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

Abstract

The application discloses a flight control method, a seedling throwing system, a unmanned aerial vehicle and a storage medium, and relates to the technical field of unmanned aerial vehicles. The method is applied to a unmanned aerial vehicle carrying a seedling throwing mechanism. The seedling throwing mechanism comprises a seedling conveying module and a seedling taking module. The seedling conveying module is used for conveying blanket seedlings. The seedling conveying module comprises a seedling conveying disc which moves transversely back and forth. The transverse movement direction of the seedling conveying disc is perpendicular to the advancing direction of the unmanned aerial vehicle. The seedling taking module is used for throwing out the seedlings after separating the blanket seedlings conveyed by the seedling conveying module. The method comprises the following steps: acquiring the motion parameters of the seedling conveying disc; determining the roll angle disturbance amount suffered by the unmanned aerial vehicle according to the motion parameters of the seedling conveying disc. The roll angle disturbance amount is used for reflecting the disturbance of the roll direction of the unmanned aerial vehicle caused by the seedling conveying disc when the seedling conveying disc moves transversely back and forth; and controlling the roll angle of the unmanned aerial vehicle during flight according to the roll angle disturbance amount. Through the technical means, the problem of body inclination of the unmanned aerial vehicle during unilateral seedling throwing is solved, and the stability of the flight 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 seedling throwing system, an unmanned aerial vehicle and a storage medium. BACKGROUND

[0002] With the rapid development of unmanned aerial vehicle technology, it is widely used in various scenarios for high-altitude operation. Especially in the agricultural scene, some fields are not convenient for ground travel of agricultural machinery for operation, such as terraced fields and other fields with rough ground, and high-altitude plant protection of crops planted in the fields can be performed by unmanned aerial vehicles. Even unmanned aerial vehicles can carry seedling throwing machines to throw seedlings in the air to plant them in the fields.

[0003] However, when the unmanned aerial vehicle throws seedlings by the seedling throwing machine, the seedling throwing operation will cause the body of the unmanned aerial vehicle to tilt, affecting the flight stability of the unmanned aerial vehicle. SUMMARY

[0004] The present application provides a flight control method, a seedling throwing system, an unmanned aerial vehicle and a storage medium, which solves the problem of body tilt of the unmanned aerial vehicle when throwing seedlings, and improves the stability of the flight seedling throwing operation of the unmanned aerial vehicle.

[0005] In a first aspect, the present application provides a flight control method applied to an unmanned aerial vehicle carrying a seedling throwing mechanism, the seedling throwing mechanism comprising a seedling feeding module and a seedling taking module, the seedling feeding module being configured to feed seedling mats, the seedling feeding module comprising a seedling feeding disc moving reciprocatingly and transversely, the transverse moving direction of the seedling feeding disc being perpendicular to the forward direction of the unmanned aerial vehicle, the seedling taking module being configured to throw out seedlings after separating the seedling mats fed by the seedling feeding module; the method comprising:

[0006] obtaining a motion parameter of the seedling feeding disc;

[0007] determining a roll angle disturbance amount of the unmanned aerial vehicle according to the motion parameter of the seedling feeding disc, the roll angle disturbance amount being configured to reflect the disturbance of the roll direction of the unmanned aerial vehicle caused by the reciprocating transverse movement of the seedling feeding disc;

[0008] controlling the roll angle of the unmanned aerial vehicle during flight according to the roll angle disturbance amount.

[0009] In a second aspect, the present application provides a seedling throwing system, a seedling throwing mechanism and an unmanned aerial vehicle, the seedling throwing mechanism being carried on the unmanned aerial vehicle, the seedling throwing mechanism comprising a seedling feeding module and a seedling taking module; the unmanned aerial vehicle comprising a control module, wherein:

[0010] the seedling feeding module is configured to feed seedling mats; wherein the seedling feeding module comprises a seedling feeding disc moving reciprocatingly and transversely, the transverse moving direction of the seedling feeding disc being perpendicular to the forward direction of the unmanned aerial vehicle;

[0011] The seedling taking module is used for throwing out the seedlings separated from the blanket seedlings delivered by the seedling delivering module.

