Flight control method, seedling throwing system, unmanned aerial vehicle and storage medium

Abstract

The invention discloses a flight control method, a seedling slinging system, an unmanned aerial vehicle and a storage medium, and relates to the technical field of unmanned aerial vehicles, the method is applied to the unmanned aerial vehicle mounted with a seedling slinging mechanism, the seedling slinging mechanism comprises a seedling feeding module and a seedling taking module, the seedling feeding module is used for conveying blanket seedlings, and the seedling feeding module comprises a seedling feeding disc moving transversely in a reciprocating mode; the transverse moving direction of the seedling conveying disc is perpendicular to the advancing direction of the unmanned aerial vehicle, and the seedling taking module is used for separating seedlings from blanket seedlings conveyed by the seedling conveying module and then throwing the seedlings out. The method comprises the following steps: acquiring motion parameters of a seedling feeding disc; according to the motion parameters of the seedling feeding disc, the roll angle disturbance quantity borne by the unmanned aerial vehicle is determined, and the roll angle disturbance quantity is used for reflecting disturbance of the seedling feeding disc in the roll direction on the unmanned aerial vehicle when the seedling feeding disc moves transversely in a reciprocating mode; and controlling the roll angle of the unmanned aerial vehicle during flight according to the roll angle disturbance quantity. By means of the technical means, the problem that the fuselage inclines when the unmanned aerial vehicle throws seedlings on one side is solved, and the stability of flying seedling throwing operation of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a flight control method, a rice seedling transplanting system, an unmanned aerial vehicle and a storage medium. Background Art

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

[0003] However, when the drone is using a rice transplanter to plant rice seedlings, the transplanting operation will cause the drone's fuselage to tilt, affecting the drone's flight stability. Summary of the invention

[0004] The present application provides a flight control method, a seedling throwing system, a UAV and a storage medium, which solve the problem of the UAV body tilting during seedling throwing and improve the stability of the UAV's flight seedling throwing operation.

[0005] In a first aspect, the present application provides a flight control method, 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 a seedling blanket, and the seedling sending module includes a seedling sending tray that reciprocates and laterally moves, wherein the lateral movement direction of the seedling sending tray is perpendicular to the forward direction of the drone, and the seedling taking module is used to separate the seedling blanket transported by the seedling sending module from the seedlings and then throw them out; the method includes:

[0006] Acquiring movement parameters of the seedling delivery tray;

[0007] According to the motion parameters of the seedling delivery tray, the roll angle disturbance amount to which the UAV is subjected is determined, wherein the roll angle disturbance amount is used to reflect the disturbance in the roll direction caused by the seedling delivery tray to the UAV when the seedling delivery tray moves back and forth laterally;

[0008] The rolling angle of the UAV during flight is controlled according to the rolling angle disturbance amount.

[0009] In a second aspect, the present application provides a seedling throwing system, a seedling throwing mechanism and a drone, wherein the seedling throwing mechanism is mounted on the drone, the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module; the drone includes a control module, wherein:

[0010] The seedling delivery module is used to deliver blanket seedlings; wherein the seedling delivery module comprises a seedling delivery tray that moves back and forth laterally, and the lateral movement direction of the seedling delivery tray is perpendicular to the forward direction of the drone;

[0011] The seedling taking module is used to separate the seedlings from the blanket of seedlings transported by the seedling delivery module and then throw them out;

[0012] The control module is used to execute the flight control method as described in the first aspect.

[0013] In a third aspect, the present application provides a drone, comprising:

[0014] One or more processors; a memory storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the flight control method as described in the first aspect.

[0015] In a fourth aspect, the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute the flight control method as described in the first aspect.

