Seedling throwing operation control method and device, unmanned aerial vehicle and storage medium

Abstract

The embodiment of the invention discloses a seedling throwing operation control method and device, an unmanned aerial vehicle and a storage medium. According to the technical scheme provided by the embodiment of the invention, under the condition that the replacement of the seedling taking module is detected, the number of tool bits after the replacement of the seedling taking module and the target seedling throwing row spacing of the seedling throwing unmanned aerial vehicle executing the seedling throwing operation are obtained; and determining seedling throwing operation parameters based on the number of the tool bits and the target seedling throwing row spacing, and performing seedling throwing operation of the seedling throwing unmanned aerial vehicle by using the determined seedling throwing operation parameters. By adopting the technical means, the number of the replaced tool bits is detected when the seedling taking module is replaced, and then the seedling throwing operation parameters are determined according to the number of the replaced tool bits and the target seedling throwing plant spacing, so that the seedling throwing operation parameters can be matched with the number of the tool bits, and the seedling throwing plant spacing before and after replacement of the tool bits is kept consistent. Therefore, seedling throwing operation specifications are guaranteed, the seedling throwing operation precision is guaranteed, and the seedling throwing operation effect is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of drone technology, and in particular to a rice seedling transplanting control method, device, drone and storage medium. 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 rugged ground such as terraces, drones can be used to carry out high-altitude plant protection for crops planted in these fields. Drones can even be equipped with seedling throwing mechanisms to throw seedlings in the air and throw the seedlings into the fields for planting. The seedling throwing mechanism uses multiple rotating blades of the seedling picking module to separate the seedlings from the blanket seedlings in turn and then throw them out to perform the seedling throwing operation of the seedling throwing drone.

[0003] However, in order to ensure the standardization of seedling throwing operations, the flight and seedling throwing operation parameters of seedling throwing drones are generally fixed. Once the operator replaces the seedling picking module with different numbers of blades, it will cause operation errors and affect the effect of seedling throwing operations. Summary of the invention

[0004] The embodiments of the present application provide a seedling throwing operation control method, device, drone and storage medium, which can adaptably control the seedling delivery of the seedling throwing drone according to the different numbers of blade heads of the seedling retrieval module, ensure the standardization of the seedling throwing operation, and solve the problem of operation errors caused by replacing the seedling retrieval module with different numbers of blade heads of the seedling throwing drone.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a seedling throwing operation, 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, wherein the seedling sending module is used to transport the seedling blanket, and the seedling taking module separates the seedlings from the seedling blanket through a rotating cutter head and then throws the seedlings out; the method includes:

[0006] When the replacement of the seedling picking module is detected, the number of blades after the replacement of the seedling picking module and the target seedling throwing spacing of the seedling throwing drone performing the seedling throwing operation are obtained;

[0007] The seedling throwing operation parameters are determined based on the number of blades and the target seedling throwing plant spacing, and the seedling throwing operation of the seedling throwing drone is performed using the determined seedling throwing operation parameters.

[0008] In a second aspect, an embodiment of the present application provides a seedling throwing operation control device, which is applied to a drone equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, wherein the seedling delivery module is used to deliver the seedling blanket, and the seedling retrieval module separates the seedlings from the seedling blanket through a rotating cutter head and then throws the seedlings out; the device includes:

[0009] An acquisition module is configured to acquire the number of blades after the replacement of the seedling picking module and the target seedling throwing spacing of the seedling throwing drone when the seedling throwing operation is performed;

[0010] The determination module is configured to determine the seedling throwing operation parameters based on the number of blades and the target seedling throwing plant spacing, and use the determined seedling throwing operation parameters to perform the seedling throwing operation of the seedling throwing drone.

[0011] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0012] memory and one or more processors;

[0013] The memory is used to store one or more programs;

[0014] When the one or more programs are executed by the one or more processors, the one or more processors implement the rice seedling throwing control method as described in the first aspect.

[0015] 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 execute the rice seedling throwing control method as described in the first aspect.

[0016] In a fifth aspect, an embodiment of the present application provides a seedling throwing operation control system, including a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling taking module, wherein:

[0017] The seedling delivery module is used to deliver blanket seedlings;

[0018] The seedling picking module is used to separate the seedlings from the seedling blanket in turn by rotating multiple cutter heads and then throw them out;

[0019] Drones are used for:

[0020] When the replacement of the seedling picking module is detected, the number of blades after the replacement of the seedling picking module and the target seedling throwing spacing of the seedling throwing drone performing the seedling throwing operation are obtained;

[0021] The seedling throwing operation parameters are determined based on the number of blades and the target seedling throwing plant spacing, and the seedling throwing operation of the seedling throwing drone is performed using the determined seedling throwing operation parameters.