[0012] The control module is configured to execute the flight control method according to the first aspect.

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

[0014] one or more processors; and 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 according to the first aspect.

[0015] In a fourth aspect, the present application provides a storage medium containing computer executable instructions for executing the flight control method according to the first aspect when executed by a computer processor.

[0016] In the present application, the motion parameters of the seedling delivering disc of the seedling throwing mechanism are acquired by the UAV during the seedling throwing operation, the roll angle disturbance amount suffered by the UAV is determined according to the motion parameters of the seedling delivering disc, and the roll angle of the UAV during flight is controlled according to the roll angle disturbance amount. Through the above technical means, since the roll angle disturbance amount can reflect the disturbance in the roll direction of the UAV caused by the reciprocating lateral movement of the seedling delivering disc, the control amount required by the UAV to stabilize the roll angle is determined according to the roll angle disturbance amount, the roll angle of the UAV during flight is controlled based on the control amount to offset the disturbance caused by the lateral movement of the seedling delivering disc, the stability of the UAV during flight is improved, the problem of body inclination of the UAV during unilateral seedling throwing is solved, and the stability of the flight seedling throwing operation of the UAV is improved. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

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

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

[0022] Figure 6FIG. 1 is a flowchart of a process for determining a roll angle disturbance amount of a UAV according to an embodiment of the present application;

[0023] Figure 7 FIG. 2 is a flowchart of a process for determining a target roll angle control amount according to an embodiment of the present application;

[0024] Figure 8 FIG. 3 is a structural block diagram of a closed-loop control system according to an embodiment of the present application;

[0025] Figure 9 FIG. 4 is a structural schematic diagram of a UAV according to an embodiment of the present application;

[0026] In the figure, 10, seedling; 11, seedling; 12, groove; 20, UAV; 30, seedling throwing mechanism; 31, seedling feeding module; 311, seedling feeding disc; 312, seedling supporting plate; 313, opening; 314, conveying device; 315, driving device; 32, seedling taking module; 321, driving source; 322, cutter head; 41, processor; 42, memory; 43, communication device; 44, input device; 45, output device. DETAILED DESCRIPTION

[0027] To make the objectives, technical solutions and advantages of the present application clearer, the following further describes specific embodiments of the present application with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application. In addition, it should be noted that, for the convenience of description, only parts related to the present application are shown in the drawings and not all contents. Before discussing the example embodiments in more detail, it should be mentioned that some example embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, 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 its 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.

[0028] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally means that the objects before and after are in an "or" relationship.

[0029] In some implementations, drones can be equipped with single-sided rice transplanters to transplant seedlings over narrow fields. However, when a drone uses a single-sided transplanter, the transplanting operation causes the drone's fuselage to tilt, affecting its flight stability.

[0030] To address the aforementioned issues, this embodiment provides a flight control method, a rice-throwing system, a drone, and a storage medium to stably control the roll angle of the drone and ensure the stability of the drone's rice-throwing operation.

[0031] Figure 1 This is a side view schematic diagram of the rice transplanting system provided in the embodiments of this application. Figure 2 This is a bottom view schematic diagram of the rice transplanting system provided in an embodiment of this application. Figure 1 and Figure 2 As shown, the rice-throwing system includes a rice-throwing mechanism 30 and a drone 20, with the rice-throwing mechanism 30 mounted on the drone 20. The rice-throwing mechanism 30 includes a seedling delivery module 31 and a seedling collection module 32. The seedling delivery module 31 delivers the seedlings 10 and includes a reciprocating laterally moving seedling tray 311. The lateral movement of the seedling tray 311 is perpendicular to the forward direction of the drone 20. The seedling collection module 32 separates the seedlings 10 delivered by the seedling delivery module 31 from the seedlings 11 and throws them out. For example, when the drone 20, equipped with the rice-throwing mechanism 30, performs a flight rice-throwing operation, the drone 20 heads towards... Figure 2 Flying in the direction of the middle arrow A, the seedling tray 311 along... Figure 2 Moving in the direction of arrow B, the seedling tray 311 holds the seedling mat 10. When the seedlings 11 on the seedling mat 10 move to the seedling collection point, the seedling collection module 32 separates the seedlings 11 from the seedling mat 10 and throws the seedling mat 10 out using centrifugal force and / or ejection force. It should be noted that there are many separation methods, such as cutting, grabbing, pushing, and pressing. The specific separation and seedling collection method is not limited.