[0016] In the present application, the motion parameters of the seedling delivery tray of the seedling throwing mechanism of the drone are obtained during the seedling throwing operation, and the roll angle disturbance amount to which the drone is subjected is determined according to the motion parameters of the seedling delivery tray, and the roll angle of the drone during flight is controlled according to the roll angle disturbance amount. Through the above-mentioned technical means, since the roll angle disturbance amount can reflect the disturbance in the roll direction of the drone caused by the seedling delivery tray when it moves back and forth laterally, the control amount required for the drone to stabilize the roll angle is determined according to the roll angle disturbance amount, and the roll angle of the drone during flight is controlled based on the control amount to offset the disturbance caused by the lateral movement of the seedling delivery tray, so that the drone can maintain stable control of the roll angle during flight, avoid large changes in the roll angle, solve the problem of the drone body tilting during unilateral seedling throwing, and improve the stability of the drone's flight seedling throwing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a side view schematic diagram of a seedling throwing system provided in an embodiment of the present application;

[0018] Figure 2 is a bottom view schematic diagram of the seedling throwing system provided in an embodiment of the present application;

[0019] Figure 3 is a front view schematic diagram of a seedling throwing mechanism provided in an embodiment of the present application;

[0020] Figure 4 is a flow chart of a flight control method provided by an embodiment of the present application;

[0021] Figure 5 is a flow chart for determining the frequency of reciprocating motion provided by an embodiment of the present application;

[0022] Figure 6is a flow chart for determining the amount of roll angle disturbance received by a drone provided in an embodiment of the present application;

[0023] Figure 7 is a flow chart for determining a target roll angle control amount provided by an embodiment of the present application;

[0024] Figure 8 is a structural block diagram of a closed-loop control system provided in an embodiment of the present application;

[0025] Fig. 9 It is a schematic diagram of the structure of a drone provided in an embodiment of the present application;

[0026] In the figure, 10, blanket seedlings; 11, seedlings; 12, grooves; 20, drones; 30, seedling throwing mechanisms; 31, seedling delivery modules; 311, seedling delivery trays; 312, seedling support plates; 313, openings; 314, conveying devices; 315, driving devices; 32, seedling removal modules; 321, driving sources; 322, cutter heads; 41, processors; 42, memory devices; 43, communication devices; 44, input devices; 45, output devices. DETAILED DESCRIPTION

[0027] 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.

[0028] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0029] In the relevant implementation, the drone can be equipped with a single-sided seedling throwing machine to throw the seedlings over a narrow field to plant the seedlings in the narrow field. However, when the drone uses the seedling throwing machine to throw the seedlings on one side, the throwing operation will cause the drone body to tilt, affecting the flight stability of the drone.

[0030] To solve the above problems, the present embodiment provides a flight control method, a seedling throwing system, a UAV and a storage medium to stably control the roll angle of the UAV and ensure the stability of the UAV's flight seedling throwing operation.

[0031] Figure 1 It is a side view schematic diagram of the seedling throwing system provided in an embodiment of the present application. Figure 2 Schematic diagram of the bottom view of the seedling throwing system provided in the embodiment of the present application. Figure 1 and Figure 2 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. The seedling throwing mechanism 30 includes a seedling delivery module 31 and a seedling retrieval module 32. The seedling delivery module 31 is used to transport the blanket seedlings 10. The seedling delivery module 31 includes a seedling delivery tray 311 that moves back and forth laterally. The lateral movement direction of the seedling delivery tray 311 is perpendicular to the forward direction of the drone 20. The seedling retrieval module 32 is used to separate the seedlings 11 from the blanket seedlings 10 transported by the seedling delivery module 31 and then throw them out. Exemplarily, when the drone 20 is equipped with the seedling throwing mechanism 30 for flying and throwing operations, the drone 20 moves toward Figure 2 The seedling tray 311 flies in the direction of the arrow A. Figure 2 The seedling feeding tray 311 is moved in the direction of the middle arrow B, and the seedling blanket 10 is placed on the seedling feeding tray 311. When the seedlings 11 of the seedling blanket 10 move to the seedling taking point, the seedling taking module 32 separates the seedlings 11 from the seedling blanket 10 and throws the seedling blanket 10 out by centrifugal force and / or ejection force. It should be noted that there are many ways of separation, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling taking methods are not limited.

