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

Abstract

Embodiments of the present application disclose a kind of throwing seedling operation control method, device, unmanned aerial vehicle and storage medium.The technical scheme provided in the embodiments of the present application, by detecting the replacement of seedling taking module, the number of tool bit after the replacement of seedling taking module is obtained, and the target throwing seedling plant distance of throwing seedling unmanned aerial vehicle executing throwing seedling operation is obtained;Determine the throwing seedling operation parameter based on the number of tool bit and the target throwing seedling plant distance, and use the determined throwing seedling operation parameter to carry out the throwing seedling operation of throwing seedling unmanned aerial vehicle.The above technical means is used, the number of tool bit after replacement is detected when the seedling taking module is replaced, and then the determination of throwing seedling operation parameter is carried out according to the number of tool bit after replacement and the target throwing seedling plant distance, so that the throwing seedling operation parameter can be adapted to the number of tool bit, and the throwing seedling plant distance before and after the replacement of tool bit remains consistent.Further guarantee the throwing seedling operation specification, guarantee the throwing seedling operation precision, and improve the throwing seedling operation effect.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of unmanned aerial vehicles, and particularly relate to a seedling throwing operation control method and device, an unmanned aerial vehicle, and a storage medium. BACKGROUND

[0002] At present, with the rapid development of unmanned aerial vehicle technology, it is widely applied to various scenes for high-altitude operation. Especially in the agricultural scene, some fields are not convenient for operation by ground vehicles, such as terraced fields with rugged ground, and the unmanned aerial vehicle can be used for high-altitude plant protection of crops planted in the field. Even the unmanned aerial vehicle can carry a seedling throwing mechanism to throw seedlings into the field for planting. The seedling throwing mechanism uses a plurality of rotating cutter heads of a seedling taking module to rotate to separate seedlings from the seedling mat and then throw them out to perform the seedling throwing operation of the seedling throwing unmanned aerial vehicle.

[0003] However, in order to ensure the standardization of the seedling throwing operation, the flight and seedling throwing operation parameters of the seedling throwing unmanned aerial vehicle are generally fixed. Once the seedling taking module with different numbers of cutter heads is replaced, it will cause operation errors and affect the seedling throwing operation effect. SUMMARY

[0004] Embodiments of the present application provide a seedling throwing operation control method and device, an unmanned aerial vehicle, and a storage medium, which can adaptively control the seedling feeding of the seedling throwing unmanned aerial vehicle according to the number of cutter heads of the seedling taking module, ensure the standardization of the seedling throwing operation, and solve the problem of operation errors caused by replacing the seedling taking module with different numbers of cutter heads.

[0005] In a first aspect, embodiments of the present application provide a seedling throwing operation control method applied to an unmanned aerial vehicle carrying a seedling throwing mechanism, the seedling throwing mechanism including a seedling feeding module and a seedling taking module, the seedling feeding module being used to transport a seedling mat, and the seedling taking module being used to separate seedlings from the seedling mat through rotating cutter heads and then throw them out; the method includes:

[0006] detecting a situation where the seedling taking module is replaced, obtaining the number of cutter heads after the seedling taking module is replaced, and a target seedling throwing plant spacing for the seedling throwing unmanned aerial vehicle to perform the seedling throwing operation;

[0007] determining seedling throwing operation parameters based on the number of cutter heads and the target seedling throwing plant spacing, and performing the seedling throwing operation of the seedling throwing unmanned aerial vehicle using the determined seedling throwing operation parameters.

[0008] In a second aspect, embodiments of the present application provide a seedling throwing operation control device applied to an unmanned aerial vehicle carrying a seedling throwing mechanism, the seedling throwing mechanism including a seedling feeding module and a seedling taking module, the seedling feeding module being used to transport a seedling mat, and the seedling taking module being used to separate seedlings from the seedling mat through rotating cutter heads and then throw them out; the device includes:

[0009] The acquisition module is configured to acquire the number of cutter heads after the seedling taking module is replaced and a target seedling throwing plant spacing for the seedling throwing drone to perform the seedling throwing operation when it is detected that the seedling taking module is replaced.

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

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

[0012] a memory and one or more processors;

[0013] The memory is configured 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 seedling throwing operation control method according to the first aspect.

[0015] In a fourth aspect, an embodiment of the present application provides a storage medium containing computer executable instructions, which are used to execute the seedling throwing operation control method according to the first aspect when executed by a computer processor.

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

[0017] The seedling feeding module is configured to feed the blanket seedlings.

[0018] The seedling taking module is configured to throw out the seedlings by rotating a plurality of cutter heads to separate the seedlings from the blanket seedlings in turn.