[0032] In this embodiment, Figure 3 This is a front view schematic diagram of the rice-throwing mechanism provided in the embodiments of this application. For example... Figure 3 As shown, the seedling delivery module 31 also includes a seedling support plate 312 and a drive device 315. The seedling support plate 312 has an opening 313. The lower part of the seedling delivery tray 311 is located inside the seedling support plate 312. The seedling delivery tray 311 is used to place the seedlings 10. The drive device 315 is used to drive the seedling delivery tray 311 to move laterally relative to the seedling support plate 312. The seedling picking module 32 includes a drive source 321 and a cutter head. The drive source 321 is used to drive the cutter head to rotate so as to separate the seedlings 11 of the seedlings 10 on the seedling delivery tray 311 through the opening 313 and throw out the separated seedlings 11. The opening 313 of the seedling support plate 312 is the seedling picking point of the seedling picking module 32. Figure 3It can be seen that the seedling feeding module 31 can include a plurality of seedling feeding trays 311, which are arranged side by side on a seedling supporting plate 312, and the plurality of seedling feeding trays 311 move synchronously. Correspondingly, the seedling throwing machine includes a plurality of seedling taking modules 32, which correspond to the seedling feeding trays 311 one by one. The seedling taking module 32 and the seedling supporting plate 312 remain stationary, and the seedling feeding tray 311 can reciprocate in the left-right direction. During the reciprocating movement of the seedling feeding tray 311, the seedling taking module 32 separates the seedlings 11 exposed to the opening 313 from the adjacent seedlings 11 by means of a cutter head, so as to realize the separation and throwing of the mat seedlings 10 row by row and batch by batch. The driving source 321 can drive the cutter head to rotate in the direction of arrow C, so as to separate the mat seedlings 10 during contact, and the separated seedlings 11 follow the cutter head to rotate in the direction of arrow C. When the seedlings 11 are rotated to a specific position, the seedlings 11 are thrown under the action of centrifugal force and / or elastic force. Further, the seedling taking module 32 can uniformly arrange a plurality of cutter heads. For example, when one seedling taking module 32 is provided with two cutter heads, the angle between the two cutter heads to the center of the driving source 321 is 180 degrees, three cutter heads can be spaced at an angle of 120 degrees, and four cutter heads can be spaced at an angle of 90 degrees. Figure 1

[0033] Figure 1 The seedling feeding module 31 further includes a conveying device 314 for driving the mat seedlings 10 on the seedling feeding tray 311 to move towards the seedling supporting plate 312. The conveying device 314 can be a conveyor belt or a conveyor roller (such as a wolf tooth wheel). Figure 2 Figure 3 When the seedling feeding tray 311 moves from the left side to the right side of the seedling feeding module 31, the row of seedlings 11 of the mat seedlings 10 is just thrown, and the next row of seedlings 11 is moved to the seedling supporting plate 312 under the action of the conveying device 314. The seedling feeding tray 311 moves in the opposite direction of arrow B to move the next row of seedlings 11 to the opening 313, and the seedling taking module 32 separates the seedlings 11 from the mat seedlings 10 and throws the mat seedlings 10 by centrifugal force and / or elastic force.