[0032] In this embodiment, Figure 3 Schematic diagram of the front view of the seedling throwing mechanism provided in the embodiment of the present application. Figure 3 As shown, the seedling delivery module 31 also includes a seedling supporting plate 312 and a driving device 315. The seedling supporting plate 312 is provided with an opening 313. The lower part of the seedling delivery tray 311 is located inside the seedling supporting 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 supporting plate 312. The seedling retrieval module 32 includes a driving source 321 and a cutter head. The driving source 321 is used to drive the cutter head 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. Among them, the opening 313 of the seedling supporting plate 312 is the seedling retrieval point of the seedling retrieval module 32. Figure 3It can be known that the seedling delivery module 31 may include 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 plates move synchronously. Correspondingly, the seedling throwing machine includes a plurality of seedling retrieval modules 32, and the seedling retrieval modules 32 correspond to the seedling delivery trays 311 one by one. The seedling retrieval modules 32 and the seedling supporting plate 312 remain stationary, and the seedling delivery trays 311 can move back and forth in the left and right directions. During the lateral movement of the seedling delivery trays 311, the seedling retrieval module 32 separates the seedlings 11 exposed in the opening 313 from the adjacent seedlings 11 through the cutter head, thereby realizing the separation and throwing of the blanket seedlings 10 row by row and bunch by bunch. The driving source 321 can drive the cutter head along Figure 1 The cutter head rotates in the direction indicated by the arrow C, thereby separating the seedling blanket 10 in the process of contacting the seedling blanket 10, and the separated seedling 11 rotates along the direction of the arrow C with the cutter head. When the seedling 11 rotates to a specific position, the seedling 11 is thrown out under the action of centrifugal force and / or ejection force. Further, the seedling removal module 32 can evenly arrange multiple cutter heads. For example, when a seedling removal module 32 is provided with two cutter heads, the angle between the two cutter heads and the center of the driving source 321 is 180 degrees, three cutter heads can be spaced 120 degrees apart, and four cutter heads can be spaced 90 degrees apart.

[0033] refer to Figure 1 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 support plate 312. The conveying device 314 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel). Figure 2 and Figure 3 When the seedling delivery tray 311 moves from the left side to the right side of the seedling delivery module 31, the seedlings 11 of one row of the seedling blanket 10 have just been thrown out, and the seedlings 11 of the next row are moved to the seedling support plate 312 under the action of the conveying device 314. The seedling delivery tray 311 moves in the opposite direction of the arrow B to move the seedlings 11 of the next row to the opening 313, and the seedling removal module 32 separates the seedlings 11 from the seedling blanket 10 and throws the seedling blanket 10 out by centrifugal force and / or ejection force.

[0034] It should be noted that when the seedling delivery tray 311 moves in the direction of arrow B, the drone 20 moves to the left relative to the seedling delivery tray 311, so that the drone 20 is subjected to a force moving to the left. When the seedling delivery tray 311 moves in the opposite direction of arrow B, the drone 20 moves to the right relative to the seedling delivery tray 311, so that the drone 20 is subjected to a force moving to the right. When the drone 20 is subjected to a force perpendicular to the forward direction, the roll angle of the drone 20 will change, affecting the stability of the fuselage. Therefore, when the drone 20 performs a flying seedling throwing operation, the roll angle can be stabilized by executing a flight control method, thereby ensuring the flying seedling throwing stability of the drone 20.

[0035] The flight control method provided in this embodiment can be executed by a drone 20, which 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. Of course, 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 it can be manually controlled by an operator.

[0036] The drone 20 is installed with at least one type of operating system. The drone 20 can install at least one application based on the operating system. The application can be an application that comes with the operating system or an application downloaded from a third-party device or server. In this embodiment, the drone 20 has at least an application that can execute the flight control method.