[0022] The embodiment of the present application detects the replacement of the seedling retrieval module, obtains the number of cutter heads after the seedling retrieval module is replaced and the target seedling spacing for the seedling throwing UAV to perform the seedling throwing operation; determines the seedling throwing operation parameters based on the number of cutter heads and the target seedling throwing spacing, and uses the determined seedling throwing operation parameters to perform the seedling throwing operation of the seedling throwing UAV. The above-mentioned technical means are adopted to detect the number of replaced cutter heads when the seedling retrieval module is replaced, and then determine the seedling throwing operation parameters according to the number of replaced cutter heads and the target seedling throwing spacing, so that the seedling throwing operation parameters can be adapted to the number of cutter heads, and the seedling throwing spacing before and after the cutter head replacement is kept consistent. This ensures the standardization of the seedling throwing operation, ensures the accuracy of the seedling throwing operation, and improves the effect of the seedling throwing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the seedling throwing system provided in an embodiment of the present application;

[0024] Figure 2 This is one of the structural schematic diagrams of the seedling throwing mechanism provided in the embodiment of the present application;

[0025] Figure 3 This is the second structural schematic diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0026] Figure 4 It is a structural schematic diagram of two blade heads of a seedling delivery module provided in an embodiment of the present application;

[0027] Figure 5 It is a structural schematic diagram of the three-knife head of the seedling delivery module provided in an embodiment of the present application;

[0028] Figure 6 This is the third structural schematic diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0029] Figure 7 This is the fourth structural schematic diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0030] Figure 8 This is the fifth structural diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0031] Fig. 9 This is the sixth structural schematic diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0032] Fig.10 It is a flow chart of a rice seedling throwing control method provided in an embodiment of the present application;

[0033] Fig.11 It is a structural schematic diagram of a seedling taking mechanism with three blade heads provided in an embodiment of the present application;

[0034] Fig.12 This is a schematic diagram of the seedling throwing operation of the seedling throwing system provided in an embodiment of the present application;

[0035] Fig.13 It is a structural schematic diagram of a rice seedling throwing operation control device provided in an embodiment of the present application;

[0036] Fig.14 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. 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 control method for seedling throwing operation in the embodiment of the present application aims to adapt the seedling throwing operation parameters according to the number of blades of the seedling taking mechanism when the seedling throwing operation is performed by using a drone equipped with a seedling throwing mechanism, so as to ensure that the spacing between seedlings before and after the blades are replaced remains consistent, thereby realizing standardized seedling throwing operation. 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 drone 20 , and the seedling throwing mechanism 30 is mounted on the drone 20 . Figure 2 and Figure 3 Schematic diagram of the structure of the seedling throwing mechanism provided in the embodiment of the present application. Figure 2 and Figure 3As shown, the seedling throwing mechanism 30 includes a seedling delivery module 31 and a seedling taking module 32. The seedling delivery module 31 is used to transport the blanket seedlings 10, and the seedling taking 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 carries 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 seedling taking module 32 can separate the blanket seedlings 10 and then throw the seedlings 11 out. The seedling taking 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. There are many ways to separate the seedlings, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling taking methods are not limited in this application.

[0040] The drone 20 can be used to execute the rice seedling throwing control method 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, posture, etc., or the flight can be manually controlled by an operator.

[0041] The drone 20 is installed with at least one type of operating system, and 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 perform rice seedling throwing operation control.

[0042] Specifically, refer to Figure 1 to 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 3 The cutter head 322 rotates in the direction indicated by the arrow A, thereby separating the seedlings 10 in the process of contacting the blanket. The separated seedlings 11 rotate along the direction of the arrow A following the cutter head 322. When the cutter head 322 rotates to a specific position, the seedlings 11 are thrown out under the action of centrifugal force and / or ejection force. Further, the seedling removal module 32 can evenly arrange multiple cutter heads 322, for example, Figure 4 When a seedling picking 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, and the driving source drives the two cutter heads to perform the seedling throwing operation in turn. Figure 5 When a seedling removal module 32 is provided with three cutter heads 322, the angle between the three cutter heads 322 and the center of the driving source 321 is 120 degrees. Similarly, the four cutter heads 322 can be spaced 90 degrees apart. The embodiment of the present application does not impose a fixed limit on the specific number of cutter heads, which will not be elaborated here. Generally speaking, the more cutter heads there are, the slower the cutter head rotation speed can be set to achieve the same seedling spacing per unit time.

[0043] refer to Figure 6 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).