[0034] It should be noted that when the seedling feeding tray 311 moves in the direction of arrow B, the unmanned aerial vehicle 20 moves to the left relative to the seedling feeding tray 311, so that the unmanned aerial vehicle 20 receives a force to move to the left. When the seedling feeding tray 311 moves in the opposite direction of arrow B, the unmanned aerial vehicle 20 moves to the right relative to the seedling feeding tray 311, so that the unmanned aerial vehicle 20 receives a force to move to the right. When the unmanned aerial vehicle 20 receives a force perpendicular to the forward direction, the roll angle of the unmanned aerial vehicle 20 changes, affecting the stability of the fuselage. Therefore, when the unmanned aerial vehicle 20 performs flight throwing seedling operation, the roll angle can be stabilized by executing a flight control method, so as to ensure the flight throwing seedling stability of the unmanned aerial vehicle 20.

[0035] ​​​The flight control method provided in the embodiment can be executed by the unmanned aerial vehicle 20, which can be implemented by software and / or hardware, and 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 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 a preset path, flight speed, attitude, etc., or be manually controlled by an operator.

[0036] 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 embodiment, the unmanned aerial vehicle 20 has at least an application program that can execute the flight control method.

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

[0038] For ease of understanding, the unmanned aerial vehicle 20 is taken as an example to describe the execution of the flight control method.

[0039] Figure 4 A flowchart of the flight control method provided in the embodiment is given. Referring to FIG. 1, the flight control method specifically includes the following steps. Figure 4

[0040] S110, acquiring a motion parameter of the seedling conveying tray.

[0041] The motion parameter of the seedling conveying tray 311 refers to a parameter when the seedling conveying tray 311 moves left and right during the flight seedling throwing operation of the unmanned aerial vehicle 20. It can be understood that the unmanned aerial vehicle 20 is subjected to a reverse force when the seedling conveying tray 311 moves left and right, and the roll angle of the unmanned aerial vehicle 20 changes under the interference of the reverse force. In order to stably control the roll angle of the unmanned aerial vehicle 20, the roll angle disturbance amount of the unmanned aerial vehicle 20 when the seedling conveying tray 311 moves left and right can be analyzed according to the motion parameter of the seedling conveying tray 311, and the roll angle control amount required to offset the change of the roll angle under the interference of the reverse force can be determined according to the roll angle disturbance amount. The roll angle disturbance amount can be understood as the change amount of the roll angle of the unmanned aerial vehicle 20 when the unmanned aerial vehicle 20 is subjected to the reverse force.

[0042] ​In an embodiment, the motion parameter of the seedling conveying tray 311 includes a frequency of the back-and-forth movement of the seedling conveying tray 311. It can be understood that the faster the frequency of the back-and-forth movement of the seedling conveying tray 311, the faster the change of the reaction force received by the unmanned aerial vehicle 20, and the more frequent the change of the roll angle. Therefore, the disturbance of the roll angle can be determined according to the frequency of the back-and-forth movement of the seedling conveying tray 311. An exemplary frequency of the back-and-forth movement of the seedling conveying tray 311 is 0.5 Hz. Figure 5 is a flowchart for determining the frequency of the back-and-forth movement provided by the embodiments of the present application. As shown in Figure 5 , the step of determining the frequency of the back-and-forth movement specifically includes S1101-S1103:

[0043] S1101, determining the distance of the back-and-forth movement of the seedling conveying tray according to the length of the seedling conveying tray and the length of the seedling supporting plate.

[0044] S1102, determining the time period of the back-and-forth movement of the seedling conveying tray according to the distance and the moving speed of the seedling conveying tray.

[0045] S1103, determining the frequency of the back-and-forth movement of the seedling conveying module according to the time period.

[0046] Referring to Figure 3 , the length of the seedling supporting plate 312 is subtracted by the length of the seedling conveying tray 311, and the distance of the seedling conveying tray 311 moving from one side of the seedling supporting plate 312 to the other side is obtained. The distance of the back-and-forth movement of the seedling conveying tray 311 on the seedling supporting plate 312 is obtained by multiplying the distance by two. It should be noted that when the seedling conveying module 31 includes multiple seedling conveying trays 311, the length of the seedling supporting plate 312 is subtracted by the sum of all the seedling conveying trays 311, and the distance of the seedling conveying tray 311 moving from one side of the seedling supporting plate 312 to the other side is equal to the distance. The ratio of the distance of the back-and-forth movement of the seedling conveying tray 311 on the seedling supporting plate 312 to the moving speed of the seedling conveying tray 311 is determined as the time period of the back-and-forth movement of the seedling conveying tray 311. The frequency is the inverse of the period, and the inverse of the time period of the back-and-forth movement of the seedling conveying tray 311 is determined as the frequency of the back-and-forth movement of the seedling conveying module 31.