[0019] The drone is configured to:

[0020] acquire the number of cutter heads after the seedling taking module is replaced and a target seedling throwing plant spacing for the seedling throwing drone to perform the seedling throwing operation when it is detected that the seedling taking module is replaced;

[0021] determine seedling throwing operation parameters based on the number of cutter heads and the target seedling throwing plant spacing, and perform the seedling throwing operation of the seedling throwing drone by using the determined seedling throwing operation parameters.

[0022] The embodiment of the application acquires the number of cutter heads after the seedling taking module is replaced and a target seedling throwing plant spacing of the seedling throwing unmanned aerial vehicle performing seedling throwing operation when detecting that the seedling taking module is replaced; determines seedling throwing operation parameters based on the number of cutter heads and the target seedling throwing plant spacing, and performs seedling throwing operation of the seedling throwing unmanned aerial vehicle by using the determined seedling throwing operation parameters. By detecting the number of cutter heads after the seedling taking module is replaced, and then determining the seedling throwing operation parameters according to the number of cutter heads after the replacement and the target seedling throwing plant spacing, the seedling throwing operation parameters can be adapted to the number of cutter heads, and the seedling throwing plant spacing before and after the replacement of the cutter head remains unchanged. Then, the seedling throwing operation is guaranteed to be standard, the seedling throwing operation accuracy is guaranteed, and the seedling throwing operation effect is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a structural schematic diagram of a seedling throwing system provided by the embodiment of the application;

[0024] Figure 2 is one of structural schematic diagrams of a seedling throwing mechanism provided by the embodiment of the application;

[0025] Figure 3 is another of structural schematic diagrams of a seedling throwing mechanism provided by the embodiment of the application;

[0026] Figure 4 is a structural schematic diagram of two cutter heads of a seedling taking module provided by the embodiment of the application;

[0027] Figure 5 is a structural schematic diagram of three cutter heads of a seedling taking module provided by the embodiment of the application;

[0028] Figure 6 is a third of structural schematic diagrams of a seedling throwing mechanism provided by the embodiment of the application;

[0029] Figure 7 is a fourth of structural schematic diagrams of a seedling throwing mechanism provided by the embodiment of the application;

[0030] Figure 8 is a fifth of structural schematic diagrams of a seedling throwing mechanism provided by the embodiment of the application;

[0031] Figure 9 is a sixth of structural schematic diagrams of a seedling throwing mechanism provided by the embodiment of the application;

[0032] Figure 10 is a flowchart of a seedling throwing operation control method provided by the embodiment of the application;

[0033] Figure 11 is a structural schematic diagram of a 3-cutter-head seedling taking mechanism provided by the embodiment of the application;

[0034] Figure 12 is a seedling throwing operation schematic diagram of a seedling throwing system provided by the embodiment of the application;

[0035] Figure 13 is a structural schematic diagram of a seedling throwing operation control device provided by an embodiment of the present application.

[0036] Figure 14 is a structural schematic diagram of a UAV provided by an embodiment of the present application.

[0037] In the figure, 10 is a blanket seedling, 11 is a seedling, 20 is a UAV, 30 is a seedling throwing mechanism, 31 is a seedling feeding module, 311 is a seedling feeding disc, 312 is a seedling supporting plate, 313 is an opening, 314 is a conveying device, 315 is a driving device, 32 is a seedling taking module, and 321 is a driving source, and 322 is a cutter head. DETAILED DESCRIPTION

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

[0039] The seedling throwing operation control method of the present application aims to adapt the seedling throwing operation parameters according to the number of cutter heads of the seedling taking mechanism when the UAV carries the seedling throwing mechanism to carry out the seedling throwing operation, so as to ensure that the seedling throwing spacing before and after the cutter head replacement remains consistent, and to realize the standardized seedling throwing operation. Among them, Figure 1 is a structural schematic diagram of a seedling throwing system provided by an embodiment of the present application. As shown in Figure 1 , the seedling throwing system comprises a seedling throwing mechanism 30 and a UAV 20, and the seedling throwing mechanism 30 is mounted on the UAV 20. Figure 2 and Figure 3 is a structural schematic diagram of a seedling throwing mechanism provided by an embodiment of the present application. As shown in Figure 2 and Figure 3As shown, the seedling throwing mechanism 30 includes a seedling conveying module 31 and a seedling taking module 32, the seedling conveying module 31 is used to convey the blanket seedling 10, and the seedling taking module 32 is used to throw out the seedling 11 separated from the blanket seedling 10 conveyed by the seedling conveying module 31. When the unmanned aerial vehicle 20 carries the seedling throwing mechanism 30 to fly and perform the seedling throwing operation, the blanket seedling 10 can be conveyed by the seedling conveying module 31, and the seedling 11 can be thrown out after the blanket seedling 10 is separated by the seedling taking module 32. 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 to separate the seedling 11 of the blanket seedling 10 on the seedling conveying disc 311 through the opening 313, and throw out the separated seedling 11. The seedling separation mode has many modes, for example, cutting, grabbing, pushing out, and pressing down. The specific separation and seedling taking mode is not limited in the present application.