[0037] The drone 20 also includes a control module, which can also be used to execute the flight control method provided in this embodiment.

[0038] For ease of understanding, this embodiment is described by taking the drone 20 as an example of a subject that executes the flight control method.

[0039] Figure 4 A flow chart of a flight control method provided by an embodiment of the present application is given. Figure 4 , the flight control method specifically includes:

[0040] S110, obtaining the motion parameters of the seedling delivery tray.

[0041] Among them, the motion parameters of the seedling delivery tray 311 refer to the parameters when the seedling delivery tray 311 moves left and right when the drone 20 performs the flying seedling throwing operation. It can be understood that when the seedling delivery tray 311 moves left and right, the drone 20 is subjected to a reverse force, and the roll angle of the drone 20 changes under the interference of the reverse force. In order to stably control the roll angle of the drone 20, the roll angle disturbance amount of the drone 20 when the seedling delivery tray 311 moves left and right can be analyzed according to the motion parameters of the seedling delivery tray 311, and the roll angle control amount required to offset the change in the roll angle under the interference of the reverse force is determined according to the roll angle disturbance amount. Among them, the roll angle disturbance amount can be understood as the change in the roll angle of the drone 20 when the drone 20 is subjected to a reverse force.

[0042] In one embodiment, the motion parameters of the seedling delivery tray 311 include the reciprocating motion frequency of the seedling delivery tray 311. It can be understood that when the reciprocating motion frequency of the seedling delivery tray 311 is faster, it means that the reverse force on the drone 20 changes faster and the roll angle changes more frequently. Therefore, the disturbance amount of the roll angle can be determined according to the reciprocating motion frequency of the seedling delivery tray 311. For example, Figure 5 : is a flow chart for determining the frequency of reciprocating motion provided by an embodiment of the present application. Figure 5 As shown, the step of determining the reciprocating motion frequency specifically includes S1101-S1103:

[0043] S1101. Determine the reciprocating distance of the seedling delivery tray according to the length of the seedling delivery tray and the seedling supporting plate.

[0044] S1102. Determine the time period for the reciprocating movement of the seedling delivery tray according to the distance and the moving speed of the seedling delivery tray.

[0045] S1103. Determine the reciprocating movement frequency of the seedling delivery module according to the time period.

[0046] refer to Figure 3 , subtract the length of the seedling delivery tray 311 from the length of the seedling supporting plate 312 to obtain the distance that the seedling delivery tray 311 moves horizontally from one side of the seedling supporting plate 312 to the other side, and multiply the distance by two to obtain the distance that the seedling delivery tray 311 moves back and forth on the seedling supporting plate 312. It should be noted that when the seedling delivery module 31 includes multiple seedling delivery trays 311, the length of the seedling supporting plate 312 minus the sum of all the seedling delivery trays 311 is equal to the distance that the seedling delivery tray 311 moves horizontally from one side of the seedling supporting plate 312 to the other side. The ratio of the distance that the seedling delivery tray 311 moves back and forth on the seedling supporting plate 312 to the moving speed of the seedling delivery tray 311 is determined as the time period of the reciprocating movement of the seedling delivery tray 311. The frequency is the reciprocal of the period, and the reciprocal of the time period of the reciprocating movement of the seedling delivery tray 311 is determined as the reciprocating motion frequency of the seedling delivery module 31.

[0047] In another embodiment, the motion parameter of the seedling delivery tray 311 may further include the moving speed of the seedling delivery tray 311. It is understandable that when the moving speed of the seedling delivery tray 311 is faster, the relative position change between the drone 20 and the seedling delivery tray 311 is greater, that is, the greater the reaction force on the drone 20, the greater the change in the roll angle, so the disturbance amount of the roll angle can be determined according to the moving speed of the seedling delivery tray 311.