[0044] In this embodiment, the seedling sending module 31 is provided with a seedling sending tray 311 as an example to describe the seedling throwing process of the seedling throwing mechanism 30 . Figure 6 to Figure 9 Schematic diagram of the structure of the seedling throwing mechanism 30 provided in the embodiment of the present application. Figure 6 to Figure 9As shown, the seedling delivery tray 311 initially places eight rows and five columns of seedling blankets 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 seedling blanket 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.

[0045] It is understandable that, since the seedling picking module 32 can be provided with different numbers of cutter heads, for seedling picking modules with different numbers of cutter heads, if the seedling throwing operation parameters of the drone are not adjusted, when separating the seedlings, at the same rotation speed, the more cutter heads the seedling picking module has per unit time, the more seedlings the seedling picking module can separate, and the denser the seedling spacing will be. In order to ensure the operation specifications and avoid errors in the seedling spacing (i.e., maintaining the original seedling throwing spacing), it is necessary to adaptively adjust the seedling throwing operation parameters of the drone based on the seedling throwing operation control method of the embodiment of the application to achieve accurate seedling throwing operation.

[0046] To facilitate understanding, the present embodiment is described below by taking the drone 20 as the main body for executing the rice seedling throwing control method as an example. Fig.10A flowchart of a rice seedling throwing operation control method provided in an embodiment of the present application is given, and the rice seedling throwing operation control method specifically includes:

[0047] S110, when it is detected that the seedling taking module is replaced, the number of blades after the seedling taking module is replaced and the target seedling throwing spacing of the seedling throwing drone performing the seedling throwing operation are obtained.

[0048] Before the drone of the present application performs the seedling throwing operation, it determines whether to trigger the adjustment of the seedling throwing operation parameters according to whether the seedling picking module has been replaced. In particular, when it is detected that the seedling picking module has been replaced, that is, the number of blades of the seedling picking module has changed, in order to ensure the operation specifications, it is necessary to adaptively adjust the drone seedling throwing operation parameters.

[0049] When detecting whether the seedling taking module has been replaced, a camera can be configured on the drone, and the camera can be used to collect images of the seedling taking module, and whether the number of cutter heads has changed can be determined based on the collected images. Then, when it is determined that a change has occurred, the number of identified cutter heads is used to perform the seedling delivery control of the embodiment of the present application. The drone can also detect the interface identifier of the seedling taking module, identify whether the seedling taking module has changed based on the interface identifier of the seedling taking module, and then determine the number of its cutter heads based on the interface identifier. In addition, the operator can perform human-computer interaction with the drone and input the number of cutter heads of the replaced seedling taking module in the seedling taking module replacement interface.

[0050] Optionally, obtaining the number of cutter heads after the seedling taking module is replaced includes: obtaining motor load information of idling cutter heads after the seedling taking module is replaced, and determining the number of cutter heads after the seedling taking module is replaced based on the motor load information.

[0051] Each time the seedling picking module is replaced, the drone drives the blade of the seedling picking module to idle, and then reads the motor load information of the driving source of the seedling picking module. It is understandable that for seedling picking modules with different numbers of blades, the motor load information is different when they are idling. Therefore, the drone only needs to store the motor load information of the seedling picking modules when they are idling in advance according to the number of blades. When detecting the number of blades later, the motor load information of the idling seedling picking module can be compared with the pre-stored information to determine the number of blades of the replaced seedling picking module.

[0052] On the other hand, since it is necessary to keep the seedling spacing unchanged and adjust the seedling throwing operation parameters, the present application also obtains the target seedling throwing spacing for the drone to perform the seedling throwing operation, and adapts the seedling throwing operation parameters according to the target seedling throwing spacing and the number of replaced blades, so that when the seedling throwing operation is performed with the seedling throwing operation parameters, the actual seedling throwing spacing is the same as the target seedling throwing spacing, thereby achieving the effect of standardized operation.

[0053] S120, determining seedling throwing operation parameters based on the number of blades and the target seedling throwing plant spacing, and using the determined seedling throwing operation parameters to perform the seedling throwing operation of the seedling throwing drone.

[0054] Furthermore, based on the number of blade heads and target seedling spacing obtained above, the seedling throwing operation parameters can be adaptively adapted so that the drone performs the seedling throwing operation according to the determined seedling throwing operation parameters, so that the seedlings planted in this way maintain the original target seedling throwing spacing, thereby realizing standardized seedling throwing operations.

[0055] The following is an illustrative description of the present application by taking the adjustment of seedling throwing operation parameters when the seedling taking module switches from two cutter heads to three cutter heads as an example.

[0056] When the picking module is Figure 1 The seedling taking module 32 shown is replaced by Fig.11 When the seedling taking module 32 is shown, the number of blades of the seedling taking module changes (from 2 to 3). At this time, the seedling throwing operation parameters are determined based on the detected number of blades (3) and the target seedling throwing spacing.