[0040] The unmanned aerial vehicle 20 can be used to perform the seedling throwing operation control method provided in the present embodiment, the unmanned aerial vehicle 20 can be realized by software and / or hardware, and the unmanned aerial vehicle 20 can be composed of two or more physical entities or one physical entity. The unmanned aerial vehicle 20 refers to a flight device that operates according to remote control instructions or preset instructions. For example, the unmanned aerial vehicle 20 is a rotor unmanned aerial vehicle, specifically a four-rotor unmanned aerial vehicle, and according to actual configuration, it can also be a single-rotor unmanned aerial vehicle, a double-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, etc. The unmanned aerial vehicle 20 can automatically operate according to preset paths, flight speeds, postures, etc., or be manually controlled to fly by an operator.

[0041] The unmanned aerial vehicle 20 is installed with at least one operating system, and the unmanned aerial vehicle 20 can install at least one application program based on the operating system. The application program can be an application program provided by the operating system, or an application program downloaded from a third-party device or server. In the present embodiment, the unmanned aerial vehicle 20 has at least an application program that can perform the seedling throwing operation control.

[0042] Specifically, referring to Figures 1-3 , the seedling conveying module 31 includes a seedling supporting plate 312, a seedling conveying disc 311, and a driving device 315, the seedling supporting plate 312 is provided with an opening 313, the lower part of the seedling conveying disc 311 is located in the seedling supporting plate 312, the seedling conveying disc 311 is used to place the blanket seedling 10, and the driving device 315 is used to drive the seedling conveying disc 311 to move transversely relative to the seedling supporting plate 312. 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 to separate the seedling 11 of the blanket seedling 10 on the seedling conveying disc 311 through the opening 313, and throw out the separated seedling 11. By Figure 3It can be seen 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 horizontal 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 during contact. 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. 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 described in detail 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-transporting process of the seedling-transporting mechanism 30 is described by taking the seedling-transporting module 31 provided with a seedling-transporting tray 311 as an example. Figures 6-9 Schematic diagram of the structure of the seedling throwing mechanism 30 provided in the embodiment of the present application. Figures 6-9As shown, the seedling delivery tray 311 initially places eight rows and five columns of the blanket seedlings 10, and the initial position of the seedling delivery tray 311 is the right side of the seedling supporting plate 312. When the unmanned aerial vehicle 20 starts to perform the flying seedling throwing operation, the seedling delivery tray 311 starts to move horizontally and the seedling taking module 32 starts to rotate. The cutter head 322 of the seedling taking module 32 rotates to the opening 313 to cut the connecting part between the first row and the first column of the seedlings 11 and the first row and the second column of the seedlings 11 of the blanket seedlings 10 and throws the first row and the first column of the seedlings 11 into the field for planting. The seedling delivery tray 311 moves horizontally to the left, and when the first row and the second column of the seedlings 11 move to the opening 313, the cutter head 322 of the seedling taking module 32 rotates to the opening 313 to cut the connecting part between the first row and the third column of the seedlings 11 and throws the first row and the second column of the seedlings 11 into the field for planting. The above process is repeated, and when the seedling delivery tray 311 moves horizontally to the left side of the seedling supporting plate 312, the first row and the fifth column of the seedlings 11 move to the opening 313, and the cutter head 322 of the seedling taking module 32 rotates to the opening 313 to throw the first row and the fifth column of the seedlings 11 into the field for planting. At this time, the first row of the seedlings 11 of the blanket seedlings 10 has been thrown, and the seedling delivery tray 311 can be controlled to stop moving horizontally and the conveying device 314 is started to move the blanket seedlings 10 on the seedling delivery tray 311 towards the seedling supporting plate 312, and the conveying device 314 is stopped when the second row of the seedlings 11 of the blanket seedlings 10 move to the seedling supporting plate 312. At the same time when the conveying device 314 is stopped, the cutter head 322 of the seedling taking module 32 rotates to the opening 313 and cuts the connecting part between the second row and the fifth column of the seedlings 11 and the second row and the fourth column of the seedlings 11 at the opening 313, and throws the second row and the fifth column of the seedlings 11. At the same time, the seedling delivery tray 311 is started to move horizontally to the right to move the second row and the fourth column of the seedlings 11 to the opening 313, and the above process is repeated until the seedlings 11 on the seedling delivery tray 311 are thrown. It should be noted that the initial position of the seedling delivery tray 311 can also be the left side of the seedling supporting plate 312 and move horizontally to the right after being started, and the initial position of the seedling delivery tray 311 is not limited in this embodiment.