[0048] S120. Determine the roll angle disturbance amount to which the UAV is subjected according to the motion parameters of the seedling delivery tray. The roll angle disturbance amount is used to reflect the disturbance in the roll direction caused to the UAV by the seedling delivery tray when it moves back and forth laterally.

[0049] For example, the roll angle variation of the drone 20 when the seedling delivery tray 311 moves back and forth laterally at a certain reciprocating motion frequency can be measured multiple times in advance on the test bench, and the average value of the roll angle variation measured multiple times is used as the roll angle disturbance amount to which the drone 20 is subjected when the seedling delivery tray 311 moves back and forth laterally at the corresponding reciprocating motion frequency. By measuring the roll angle disturbance amount to which the drone 20 is subjected at various reciprocating motion frequencies, the reciprocating motion frequency is associated with the corresponding roll angle disturbance amount and saved in the flying seedling throwing operation task of the drone 20. When the drone 20 performs the flying seedling throwing operation, according to the current reciprocating motion frequency of the seedling delivery tray 311, the roll angle disturbance amount associated with the reciprocating motion frequency is obtained in the operation task, and the obtained roll angle disturbance amount is determined as the roll angle disturbance amount currently subjected to the drone 20.

[0050] In another embodiment, mathematical modeling can be performed on the drone 20 equipped with the seedling throwing mechanism 30 to obtain the structural model of the drone 20. The roll angle disturbance amount to which the drone 20 is subjected at the current reciprocating motion frequency of the seedling delivery tray 311 is derived according to the structural model of the drone 20. Figure 6 FIG. 1 is a flow chart for determining the amount of roll angle disturbance to which a UAV is subjected, provided in an embodiment of the present application. Figure 6 As shown, the step of determining the roll angle disturbance amount to which the UAV 20 is subjected specifically includes S1201-S1202:

[0051] S1201. Determine the reaction torque on the UAV when the seedling delivery tray moves back and forth according to the motion parameters of the seedling delivery tray and the structural model of the UAV.

[0052] S1202: Determine the roll angle disturbance of the UAV according to the counter torque.

[0053] Among them, the counter-torque is the reverse force applied to the drone 20 when the seedling delivery tray 311 moves back and forth. Whether the counter-torque applied to the drone 20 is large or small can be determined based on the structural model of the drone 20 and the reciprocating motion frequency of the seedling delivery tray 311. In the case where the counter-torque applied to the drone 20 is large, the roll angle disturbance applied to the drone 20 is determined to be a first value. In the case where the counter-torque applied to the drone 20 is small, the roll angle disturbance applied to the drone 20 is determined to be a second value. The first value is greater than the second value, and the first value and the second value are the changes in the roll angle when the drone 20 is subjected to a large counter-torque and the changes in the roll angle when the drone 20 is subjected to a small counter-torque, which are measured through multiple tests.

[0054] S130: Control the rolling angle of the UAV during flight according to the rolling angle disturbance amount.

[0055] For example, after determining the roll angle disturbance amount to which the drone 20 is subjected when the seedling delivery tray 311 reciprocates and moves laterally, the target roll angle control amount of the drone 20 can be determined according to the roll angle disturbance amount. The target roll angle control amount can be understood as the roll angle control amount required to offset the roll angle change of the drone 20 when the seedling delivery tray 311 reciprocates and moves laterally. The roll angle of the drone 20 during flight is controlled according to the target roll angle control amount, so as to overcome the disturbance to the drone 20 when the seedling delivery tray 311 reciprocates and moves laterally, and ensure the stability of the flying seedling throwing operation of the drone 20.