[0057] Among them, the parameters of the seedling throwing operation adapted in the embodiment of the present application include the rotation speed of the cutter head and / or the flight speed of the seedling throwing drone. It can be understood that when the flight speed of the seedling throwing drone remains unchanged, the original rotation speed of the cutter head is used. Three cutter heads are bound to separate more seedlings per unit time than two cutter heads, which will cause the actual seedling throwing spacing to be inconsistent with the target seedling throwing spacing. Similarly, when the rotation speed of the cutter head remains unchanged, the original flight speed is used. Three cutter heads are bound to separate more seedlings per unit time than two cutter heads, which will also cause the actual seedling throwing spacing to be inconsistent with the target seedling throwing spacing. Based on this, the embodiment of the present application achieves the effect of standardized operation by adaptively adjusting the rotation speed of the cutter head and / or the flight speed of the seedling throwing drone so that the actual seedling throwing spacing is consistent with the original target seedling throwing spacing.

[0058] Specifically, the seedling throwing operation parameters are determined based on the number of blades and the target seedling throwing spacing, including:

[0059] The rotation speed of the cutter head is determined according to the flight speed of the UAV, the number of the cutter heads and the target seedling spacing.

[0060] When the flight speed of the drone is determined, the rotation speed of the cutter head only needs to be determined based on the determined flight speed, the number of cutter heads and the target spacing of the seedlings. The time interval between the seedlings being thrown is calculated based on the target spacing of the seedlings being thrown and the flight speed of the drone; the rotation speed of the cutter head is determined and calculated based on the time interval between the seedlings being thrown and the number of cutter heads.

[0061] Reference Fig.12, assuming that the seedling picking module uses two blades to perform seedling throwing, the target spacing is L, the blade rotation speed is V1, and the UAV flight speed is V2. At this time, the time interval between the two seedlings before and after is t1 = L / V2, and the blade of the seedling picking module rotates 180°, that is, V1*t1 = 180°.

[0062] When the seedling picking module is switched to 3 blades, since the flight speed of the drone and the target seedling spacing are fixed, the time interval between the seedlings of the front and back seedlings is t2 = t1. In the case of 3 blades, the blade of the seedling module only needs to rotate 120° to separate the seedlings of the front and back seedlings twice. Therefore, the blade rotation speed V3 = (120° / 180°) * V1, that is, the blade rotation speed is reduced to 2 / 3 of the original to ensure the operation specification and avoid the situation where the actual seedling spacing is inconsistent with the original target seedling spacing.

[0063] Furthermore, the seedling delivery tray of the seedling delivery module is used to reciprocate and move horizontally to deliver the blanket seedlings to a fixed position for separation by the seedling removal module. Figure 4 , the time it takes for the seedling delivery tray to move horizontally for a row of seedlings is exactly equal to the time it takes for the seedling removal module to rotate to the next cutter head to separate the seedlings. Therefore, the seedling throwing operation parameters to be determined in this application may also include the lateral movement speed of the seedling delivery tray. Among them, after determining the cutter head rotation speed based on the flight speed of the drone, the number of cutter heads and the target seedling throwing spacing, it also includes: according to the determined cutter head rotation speed, synchronously adjusting the lateral movement speed of the seedling delivery tray.

[0064] It is understandable that since the time it takes for the seedling delivery tray to shift a row of seedlings is exactly equal to the time it takes for the seedling retrieval module to rotate to the next blade to separate the seedlings, the speed at which it shifts a row of seedlings is exactly equal to the speed at which the seedling retrieval module rotates to the next blade. When the rotation speed of the blade of the seedling retrieval module drops to 2 / 3 of the original, the lateral speed of the seedling delivery tray also needs to drop to 2 / 3 of the original. At this time, by reading the original lateral speed of the seedling delivery tray, it can be adaptively adjusted to 2 / 3 of the original lateral speed. By making adaptive adjustments to the lateral speed of the seedling delivery tray, the accurate segmentation of the seedlings can be further guaranteed, errors in seedling segmentation can be avoided, which affects the planting effect, and further improves the operation effect.

[0065] It should be noted that in actual applications, the seedling delivery tray can also quickly move horizontally after each seedling removal so that the seedlings are transported to a fixed position in advance to wait for the seedling removal, and then wait for a set time. When the cutter head rotates to the corresponding position to complete the seedling removal, it will quickly move horizontally to the next position again. In this way, it is only necessary to ensure that the seedling delivery tray moves horizontally fast enough, and there is no need for adaptive adjustment. It is only necessary to ensure that the seedlings are quickly triggered to move horizontally to the next position after each seedling removal.