[0045] It can be understood that since the seedling taking module 32 can be provided with different numbers of cutter heads, for the seedling taking module with different numbers of cutter heads, if the unmanned aerial vehicle's seedling throwing operation parameters are not adjusted, the same speed, the more cutter heads in the seedling taking module, the more seedlings separated by the seedling taking module per unit time, and the more dense the planting seedlings. In order to ensure the operation specification and avoid errors in the seedling spacing (i.e., maintain the original seedling throwing spacing), the seedling throwing operation parameters of the unmanned aerial vehicle need to be adjusted adaptively based on the seedling throwing operation control method of the present application to achieve accurate seedling throwing operation.

[0046] In the following, for the convenience of understanding, the unmanned aerial vehicle 20 is taken as an example to describe the main body performing the seedling throwing operation control method. Figure 10A flowchart of a seedling throwing operation control method provided by an embodiment of the present application is shown, and the seedling throwing operation control method specifically includes:

[0047] In S110, if it is detected that the seedling taking module is replaced, the number of the cutter head after the replacement of the seedling taking module is obtained, and a target seedling throwing spacing for the seedling throwing drone to perform the seedling throwing operation is obtained.

[0048] Before the drone performs the seedling throwing operation, it is determined whether to trigger the adjustment of the seedling throwing operation parameter according to whether the seedling taking module is replaced. If it is detected that the seedling taking module is replaced, the number of the cutter head of the seedling taking module is changed. In order to ensure the operation specification, the adjustment of the seedling throwing operation parameter of the drone needs to be adaptively performed.

[0049] When it is detected whether the seedling taking module is replaced, a camera can be arranged on the drone, the image of the seedling taking module is collected by the camera, and it is determined whether the number of the cutter head is changed according to the collected image. Then, when it is determined that the number of the cutter head is changed, the recognized number of the cutter head is used to perform the seedling feeding control of the present application. The drone can also detect the interface identifier of the seedling taking module, recognize whether the seedling taking module is changed according to the interface identifier of the seedling taking module, and then determine the number of the cutter head according to the interface identifier. In addition, the operator can input the number of the cutter head of the replaced seedling taking module through the human-computer interaction between the operator and the drone.

[0050] Optionally, the number of the cutter head after the replacement of the seedling taking module is obtained by obtaining the motor load information of the idle rotation of the cutter head after the replacement of the seedling taking module, and determining the number of the cutter head after the replacement of the seedling taking module based on the motor load information.

[0051] The drone drives the cutter head of the seedling taking module to idle rotate, and then reads the motor load information of the driving source of the seedling taking module every time the seedling taking module is replaced. It can be understood that the motor load information is different when the seedling taking module with different numbers of cutter heads idles. Therefore, the drone only needs to store the motor load information when the seedling taking module with different numbers of cutter heads idles in advance. Then, when the number of the cutter head is detected, the motor load information of the idle rotation of the seedling taking module can be compared with the pre-stored information to determine the number of the cutter head of the replaced seedling taking module.

[0052] On the other hand, since the seedling throwing spacing needs to be kept unchanged, the seedling throwing operation parameter needs to be adjusted, and therefore the target seedling throwing spacing for the drone to perform the seedling throwing operation is obtained, so that the seedling throwing operation parameter is adapted according to the target seedling throwing spacing and the number of the cutter head after the replacement, so that the actual seedling throwing spacing is the same as the target seedling throwing spacing when the seedling throwing operation is performed with the seedling throwing operation parameter, and the effect of standard operation is achieved.

[0053] S120: Determine the seedling throwing operation parameters based on the number of blades and the target seedling throwing spacing, and use the determined seedling throwing operation parameters to perform the seedling throwing operation of the seedling throwing drone.

[0054] Furthermore, based on the number of blades 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 this application by taking the adjustment of the seedling throwing operation parameters when the seedling taking module switches from two cutter heads to three cutter heads as an example.

[0056] When the seedling removal module is Figure 1 The rice seedling taking module 32 shown is replaced by Figure 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. In a unit of time, three cutter heads are bound to separate more seedlings 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. In a unit of time, three cutter heads are bound to separate more seedlings 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 parameters for the seedling throwing operation 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] If the drone's flight speed is known, the cutter head rotation speed only needs to be determined based on the known flight speed, the number of cutter heads, and the target seedling spacing. The time interval between seedling planting operations is calculated based on the target seedling spacing and the drone's flight speed, and the cutter head rotation speed is calculated based on the seedling spacing and the number of cutter heads.