[0056] In this embodiment, when the seedling delivery tray 311 does not move, the drone 20 will observe the parameters of the roll angle in real time to determine the control amount of the roll angle according to the controller and the observed roll angle parameters. When the seedling delivery tray 311 moves, the controller is still working, so the roll angle disturbance amount and the roll angle control amount output by the controller can be combined to determine the target roll angle control amount to achieve accurate and stable control of the roll angle. Exemplarily, the actual roll angle of the drone 20 is measured by an observer, and the deviation between the actual roll angle and the expected roll angle is input into the controller to obtain the roll angle control amount output by the controller, and the roll angle control amount is subtracted from the roll angle disturbance amount to obtain the target roll angle control amount. Among them, the expected roll angle is the roll angle state that the drone 20 currently wants to maintain, and the actual roll angle is the actual roll angle state of the drone 20.

[0057] In fact, during the lateral movement of the seedling delivery tray 311, the roll angle of the drone 20 has changed, so the actual roll angle measured by the observer contains a certain amount of disturbance, but the controller is used to determine the roll angle control amount when the seedling delivery tray 311 does not move. Therefore, before the controller determines the roll angle control amount, the disturbance amount in the actual roll angle is first eliminated to ensure the accuracy of the roll angle control. Figure 7 : is a flow chart of determining the target roll angle control amount provided by an embodiment of the present application. Figure 7 As shown, the step of determining the target roll angle control amount specifically includes S1301-S1303:

[0058] S1301 . Determine an estimated roll angle parameter of the drone 20 according to the actual roll angle parameter and the reaction moment of the drone 20 .

[0059] For example, the control process of the roll angle can be regarded as Figure 8The closed-loop control system shown in FIG. 1 is a control system in which the actual roll angle parameter includes the actual roll angle, the actual roll angular velocity and the actual roll angular acceleration. The controlled system is the drone 20 itself. The first roll angle control amount is the roll angle control amount output by the controller. The estimated roll angle parameter is the roll angle parameter after the actual roll angle parameter is removed from the disturbance amount, and the estimated roll angle parameter includes the estimated roll angle, the estimated roll angular velocity and the estimated roll angular acceleration. In this embodiment, the actual roll angle, the actual roll angular velocity and the actual roll angular acceleration of the drone 20 can be obtained by the observer; the disturbance threshold is determined according to the actual roll angle, the actual roll angular velocity, the actual roll angular acceleration and the disturbance threshold. The disturbance threshold is the disturbance amount in the actual roll angle parameter. Exemplarily, the disturbance threshold of the roll angle, the disturbance threshold of the roll angular velocity and the disturbance threshold of the roll angular acceleration are determined according to the counter torque and the structural model of the drone 20. The estimated roll angle is obtained by subtracting the disturbance threshold of the roll angle from the actual roll angle, the estimated roll angular velocity is obtained by subtracting the disturbance threshold of the roll angular velocity from the actual roll angular velocity, and the estimated roll angular acceleration is obtained by subtracting the disturbance threshold of the roll angular acceleration from the actual roll angular acceleration.

[0060] S1302: Determine a first roll angle control value of the UAV according to the expected roll angle of the UAV and the estimated roll angle parameter.

[0061] refer to Figure 8 , the desired roll angle and the estimated roll angle parameters are input into the controller to obtain the first roll angle control quantity output by the controller.

[0062] In this embodiment, the drone 20 adopts a proportional integral differential controller, and accordingly, the desired roll angle and the estimated roll angle parameter are input into a preset proportional integral differential controller, which outputs a first roll angle control amount of the drone 20. Exemplarily, the proportional integral differential controller calculates the deviation between the desired roll angle and the estimated roll angle parameter, and determines the first roll angle control amount through the deviation and a PID (proportional integral differential) control algorithm.

[0063] S1303: Determine a target roll angle control amount of the UAV according to the first roll angle control amount and the roll angle disturbance amount.

[0064] refer to Figure 8 , subtract the roll angle disturbance amount from the first roll angle control amount to obtain the target roll angle control amount, and control the roll angle of the UAV 20 according to the target roll angle control amount. The observer collects the actual roll angle parameter of the controlled UAV 20, determines the estimated roll angle parameter according to the actual roll angle parameter and the disturbance threshold, inputs the estimated roll angle parameter into the controller, and the controller outputs the first roll angle control amount, thereby realizing the closed-loop feedback control of the roll angle of the UAV 20.