[0066] Optionally, different from the above Figure 6 to Figure 9The structure adopts the lateral movement of the seedling delivery tray and the rotation of the cutter head of the seedling removal module to separate the seedlings at a fixed position. The seedling delivery tray can also be used to carry the blanket seedlings at a fixed position, and then the seedling removal module is reciprocated and lateral movement is used to separate the seedlings from the blanket seedlings of the seedling delivery tray; correspondingly, after determining the rotation speed of the cutter head according to the flight speed of the drone, the number of cutter heads and the target spacing of the seedlings, it also includes: according to the determined rotation speed of the cutter head, synchronously adjusting the lateral movement speed of the seedling removal module.

[0067] Similarly, when the seedling delivery tray is fixed and the seedling picking module is used to pick up the seedlings horizontally, the time it takes for the seedling picking module to move horizontally to pick up a row of seedlings is exactly equal to the time it takes for the seedling picking module to rotate to the next blade to separate the seedlings. Therefore, the seedling throwing operation parameters to be determined in this application can also include the horizontal movement speed of the seedling picking module.

[0068] It is understandable that the time it takes for the seedling taking module to move horizontally to the next row of seedlings is exactly equal to the time it takes for the seedling taking module to rotate to the next cutter head to separate the seedlings, that is, the speed at which it moves horizontally across a row of seedlings is exactly equal to the speed at which the seedling taking module rotates to the next cutter head. When the rotation speed of the cutter head of the seedling taking module drops to 2 / 3 of the original, the lateral movement speed of the seedling taking module also needs to drop to 2 / 3 of the original. At this time, by reading the original lateral movement speed of the seedling taking module, it can be adaptively adjusted to 2 / 3 of the original lateral movement speed. By making adaptive adjustments to the lateral movement speed of the seedling taking module, the accurate segmentation of the seedlings can be further guaranteed, errors in seedling segmentation can be avoided, and the planting effect can be affected, thereby further improving the operation effect.

[0069] It should be noted that in actual applications, the above-mentioned seedling picking module can also quickly move horizontally to a fixed position to wait for seedling picking after each seedling picking, and then wait for a set time. When the cutter head rotates to the corresponding position to complete the seedling picking, it will quickly move horizontally to the next position again. In this way, it is only necessary to ensure that the horizontal movement speed of the seedling picking module is fast enough, and there is no need to make adaptive adjustments. It is only necessary to ensure that the horizontal movement to the next position is quickly triggered after each seedling picking.

[0070] On the other hand, the parameters of the seedling throwing operation are determined based on the number of blades and the target spacing between seedlings, including:

[0071] The flight speed of the UAV is determined according to the rotation speed of the cutter heads, the number of cutter heads and the target spacing of seedlings.

[0072] When the rotation speed of the cutter head is determined, the flight speed of the drone only needs to be determined based on the determined rotation speed of the cutter head, the number of cutter heads, and the target spacing of the seedlings. The time interval between the two seedling throwing operations is calculated based on the rotation speed of the cutter head and the number of cutter heads; the flight speed of the drone is calculated based on the time interval and the target spacing of the seedlings.

[0073] For the case where the rotation speed of the cutter head is fixed. Assume that when the seedling picking module uses two cutter heads to perform seedling throwing, the target spacing between seedlings is L, the rotation speed of the cutter head is V1, and the flight speed of the drone is V2. At this time, the time interval between the two seedlings before and after is t1 = L / V2, and the cutter head of the seedling picking module rotates 180°, that is, V1*t1 = 180°.

[0074] When the seedling picking module is switched to 3 blades, since the blade rotation speed V3 = V1 at this time, the target seedling spacing is fixed, and the blade rotation reading of the seedling picking module after completing the seedling throwing operation of the front and rear two seedlings is 120°, that is, V1*t2 = 120°, t2 is the time interval between the seedling throwing of the front and rear two seedlings, t2 = (2 / 3) t1. It is known that t1 = L / V2, t2 = (2 / 3) t1, then the drone flight speed V4 = L / t2 = 3L / 2t1, that is, V4 = (3 / 2) V2. Therefore, at this time, it is only necessary to increase the drone flight speed to 3 / 2 times the original speed V2 to ensure the operation specification and avoid the situation where the actual seedling throwing spacing does not match the original target seedling throwing spacing.

[0075] In addition, optionally, the seedling throwing operation parameters are determined based on the number of cutter heads and the target seedling throwing spacing, including:

[0076] According to the number of cutter heads and the target spacing between seedlings, the cutter head rotation speed and the UAV flight speed are adjusted synchronously.