[0061] Reference Figure 12, assuming that the taking seedling module carries out the throwing seedling operation with 2 cutter heads, the target throwing seedling plant spacing is L, the cutter head rotation speed is V1, and the unmanned aerial vehicle flight speed is V2. At this time, the throwing seedling time interval of the front and rear two seedlings t1=L / V2, and the cutter head of the taking seedling module rotates 180°, that is, V1*t1=180°.

[0062] When the taking seedling module is switched to 3 cutter heads, since the flight speed of the unmanned aerial vehicle and the target throwing seedling plant spacing are fixed, the throwing seedling time interval of the front and rear two seedlings t2=t1 at this time, and since the cutter head of the taking seedling module only needs to rotate 120° in the case of 3 cutter heads to realize the separation of the front and rear two seedlings. Therefore, the cutter head rotation speed V3=(120° / 180°)*V1 at this time, that is, the cutter head rotation speed is reduced to 2 / 3 of the original to ensure the operation specification and avoid the situation that the actual throwing seedling plant spacing does not match the original target throwing seedling plant spacing.

[0063] Further, since the seedling feeding disc of the seedling feeding module is used to reciprocatingly move horizontally to convey the blanket seedlings to a fixed position for the taking seedling module to separate. Referring to Figure 4 , the time for the seedling feeding disc to move horizontally by one row of seedlings is just equal to the time for the taking seedling module to rotate to the next cutter head to separate the seedlings. Therefore, the throwing seedling operation parameters to be determined by the present application can also include the horizontal moving speed of the seedling feeding disc. After determining the cutter head rotation speed according to the flight speed of the unmanned aerial vehicle, the number of cutter heads, and the target throwing seedling plant spacing, it further includes: synchronously adjusting the horizontal moving speed of the seedling feeding disc according to the determined cutter head rotation speed.

[0064] It can be understood that since the time for the seedling feeding disc to move horizontally by one row of seedlings is just equal to the time for the taking seedling module to rotate to the next cutter head to separate the seedlings, the speed of the seedling feeding disc to move horizontally by one row of seedlings is just equal to the speed of the taking seedling module to rotate to the next cutter head. When the cutter head rotation speed of the taking seedling module is reduced to 2 / 3 of the original, the horizontal moving speed of the seedling feeding disc also needs to be reduced to 2 / 3 of the original. At this time, by reading the original horizontal moving speed of the seedling feeding disc, it can be adaptively adjusted to 2 / 3 of the original horizontal moving speed. By adaptively adjusting the horizontal moving speed of the seedling feeding disc, the accurate separation of the seedlings can be further ensured, the error in the separation of the seedlings can be avoided, the planting effect can be affected, the operation effect can be further improved.

[0065] It should be noted that in actual application, the above seedling feeding disc can also quickly move horizontally after each time of taking seedlings to convey the seedlings to the fixed position in advance to wait for taking seedlings, then wait for a set time, and when the cutter head rotates to the corresponding position to complete the taking seedlings, move quickly to the next position again. In this way, only the horizontal moving speed of the seedling feeding disc needs to be fast enough, and adaptive adjustment is not needed, and only the quick triggering of the horizontal movement to the next position after each time of taking seedlings is needed.

[0066] Alternatively, unlike the above Figures 6-9The structure is adopted to move the seedling tray horizontally, and the rotary cutter head of the seedling taking module is fixed to separate seedlings. The seedling tray can also be used to fix the position of the seedling carrying blanket, and then the seedling taking module reciprocates horizontally to separate the seedlings from the seedling carrying blanket of the seedling tray; correspondingly, after determining the rotary speed of the cutter head according to the flight speed of the unmanned aerial vehicle, the number of cutter heads and the target seedling throwing distance, the method further comprises: synchronously adjusting the horizontal moving speed of the seedling taking module according to the determined rotary speed of the cutter head.

[0067] Similarly, in the case of horizontal moving of the seedling taking module to take seedlings at the fixed position of the seedling tray, the time for the seedling taking module to horizontally move to take a row of seedlings is just equal to the time for the seedling taking module to rotate to the next cutter head to separate seedlings. Therefore, the determined seedling throwing operation parameters of the present application can also include the horizontal moving speed of the seedling taking module.

[0068] It can be understood that, since the time for the seedling taking module to horizontally move to the next row of seedlings is just equal to the time for the seedling taking module to rotate to the next cutter head to separate seedlings, i.e., the speed of the seedling taking module to horizontally move to a row of seedlings is just equal to the speed of the seedling taking module to rotate to the next cutter head. When the rotary speed of the cutter head of the seedling taking module is reduced to 2 / 3 of the original speed, the horizontal moving speed of the seedling taking module also needs to be reduced to 2 / 3 of the original speed. At this time, by reading the original horizontal moving speed of the seedling taking module, the adaptive adjustment is 2 / 3 of the original horizontal moving speed. By adaptively adjusting the horizontal moving speed of the seedling taking module, the accurate separation of seedlings can be further ensured, the error in the separation of seedlings can be avoided, the planting effect can be affected, and the operation effect can be further improved.