[0065] In summary, the flight control method provided in the embodiment of the present application obtains the motion parameters of the seedling delivery tray 311 of the seedling throwing mechanism 30 by the drone 20 during the seedling throwing operation, determines the roll angle disturbance amount to which the drone 20 is subjected according to the motion parameters of the seedling delivery tray 311, and controls the roll angle of the drone 20 during flight according to the roll angle disturbance amount. Through the above-mentioned technical means, since the roll angle disturbance amount can reflect the disturbance in the roll direction caused by the seedling delivery tray 311 to the drone 20 during the reciprocating lateral movement, the control amount required for the drone 20 to stabilize the roll angle is determined according to the roll angle disturbance amount, and the roll angle of the drone 20 during flight is controlled based on the control amount to offset the disturbance caused by the lateral movement of the seedling delivery tray 311, so as to achieve the drone 20 maintaining stable control of the roll angle during flight, avoiding large changes in the roll angle, solving the problem of the body tilting of the drone 20 during unilateral seedling throwing, and improving the stability of the drone 20 during the flight seedling throwing operation.

[0066] Fig. 9 is a schematic diagram of the structure of a drone provided in an embodiment of the present application, with reference to Fig. 9 The drone includes: a processor 41, a memory 42, a communication device 43, an input device 44, and an output device 45. The number of processors 41 in the drone can be one or more, and the number of memories 42 in the drone can be one or more. The processor 41, memory 42, communication device 43, input device 44, and output device 45 of the drone can be connected via a bus or other means.

[0067] The memory 42, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the flight control method of any embodiment of the present application. The memory 42 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application required for a function; the data storage area may store data created according to the use of the device, etc. In addition, the memory 42 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.

[0068] The communication device 43 is used for data transmission.

[0069] The processor 41 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 42, that is, realizes the above-mentioned flight control method.

[0070] The input device 44 may 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 45 may include a display device such as a display screen.

[0071] The drone provided above can be used to execute the flight control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0072] An embodiment of the present application also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to execute a flight control method, the flight control method comprising: obtaining motion parameters of a seedling delivery tray; determining the amount of roll angle disturbance to which the UAV is subjected based on the motion parameters of the seedling delivery tray, the roll angle disturbance being used to reflect the disturbance in the roll direction of the UAV caused by the seedling delivery tray when it moves back and forth laterally; and controlling the roll angle of the UAV during flight based on the roll angle disturbance.

[0073] 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.

[0074] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present application, whose computer executable instructions are not limited to the above flight control method, can also execute related operations in the flight control method provided in any embodiment of the present application.

[0075] The seedling throwing system, storage medium and drone provided in the above embodiments can execute the flight 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 flight control method provided in any embodiment of the present application.

[0076] 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 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 is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A flight control method, characterized in that: The invention is applied to 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 a blanket of seedlings, the seedling sending module comprises a seedling sending tray that reciprocates and laterally moves, and the lateral movement direction of the seedling sending tray is perpendicular to the forward direction of the drone, and the seedling taking module is used to separate the seedlings from the blanket of seedlings transported by the seedling sending module and then throw them out; the method comprises: Acquiring movement parameters of the seedling delivery tray; According to the motion parameters of the seedling delivery tray, the roll angle disturbance amount to which the UAV is subjected is determined, wherein the roll angle disturbance amount is used to reflect the disturbance in the roll direction caused by the seedling delivery tray to the UAV when the seedling delivery tray moves back and forth laterally; The rolling angle of the UAV during flight is controlled according to the rolling angle disturbance amount.