[0077] Different from the above-mentioned method of selectively adjusting the rotation speed of the cutter head or the flight speed of the drone, the embodiment of the present application can also adjust the rotation speed of the cutter head and the flight speed of the drone simultaneously. Among them, assuming that the seedling picking module uses two cutter heads to perform seedling throwing operations, its target seedling throwing spacing is L, the rotation speed of the cutter head is V1, and the flight speed of the drone is V2. At this time, the time interval between the seedling throwing of the two seedlings in front and behind is t1=L / V2, and the cutter head of the seedling picking module rotates 180°, that is, V1*t1=180°.

[0078] When the seedling picking module is switched to 3 blades, assuming that the blade rotation speed needs to be adjusted to V5, the time interval between the two seedlings before and after is t2 = 120° / V5. It can be calculated that the flight speed of the drone should be adjusted to V6 = L / (120° / V5). By synchronously adjusting the blade rotation speed and the drone flight speed, the operation specification can be guaranteed to avoid the situation where the actual seedling spacing is inconsistent with the original target spacing.

[0079] It should be noted that in actual applications, according to the structural setting of the actual seedling throwing drone, the above-mentioned seedling throwing operation parameters can also include the spacing between two rows of seedlings on the blanket seedling. When there are many blades, a denser spacing can be set to ensure that the seedlings can be accurately picked up twice before and after. The embodiment of the present application does not impose fixed restrictions on the types of specific seedling throwing operation parameters, which will not be repeated here.

[0080] In the above, by detecting the replacement of the seedling retrieval module, the number of blades after the replacement of the seedling retrieval module and the target seedling spacing for the seedling throwing UAV to perform the seedling throwing operation are obtained; the seedling throwing operation parameters are determined based on the number of blades and the target seedling throwing spacing, and the seedling throwing operation of the seedling throwing UAV is performed using the determined seedling throwing operation parameters. The above technical means are adopted to detect the number of blades after replacement when the seedling retrieval module is replaced, and then the seedling throwing operation parameters are determined according to the number of blades after replacement and the target seedling throwing spacing, so that the seedling throwing operation parameters can be adapted to the number of blades, and the seedling throwing spacing before and after the blades are replaced is kept consistent. This ensures the standardization of the seedling throwing operation, ensures the accuracy of the seedling throwing operation, and improves the effect of the seedling throwing operation.

[0081] Based on the above embodiments, Fig.13 This is a schematic diagram of the structure of a seedling throwing control device provided in an embodiment of the present application. Fig.13 The seedling throwing operation control device provided in this embodiment 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, wherein the seedling sending module is used to transport the seedling blanket, and the seedling taking module separates the seedlings from the seedling blanket in turn by rotating multiple cutter heads and then throws them out; the seedling throwing operation control device includes:

[0082] The acquisition module 41 is configured to acquire the number of blades after the replacement of the seedling picking module and the target spacing of the seedlings when the seedling throwing drone performs the seedling throwing operation when the seedling picking module is detected to be replaced;

[0083] The determination module 42 is configured to determine the seedling throwing operation parameters based on the number of blades and the target seedling throwing plant spacing, and use the determined seedling throwing operation parameters to perform the seedling throwing operation of the seedling throwing drone.

[0084] Specifically, the seedling throwing operation parameters include the rotation speed of the cutter head;

[0085] Adjust the parameters of the seedling throwing operation based on the number of blades and the target spacing of the seedlings, including:

[0086] The rotation speed of the cutter heads is determined according to the flight speed of the UAV, the number of cutter heads and the target spacing of seedlings.

[0087] The rotation speed of the cutter heads is determined according to the flight speed of the drone, the number of cutter heads and the target spacing of the seedlings, including:

[0088] The time interval between two seedling throwing operations is calculated according to the target seedling throwing spacing and the flight speed of the UAV;

[0089] The rotation speed of the cutter heads is determined and calculated based on the seedling throwing time interval and the number of cutter heads.

[0090] The seedling delivery module includes a seedling delivery tray, which is used for reciprocating and transverse movement to deliver the blanket seedlings to a fixed position for separation by the seedling removal module;

[0091] Correspondingly, after determining the rotation speed of the cutter head according to the flight speed of the UAV, the number of cutter heads and the target spacing of the seedlings, it also includes:

[0092] According to the determined rotation speed of the cutter head, the lateral movement speed of the seedling delivery tray is synchronously adjusted.

[0093] The seedling delivery module includes a seedling delivery tray, which is used to carry the seedling blanket at a fixed position, and the seedling removal module is used to reciprocate and move horizontally to separate the seedlings from the seedling blanket of the seedling delivery tray;

[0094] Correspondingly, after determining the rotation speed of the cutter head according to the flight speed of the UAV, the number of cutter heads and the target spacing of the seedlings, it also includes:

[0095] According to the determined rotation speed of the cutter head, the lateral movement speed of the seedling taking module is adjusted synchronously.