[0069] It should be noted that in actual application, the above-mentioned seedling taking module can also quickly horizontally move to the fixed position to wait for seedling taking after each seedling taking, then wait for a set time, and when the cutter head rotates to the corresponding position to complete the seedling taking, quickly horizontally move to the next position again. In this way, only the horizontal moving speed of the seedling taking module needs to be fast enough, and adaptive adjustment is not needed, and only the fast triggering of horizontal moving to the next position after each seedling taking is needed.

[0070] On the other hand, the seedling throwing operation parameters are determined based on the number of cutter heads and the target seedling throwing distance, and the method comprises:

[0071] The flight speed of the unmanned aerial vehicle is determined according to the rotary speed of the cutter head, the number of cutter heads and the target seedling throwing distance.

[0072] In the case of determining the rotary speed of the cutter head, only the flight speed of the unmanned aerial vehicle needs to be determined according to the determined rotary speed of the cutter head, the number of cutter heads and the target seedling throwing distance. The seedling throwing time interval of the front and rear seedling throwing operations is calculated according to the rotary speed of the cutter head and the number of cutter heads; the flight speed of the unmanned aerial vehicle is calculated according to the seedling throwing time interval and the target seedling throwing distance.

[0073] For the case of fixed and unchanged rotary speed of the cutter head, it is assumed that the target seedling throwing distance is L, the rotary speed of the cutter head is V1, and the flight speed of the unmanned aerial vehicle is V2 when the seedling taking module performs seedling throwing operation with 2 cutter heads. At this time, the seedling throwing time interval of the front and rear seedlings t1 = L / V2, and the cutter head of the seedling taking module rotates 180°, i.e., V1*t1 = 180°.

[0074] When the seedling taking module is switched to 3 cutter heads, the rotary speed of the cutter head V3 = V1 at this time, the target seedling throwing distance is fixed, the rotary reading of the seedling taking module for the seedling throwing operation of the front and rear seedlings is 120°, i.e., V1*t2 = 120°, t2 is the seedling throwing time interval of the front and rear seedlings, t2 = (2 / 3)t1. It is known that t1 = L / V2 and t2 = (2 / 3)t1, and thus the flight speed of the unmanned aerial vehicle V4 = L / t2 = 3L / 2t1, i.e., V4 = (3 / 2)V2. Therefore, it is only needed to increase the flight speed of the unmanned aerial vehicle to 3 / 2 times of the original speed V2 to ensure the operation specification and avoid the case that the actual seedling throwing distance is inconsistent with the original target seedling throwing distance.

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

[0076] The rotary speed of the cutter head and the flight speed of the unmanned aerial vehicle are synchronously adjusted according to the number of cutter heads and the target seedling throwing distance.

[0077] Unlike the above-mentioned mode of adjusting the rotary speed of the cutter head or the flight speed of the unmanned aerial vehicle, the rotary speed of the cutter head and the flight speed of the unmanned aerial vehicle can also be synchronously adjusted in the embodiments of the present application. It is assumed that the target seedling throwing distance is L, the rotary speed of the cutter head is V1, and the flight speed of the unmanned aerial vehicle is V2 when the seedling taking module performs seedling throwing operation with 2 cutter heads. At this time, the seedling throwing time interval of the front and rear seedlings t1 = L / V2, and the cutter head of the seedling taking module rotates 180°, i.e., V1*t1 = 180°.

[0078] When the seedling taking module is switched to 3 cutter heads, it is assumed that the rotary speed of the cutter head needs to be adjusted to V5 at this time, and the seedling throwing time interval of the front and rear seedlings t2 = 120° / V5. It can be obtained that the flight speed of the unmanned aerial vehicle should be adjusted to V6 = L / (120° / V5) at this time. The rotary speed of the cutter head and the flight speed of the unmanned aerial vehicle are synchronously adjusted, so that the operation specification can be ensured and the case that the actual seedling throwing distance is inconsistent with the original target seedling throwing distance can be avoided.

[0079] It should be noted that in actual application, according to the structure of the actual seedling throwing unmanned aerial vehicle, the above seedling throwing operation parameters can also include the plant spacing of the two rows of seedlings on the blanket seedling. When there are many cutter heads, a denser plant spacing can be set to ensure that the seedlings can be accurately taken by the front and rear two times of seedling taking. The embodiments of the present application do not make fixed restrictions on the type of specific seedling throwing operation parameters, which will not be described here.