[0047] In another embodiment, the motion parameter of the seedling conveying tray 311 can also include the moving speed of the seedling conveying tray 311. It can be understood that the faster the moving speed of the seedling conveying tray 311, the greater the change of the relative position between the unmanned aerial vehicle 20 and the seedling conveying tray 311, that is, the greater the reaction force received by the unmanned aerial vehicle 20, and the greater the change of the roll angle. Therefore, the disturbance of the roll angle can be determined according to the moving speed of the seedling conveying tray 311.

[0048] S120, determining the disturbance of the roll angle received by the unmanned aerial vehicle according to the motion parameter of the seedling conveying tray, the disturbance of the roll angle being used to reflect the disturbance of the roll direction brought by the seedling conveying tray when moving back and forth in the transverse direction.

[0049] The roll angle variation of the unmanned aerial vehicle 20 is measured multiple times in advance on a test bench when the unmanned aerial vehicle 20 moves back and forth in the lateral direction at a certain reciprocating motion frequency. The average of the multiple measured roll angle variations is taken as the roll angle disturbance experienced by the unmanned aerial vehicle 20 when the seedling tray 311 moves back and forth in the lateral direction at the corresponding reciprocating motion frequency. The roll angle disturbance experienced by the unmanned aerial vehicle 20 at various reciprocating motion frequencies is measured, and the reciprocating motion frequency and the corresponding roll angle disturbance are associated and stored in the operation task of the unmanned aerial vehicle 20 for the flight seed throwing. When the unmanned aerial vehicle 20 performs the flight seed throwing operation, the roll angle disturbance associated with the current reciprocating motion frequency of the seedling tray 311 is obtained from the operation task, and the obtained roll angle disturbance is determined as the current roll angle disturbance experienced by the unmanned aerial vehicle 20.

[0050] In another embodiment, the unmanned aerial vehicle 20 carrying the seed throwing mechanism 30 can also be mathematically modeled to obtain a structural model of the unmanned aerial vehicle 20. According to the structural model of the unmanned aerial vehicle 20, the roll angle disturbance experienced by the unmanned aerial vehicle 20 at the current reciprocating motion frequency of the seedling tray 311 is derived. Exemplarily, Figure 6 is a flowchart for determining the roll angle disturbance experienced by the unmanned aerial vehicle provided by the embodiments of the present application. As Figure 6 indicated, the step of determining the roll angle disturbance experienced by the unmanned aerial vehicle 20 specifically includes S1201-S1202:

[0051] S1201, determining the counter torque experienced by the unmanned aerial vehicle when the seedling tray moves back and forth according to the motion parameters of the seedling tray and the structural model of the unmanned aerial vehicle.

[0052] S1202, determining the roll angle disturbance of the unmanned aerial vehicle according to the counter torque.

[0053] The counter torque is the counteracting force experienced by the unmanned aerial vehicle 20 when the seedling tray 311 moves back and forth. Whether the counter torque experienced by the unmanned aerial vehicle 20 is large or small can be determined according to the structural model of the unmanned aerial vehicle 20 and the reciprocating motion frequency of the seedling tray 311. In the case that the counter torque experienced by the unmanned aerial vehicle 20 is large, the roll angle disturbance experienced by the unmanned aerial vehicle 20 is determined as a first value. In the case that the counter torque experienced by the unmanned aerial vehicle 20 is small, the roll angle disturbance experienced by the unmanned aerial vehicle 20 is determined as a second value. The first value is greater than the second value. The first value and the second value are the roll angle variations measured multiple times when the unmanned aerial vehicle 20 experiences large counter torque and small counter torque, respectively.