[0096] Specifically, the seedling throwing operation parameters include the flight speed of the seedling throwing drone;

[0097] The parameters for seedling throwing are determined based on the number of blades and the target spacing between seedlings, including:

[0098] The flight speed of the UAV is determined according to the rotation speed of the cutter heads, the number of cutter heads and the target spacing of seedlings.

[0099] Specifically, the seedling throwing operation parameters include the rotation speed of the cutter head and the flight speed of the seedling throwing drone;

[0100] The parameters for seedling throwing are determined based on the number of blades and the target spacing between seedlings, including:

[0101] According to the number of cutter heads and the target spacing between seedlings, the cutter head rotation speed and the UAV flight speed are adjusted synchronously.

[0102] In addition, the number of blades after the seedling removal module is replaced is obtained, including:

[0103] After the seedling taking module is replaced, the motor load information of the idling cutter heads is obtained, and the number of cutter heads after the seedling taking module is replaced is determined based on the motor load information.

[0104] In the above, by detecting the replacement of the seedling retrieval module, the number of blades after the replacement of the seedling retrieval module and the target seedling spacing for the seedling throwing UAV to perform the seedling throwing operation are obtained; the seedling throwing operation parameters are determined based on the number of blades and the target seedling throwing spacing, and the seedling throwing operation of the seedling throwing UAV is performed using the determined seedling throwing operation parameters. The above technical means are adopted to detect the number of blades after replacement when the seedling retrieval module is replaced, and then the seedling throwing operation parameters are determined according to the number of blades after replacement and the target seedling throwing spacing, so that the seedling throwing operation parameters can be adapted to the number of blades, and the seedling throwing spacing before and after the blades are replaced is kept consistent. This ensures the standardization of the seedling throwing operation, ensures the accuracy of the seedling throwing operation, and improves the effect of the seedling throwing operation.

[0105] The seedling throwing operation control device provided in the embodiment of the present application can be used to execute the seedling throwing operation control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0106] The present application embodiment provides an electronic device, referring to Fig.12 The electronic device includes: a processor 51, a memory 52, a communication module 53, an input device 54 and an output device 55. The number of processors in the electronic device can be one or more, and the number of memories in the electronic device can be one or more. The processor, memory, communication module, input device and output device of the electronic device can be connected via a bus or other means.

[0107] 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 seedling throwing operation control method described in any embodiment of the present application (for example, the acquisition module and the determination module in the seedling throwing operation control device). The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage 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 combinations thereof.

[0108] The communication module is used for data transmission.

[0109] 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 rice seedling throwing operation control method.

[0110] 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.

[0111] The electronic device provided above can be used to execute the rice seedling throwing control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0112] An embodiment of the present application also provides a storage medium containing computer executable instructions, which are used to execute a seedling throwing operation control method when executed by a computer processor. The seedling throwing operation control method includes: a drone used to mount a seedling throwing mechanism, the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, the seedling delivery module is used to transport the blanket seedlings, and the seedling retrieval module separates the seedlings from the blanket seedlings through a rotating cutter head and then throws them out; the method includes: when it is detected that the seedling retrieval module is replaced, the number of cutter heads after the seedling retrieval module is replaced and the target seedling throwing spacing of the seedling throwing drone performing the seedling throwing operation are obtained; based on the number of cutter heads and the target seedling throwing spacing, the seedling throwing operation parameters are determined, and the seedling throwing operation parameters are used to perform the seedling throwing operation of the seedling throwing drone.

[0113] 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.

[0114] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application is not limited to the seedling throwing operation control method described above, and the computer executable instructions can also execute related operations in the seedling throwing operation control method provided in any embodiment of the present application.

[0115] The seedling throwing operation control device, storage medium and electronic device provided in the above embodiments can execute the seedling throwing operation control method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the seedling throwing operation control method provided in any embodiment of the present application.

[0116] 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 method for controlling seedling throwing operation, characterized in that: A drone mounted with a seedling throwing mechanism, wherein the seedling throwing mechanism comprises a seedling sending module and a seedling taking module, wherein the seedling sending module is used to transport the seedling blanket, and the seedling taking module separates the seedlings from the seedling blanket through a rotating cutter head and then throws the seedlings out; the method comprises: When it is detected that the seedling picking module is replaced, the number of blades of the replaced seedling picking module and the target seedling throwing spacing of the seedling throwing drone performing the seedling throwing operation are obtained; The seedling throwing operation parameters are determined based on the number of blade heads and the target seedling throwing plant spacing, and the seedling throwing operation of the seedling throwing drone is performed using the determined seedling throwing operation parameters.