[0080] The above, by detecting the replacement of the seedling taking module, the number of cutter heads after the replacement of the seedling taking module and the target seedling throwing plant spacing of the seedling throwing unmanned aerial vehicle performing the seedling throwing operation are obtained; the seedling throwing operation parameters are determined based on the number of cutter heads and the target seedling throwing plant spacing, and the seedling throwing operation of the seedling throwing unmanned aerial vehicle is performed using the determined seedling throwing operation parameters. By detecting the number of cutter heads after the replacement of the seedling taking module when the seedling taking module is replaced, and then determining the seedling throwing operation parameters according to the number of cutter heads after the replacement and the target seedling throwing plant spacing, the seedling throwing operation parameters can be adapted to the number of cutter heads, and the seedling throwing plant spacing before and after the replacement of the cutter head remains the same. Further, the seedling throwing operation is standardized, the seedling throwing operation accuracy is ensured, and the seedling throwing operation effect is improved.

[0081] On the basis of the above embodiments, Figure 13 A structural schematic diagram of a seedling throwing operation control device provided by the embodiments of the present application is provided. Referring to Figure 13 The seedling throwing operation control device provided by the embodiments of the present application is applied to an unmanned aerial vehicle mounting a seedling throwing mechanism, the seedling throwing mechanism includes a seedling feeding module and a seedling taking module, the seedling feeding module is used for conveying a blanket seedling, and the seedling taking module is used for throwing out seedlings by rotating a plurality of cutter heads to rotate and separate the seedlings from the blanket seedling in turn; the seedling throwing operation control device includes:

[0082] The acquisition module 41 is configured to detect the replacement of the seedling taking module, and obtain the number of cutter heads after the replacement of the seedling taking module and the target seedling throwing plant spacing of the seedling throwing unmanned aerial vehicle performing the seedling throwing operation;

[0083] The determination module 42 is configured to determine the seedling throwing operation parameters based on the number of cutter heads and the target seedling throwing plant spacing, and perform the seedling throwing operation of the seedling throwing unmanned aerial vehicle using the determined seedling throwing operation parameters.

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

[0085] Adjusting the seedling throwing operation parameters based on the number of cutter heads and the target seedling throwing plant spacing includes:

[0086] The cutter head rotation speed is determined according to the flight speed of the unmanned aerial vehicle, the number of cutter heads and the target seedling throwing plant spacing.

[0087] The cutter head rotation speed is determined according to the flight speed of the unmanned aerial vehicle, the number of cutter heads and the target seedling throwing plant spacing, including:

[0088] According to the target seedling throwing plant spacing and the flight speed of the unmanned aerial vehicle, the seedling throwing time interval of the two seedling throwing operations is calculated.

[0089] According to the seedling throwing time interval and the number of cutter heads, the cutter head rotation speed is determined.

[0090] The seedling feeding module includes a seedling feeding disc for reciprocating transverse movement to deliver the blanket seedlings to a fixed position for the seedling taking module to separate;

[0091] Correspondingly, after determining the cutter head rotation speed according to the flight speed of the unmanned aerial vehicle, the number of cutter heads and the target seedling throwing plant spacing, the method further comprises:

[0092] According to the determined cutter head rotation speed, the transverse movement speed of the seedling feeding disc is adjusted synchronously.

[0093] The seedling feeding module includes a seedling feeding disc for reciprocating transverse movement to deliver the blanket seedlings to a fixed position for the seedling taking module to separate;

[0094] Correspondingly, after determining the cutter head rotation speed according to the flight speed of the unmanned aerial vehicle, the number of cutter heads and the target seedling throwing plant spacing, the method further comprises:

[0095] According to the determined cutter head rotation speed, the transverse movement speed of the seedling feeding disc is adjusted synchronously.

[0096] Specifically, the seedling throwing operation parameters include the flight speed of the seedling throwing unmanned aerial vehicle;

[0097] Based on the number of cutter heads and the target seedling throwing plant spacing, the seedling throwing operation parameters are determined, including:

[0098] According to the number of cutter heads and the target seedling throwing plant spacing, the flight speed of the unmanned aerial vehicle is determined.

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

[0100] Based on the number of cutter heads and the target seedling throwing plant spacing, the seedling throwing operation parameters are determined, including:

[0101] According to the number of cutter heads and the target seedling throwing plant spacing, the cutter head rotation speed and the flight speed of the unmanned aerial vehicle are adjusted synchronously.