2. The flight control method according to claim 1, characterized in that: The seedling sending module also includes a seedling supporting plate and a driving device, the seedling supporting plate is provided with an opening, the lower part of the seedling sending tray is located inside the seedling supporting plate, the seedling sending tray is used for placing the blanket seedlings, and the driving device is used for driving the seedling sending tray to move laterally relative to the seedling supporting plate; the seedling taking module includes a driving source and a cutter head, the driving source is used for driving the cutter head to rotate so as to separate the seedlings of the blanket seedlings on the seedling sending tray through the opening and throw out the separated seedlings.

3. The flight control method according to claim 2, characterized in that: The motion parameters of the seedling delivery tray include the reciprocating motion frequency of the seedling delivery tray; accordingly, obtaining the motion parameters of the seedling delivery tray includes: Determine the reciprocating distance of the seedling delivery tray according to the length of the seedling delivery tray and the seedling supporting plate; Determine the time period of the reciprocating movement of the seedling delivery tray according to the distance and the moving speed of the seedling delivery tray; The reciprocating motion frequency of the seedling delivery module is determined according to the time period.

4. The flight control method according to claim 1, characterized in that: The step of determining the roll angle disturbance amount to which the UAV is subjected based on the motion parameters of the seedling delivery tray comprises: According to the motion parameters of the seedling delivery tray and the structural model of the drone, the reaction torque applied to the drone when the seedling delivery tray moves back and forth is determined; The roll angle disturbance amount of the UAV is determined according to the counter torque.

5. The flight control method according to claim 4, characterized in that: The step of controlling the rolling angle of the UAV during flight according to the rolling angle disturbance amount includes: Determining a target roll angle control amount of the UAV according to the roll angle disturbance amount; The rolling angle of the UAV during flight is controlled according to the target rolling angle control amount.

6. The flight control method according to claim 5, characterized in that: Determining a target roll angle control amount of the UAV according to the roll angle disturbance amount includes: Determining an estimated roll angle parameter of the UAV according to an actual roll angle parameter of the UAV and the counter torque; Determining a first roll angle control amount of the UAV according to the expected roll angle of the UAV and the estimated roll angle parameter; A target roll angle control amount of the UAV is determined according to the first roll angle control amount and the roll angle disturbance amount.

7. The flight control method according to claim 6, characterized in that: The step of determining the estimated roll angle parameter of the UAV according to the actual roll angle parameter of the UAV and the counter torque comprises: Obtaining an actual roll angle, an actual roll angular velocity, and an actual roll angular acceleration of the drone; determining a disturbance threshold value according to the counter torque; An estimated roll angle, an estimated roll angular velocity, and an estimated roll angular acceleration are determined according to the actual roll angle, the actual roll angular velocity, the actual roll angular acceleration, and the disturbance threshold.

8. The flight control method according to claim 6, characterized in that: The step of determining a first roll angle control amount of the UAV according to the expected roll angle of the UAV and the estimated roll angle parameter comprises: The desired roll angle and the estimated roll angle parameters are input into a preset proportional integral differential controller, and a first roll angle control amount of the UAV is output.

9. A seedling throwing system, characterized in that: It includes a seedling throwing mechanism and a drone, wherein the seedling throwing mechanism is mounted on the drone, and the seedling throwing mechanism includes a seedling sending module and a seedling taking module; the drone includes a control module, wherein: The seedling delivery module is used to deliver blanket seedlings; wherein the seedling delivery module comprises a seedling delivery tray that reciprocates and moves laterally, and the lateral movement direction of the seedling delivery tray is perpendicular to the forward direction of the drone; The seedling taking module is used to separate the seedlings from the blanket of seedlings transported by the seedling delivery module and then throw them out; The control module is used to execute the flight control method as described in any one of claims 1-8.

10. A drone, characterized in that: include: one or more processors; A memory stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the flight control method as described in any one of claims 1-8.

11. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to perform the flight control method as described in any one of claims 1-8 when executed by a computer processor.

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