2. The rice seedling throwing control method according to claim 1, characterized in that: The seedling throwing operation parameters include the rotation speed of the cutter head; The step of determining the seedling throwing operation parameters based on the number of blade heads and the target seedling throwing spacing comprises: The rotation speed of the cutter head is determined according to the flight speed of the UAV, the number of the cutter heads and the target seedling spacing.

3. The rice seedling throwing control method according to claim 2, characterized in that: The step of determining the rotation speed of the cutter head according to the flight speed of the UAV, the number of the cutter heads and the target seedling spacing comprises: Calculating the time interval between two seedling throwing operations according to the target seedling throwing spacing and the flight speed of the drone; The rotation speed of the cutter heads is determined and calculated based on the seedling throwing time interval and the number of cutter heads.

4. The rice seedling throwing control method according to claim 2, characterized in that: The seedling delivery module includes a seedling delivery tray, which is used for reciprocating and transverse movement to deliver the blanket seedlings to a fixed position for separation by the seedling removal module; Correspondingly, after determining the rotation speed of the cutter head according to the flight speed of the UAV, the number of the cutter heads and the target seedling spacing, the method further includes: According to the determined rotation speed of the cutter head, the lateral movement speed of the seedling delivery plate is synchronously adjusted.

5. The rice seedling throwing control method according to claim 2, characterized in that: The seedling delivery module includes a seedling delivery tray for carrying the seedling blanket at a fixed position, and the seedling removal module is used for reciprocating and transverse movement to separate the seedlings from the seedling blanket of the seedling delivery tray; Correspondingly, after determining the rotation speed of the cutter head according to the flight speed of the UAV, the number of the cutter heads and the target seedling spacing, the method further includes: According to the determined rotation speed of the cutter head, the lateral movement speed of the seedling removing module is synchronously adjusted.

6. The rice seedling throwing control method according to claim 1, characterized in that: The seedling throwing operation parameters include the flight speed of the seedling throwing drone; The step of determining the seedling throwing operation parameters based on the number of blade heads and the target seedling throwing spacing comprises: The flight speed of the UAV is determined according to the rotation speed of the cutter head, the number of the cutter heads and the target seedling spacing.

7. The rice seedling throwing control method according to claim 6, characterized in that: The step of determining the flight speed of the drone according to the rotation speed of the cutter head, the number of the cutter heads and the target seedling spacing comprises: Calculating the time interval between two seedling throwing operations according to the rotation speed of the cutter head and the number of the cutter heads; The flight speed of the UAV is calculated according to the seedling throwing time interval and the target seedling throwing plant spacing.

8. The rice seedling throwing control method according to claim 1, characterized in that: The seedling throwing operation parameters include the rotation speed of the cutter head and the flight speed of the seedling throwing drone; The step of determining the seedling throwing operation parameters based on the number of blade heads and the target seedling throwing spacing comprises: According to the number of the cutter heads and the target seedling spacing, the rotation speed of the cutter heads and the flight speed of the UAV are synchronously adjusted.

9. The rice seedling throwing control method according to claim 1, characterized in that: Obtaining the number of blade heads of the seedling picking module after replacement, including: After the seedling taking module is replaced, the motor load information of the idling cutter heads is obtained, and the number of cutter heads after the seedling taking module is replaced is determined based on the motor load information.

10. A rice seedling throwing control device, characterized in that: The invention 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, wherein the seedling sending module is used to convey the seedling blanket, and the seedling taking module separates the seedlings from the seedling blanket through a rotating cutter head and then throws the seedlings out; the device comprises: An acquisition module is configured to acquire the number of blades of the replaced seedling taking module and the target seedling throwing spacing of the seedling throwing drone when detecting that the seedling taking module has been replaced; A determination module is configured to determine the seedling throwing operation parameters based on the number of blade heads and the target seedling throwing plant spacing, and use the determined seedling throwing operation parameters to perform the seedling throwing operation of the seedling throwing drone.

11. 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 rice seedling throwing operation control method as described in any one of claims 1-9.

12. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the rice seedling throwing control method as described in any one of claims 1-9 when executed by a computer processor.

13. 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, wherein: The seedling conveying module is used for conveying blanket seedlings; The seedling picking module is used to separate the seedlings from the seedling blanket in turn by rotating multiple cutter heads and then throw them out; The drone is used for: When it is detected that the seedling picking module is replaced, the number of blades of the replaced seedling picking module and the target seedling throwing spacing of the seedling throwing drone performing the seedling throwing operation are obtained; The seedling throwing operation parameters are determined based on the number of blade heads and the target seedling throwing plant spacing, and the seedling throwing operation of the seedling throwing drone is performed using the determined seedling throwing operation parameters.

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