[0102] In addition, the number of cutter heads after the seedling taking module is replaced is obtained, including:

[0103] After the seedling taking module is replaced, the motor load information of the cutter head idling 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 drone 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 drone is performed using the determined seedling throwing operation parameters. By adopting the above technical means, the number of blades after replacement is detected 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, 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 rice seedling throwing operation control device provided in the embodiment of the present application can be used to execute the rice seedling throwing operation control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0106] The present application provides an electronic device, referring to Figure 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 may be one or more, and the number of memories in the electronic device may be one or more. The processor, memory, communication module, input device, and output device of the electronic device may 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 rice seedling throwing operation control method described in any embodiment of the present application (for example, the acquisition module and determination module in the rice seedling throwing operation control device). The memory may mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required for at least one function; the data storage area can 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 can be connected to the device via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[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, thereby realizing the above-mentioned rice seedling throwing operation control method.

[0110] The input device can be used to receive inputted digital or character information, and to generate key signal input related to user settings and function control of the device. The output device can include a display device such as a display screen.

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

[0112] The 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 comprises: being applied to a unmanned aerial vehicle mounting a seedling throwing mechanism, the seedling throwing mechanism comprising a seedling conveying module and a seedling taking module, the seedling conveying module being used to convey a seedling mat, and the seedling taking module being used to throw out seedlings separated from the seedling mat by a rotating cutter head; the method comprises: when it is detected that the seedling taking module is replaced, acquiring the number of the cutter heads after the seedling taking module is replaced and a target seedling throwing plant spacing of the seedling throwing unmanned aerial vehicle performing a seedling throwing operation; determining seedling throwing operation parameters based on the number of the cutter heads and the target seedling throwing plant spacing; and performing the seedling throwing operation of the seedling throwing unmanned aerial vehicle by using the determined seedling throwing operation parameters.

[0113] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include an installation medium, e.g., a CD-ROM, floppy disks, or tape device; a computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; a non-volatile memory such as a magnetic medium (e.g., a hard drive or optical storage); registers or other similar types of memory elements upon which a computer processes data. The memory can also include other types of storage medium and combinations thereof. Moreover, the memory can be located in a first computer system that executes a program, or can be located in a second different computer system that connects to the first computer system over a network (e.g., the Internet). The second computer system can provide program instructions to the first computer system for execution. The term "storage medium" can include two or more memory devices residing in different locations (e.g., in different computer systems that are connected over a network). The storage medium can store program instructions (e.g., a computer program in a high-level programming language), or program instructions in a low-level programming language, 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 as described above, and can also execute the related operations in the seedling throwing operation control method provided in any embodiment of the present application.

[0115] The seedling throwing operation control device, the storage medium and the electronic device provided in the above embodiments can execute the seedling throwing operation control method provided in any of the embodiments of the present application, and technical details not described in detail in the above embodiments can be referred to the seedling throwing operation control method provided in any of the embodiments 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 protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without deviating 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 method for a drone equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module. The seedling delivery module is used to deliver a seedling blanket, and the seedling retrieval module separates the seedlings from the seedling blanket by a rotating cutter head and then throws the seedlings. When it is detected that the seedling taking module has been replaced, the number of blades of the replaced seedling taking module and the target seedling 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 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 determining of the seedling throwing operation parameters based on the number of cutter heads and the target seedling throwing spacing includes: 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 head 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 for reciprocating and transversely moving 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 seedlings in a fixed position, and the seedling removal module is used for reciprocating transverse movement to separate the seedlings from 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 determining of the seedling throwing operation parameters based on the number of cutter heads and the target seedling throwing spacing includes: 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 determining of the flight speed of the UAV according to the rotation speed of the cutter head, the number of the cutter heads, and the target seedling spacing includes: 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 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 determining of the seedling throwing operation parameters based on the number of cutter heads and the target seedling throwing spacing includes: According to the number of the cutter heads and the target spacing between seedlings, 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 blades of the seedling removal module after replacement includes: After the seedling removing module is replaced, the motor load information of the idling cutter heads is obtained, and the number of cutter heads after the seedling removing module is replaced is determined based on the motor load information.

10. A rice seedling throwing control device, characterized in that: A drone equipped with a seedling throwing mechanism includes a seedling delivery module and a seedling removal module. The seedling delivery module is used to deliver seedlings, and the seedling removal module separates the seedlings from the seedling blanket through a rotating blade and then throws them out. The device includes: 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 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 control method as described in any one of claims 1-9.

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

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 delivery module and a seedling taking module, wherein: The seedling delivery module is used for delivering blanket seedlings; The seedling removal 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 to: When it is detected that the seedling taking module has been replaced, the number of blades of the replaced seedling taking module and the target seedling 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 spacing, and the seedling throwing operation of the seedling throwing drone is performed using the determined seedling throwing operation parameters.

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