method based on movable counterweight according to claim 1, characterized in that, The detection of the first lateral displacement position of the seedling delivery tray relative to its initial position includes: The first lateral displacement position of the seedling feeding tray relative to its initial position is determined based on the rotor position sensor installed on the drive device of the seedling feeding tray; or, The first lateral position of the seedling delivery tray relative to its initial position is determined based on a distance sensor positioned in the lateral direction corresponding to the seedling delivery tray.

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

8. A flight control device based on a movable counterweight, characterized in that, The device is applied to a drone equipped with a seedling throwing mechanism. The seedling throwing mechanism includes a seedling delivery module and a seedling collection module. 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 reciprocates laterally relative to the seedling support plate to deliver the seedlings. The seedling collection module is used to separate the seedlings delivered by the seedling delivery module and throw them out. The drone also includes a counterweight module, which is located on the opposite side of the seedling delivery tray and is used to move laterally in the opposite direction to the lateral movement direction of the seedling delivery tray. The device includes: The detection module is configured to detect the first lateral displacement of the seedling delivery tray relative to its initial position and determine the real-time weight of the seedling delivery tray when the drone is performing seedling throwing operations. 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 UAV.

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, when executed by a computer processor, are used to perform the flight control method based on movable counterweight as described in any one of claims 1-7.

11. A rice transplanting system, characterized in that, The system includes a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling collection module, and the drone includes a counterweight module. 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 horizontally relative to the seedling support plate to deliver seedlings. The seedling picking module is used to separate the seedlings from the blanket seedlings conveyed by the seedling delivery module and then throw them out. The counterweight module is located on the other side of the seedling feeding tray and is used to move laterally in the opposite direction to the lateral movement direction of the seedling feeding tray. The drone is used for: During the rice 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. The counterweight module is controlled to move laterally based on its weight, the real-time weight, and the first lateral position, so as to balance the attitude of the UAV.

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