[0054] S130, controlling the roll angle of the unmanned aerial vehicle during flight according to the roll angle disturbance.

[0055] Exemplarily, after determining the roll angle disturbance amount to the UAV 20 when the seedling tray 311 reciprocally moves horizontally, the target roll angle control amount of the UAV 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 change of the roll angle of the UAV 20 when the seedling tray 311 reciprocally moves horizontally. The roll angle of the UAV 20 when flying is controlled according to the target roll angle control amount, so as to overcome the interference to the UAV 20 when the seedling tray 311 reciprocally moves horizontally, and ensure the stability of the flight seedling throwing operation of the UAV 20.

[0056] In this embodiment, the UAV 20 can observe the roll angle parameter in real time when the seedling tray 311 does not move, so as to determine the control amount of the roll angle according to the controller and the observed roll angle parameter. When the seedling 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, so as to realize accurate and stable control of the roll angle. Exemplarily, the actual roll angle of the UAV 20 is measured by the observer, the deviation between the actual roll angle and the expected roll angle is input into the controller, the roll angle control amount output by the controller is obtained, and the target roll angle control amount is obtained by subtracting the roll angle disturbance amount from the roll angle control amount. The expected roll angle is the roll angle state that the UAV 20 currently wants to maintain, and the actual roll angle is the actual roll angle state of the UAV 20.

[0057] In fact, the roll angle of the UAV 20 has changed during the horizontal movement of the seedling tray 311, so the actual roll angle measured by the observer contains a certain disturbance amount, but the controller is used to determine the roll angle control amount when the seedling tray 311 does not move, so the disturbance amount in the actual roll angle is removed before the roll angle control amount is determined by the controller, so as to ensure the accuracy of the roll angle control. In this embodiment, Figure 7 is a flowchart for determining the target roll angle control amount provided by the embodiment of the application. As shown in Figure 7 , the step of determining the target roll angle control amount specifically includes S1301-S1303:

[0058] S1301, determining the estimated roll angle parameter of the UAV 20 according to the actual roll angle parameter of the UAV 20 and the counter torque.

[0059] Exemplarily, the control process of the roll angle can be regarded as Figure 8The closed-loop control system is shown. The actual roll angle parameters include actual roll angle, actual roll angle velocity and actual roll angle acceleration. The controlled system is the unmanned aerial vehicle 20 itself. The first roll angle control quantity is the roll angle control quantity output by the controller. The estimated roll angle parameters are the roll angle parameters after removing the disturbance from the actual roll angle parameters. The estimated roll angle parameters include estimated roll angle, estimated roll angle velocity and estimated roll angle acceleration. In this embodiment, the actual roll angle, actual roll angle velocity and actual roll angle acceleration of the unmanned aerial vehicle 20 can be obtained by the observer; the disturbance threshold is determined according to the counter torque; the estimated roll angle, estimated roll angle velocity and estimated roll angle acceleration are determined according to the actual roll angle, actual roll angle velocity, actual roll angle acceleration and disturbance threshold. The disturbance threshold is the disturbance in the actual roll angle parameters. For example, the disturbance threshold of the roll angle, the disturbance threshold of the roll angle velocity and the disturbance threshold of the roll angle acceleration are determined according to the counter torque and the structural model of the unmanned aerial vehicle 20. The estimated roll angle is obtained by subtracting the disturbance threshold of the roll angle from the actual roll angle, the estimated roll angle velocity is obtained by subtracting the disturbance threshold of the roll angle velocity from the actual roll angle velocity, and the estimated roll angle acceleration is obtained by subtracting the disturbance threshold of the roll angle acceleration from the actual roll angle acceleration.

[0060] S1302, determining the first roll angle control quantity of the unmanned aerial vehicle according to the expected roll angle and the estimated roll angle parameters.

[0061] Reference Figure 8 The expected 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 unmanned aerial vehicle 20 adopts a proportional-integral-derivative controller, and accordingly, the expected roll angle and the estimated roll angle parameters are input into the preset proportional-integral-derivative controller to output the first roll angle control quantity of the unmanned aerial vehicle 20. For example, the proportional-integral-derivative controller calculates the deviation of the expected roll angle and the estimated roll angle parameters, and determines the first roll angle control quantity by the deviation and the PID (proportional-integral-derivative) control algorithm.

[0063] S1303, determining the target roll angle control quantity of the unmanned aerial vehicle according to the first roll angle control quantity and the roll angle disturbance.

[0064] Reference Figure 8 The target roll angle control quantity is obtained by subtracting the roll angle disturbance from the first roll angle control quantity, and the roll angle of the unmanned aerial vehicle 20 is controlled according to the target roll angle control quantity. The actual roll angle parameters of the controlled unmanned aerial vehicle 20 are collected by the observer, the estimated roll angle parameters are determined according to the actual roll angle parameters and the disturbance threshold, and the estimated roll angle parameters are input into the controller to output the first roll angle control quantity, so as to realize the closed-loop feedback control of the roll angle of the unmanned aerial vehicle 20.

[0065] In summary, the flight control method provided by the embodiments of the present application acquires the motion parameters of the seedling conveying disc 311 of the seedling throwing mechanism 30 when the unmanned aerial vehicle 20 is performing the seedling throwing operation, determines the roll angle disturbance amount suffered by the unmanned aerial vehicle 20 according to the motion parameters of the seedling conveying disc 311, and controls the roll angle of the unmanned aerial vehicle 20 during flight according to the roll angle disturbance amount. Through the above technical means, since the roll angle disturbance amount can reflect the disturbance in the roll direction of the unmanned aerial vehicle 20 caused by the reciprocating lateral movement of the seedling conveying disc 311, the control amount required for the unmanned aerial vehicle 20 to stabilize the roll angle is determined according to the roll angle disturbance amount, the roll angle of the unmanned aerial vehicle 20 during flight is controlled based on the control amount to offset the disturbance caused by the lateral movement of the seedling conveying disc 311, the unmanned aerial vehicle 20 can maintain stable control of the roll angle during flight, and the problem of body inclination of the unmanned aerial vehicle 20 during unilateral seedling throwing is solved, thereby improving the stability of the flight seedling throwing operation of the unmanned aerial vehicle 20.

[0066] Figure 9 FIG. 1 is a structural schematic diagram of an unmanned aerial vehicle provided by an embodiment of the present application, referring to Figure 9 The unmanned aerial vehicle 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 unmanned aerial vehicle can be one or more, and the number of memories 42 in the unmanned aerial vehicle can be one or more. The processor 41, the memory 42, the communication device 43, the input device 44, and the output device 45 of the unmanned aerial vehicle can be connected through a bus or other means.

[0067] The memory 42, as a kind of 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 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; the data storage area can store data created according to the use of the device, etc. In addition, the memory 42 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some examples, the memory can further include a memory remotely arranged with respect to the processor, and these remote memories can be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

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

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

[0070] The input device 44 can be used to receive inputted digital or character information, and to generate key signal inputs related to user settings and function controls of the device. The output device 45 can include a display device such as a display screen.

[0071] The unmanned aerial vehicle provided in the above embodiment can be used to execute the flight control method provided in the above embodiment, and has the corresponding functions and advantages.

[0072] The embodiment of the present application further provides a storage medium containing computer executable instructions, which are used to execute a flight control method when executed by a computer processor. The flight control method comprises: acquiring a motion parameter of a seedling conveying disc; determining a roll angle disturbance amount suffered by an unmanned aerial vehicle according to the motion parameter of the seedling conveying disc, the roll angle disturbance amount being used to reflect a disturbance in a roll direction caused by the seedling conveying disc when moving in a reciprocating lateral direction; and controlling a roll angle of the unmanned aerial vehicle when flying according to the roll angle disturbance amount.

[0073] 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; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; or a non-volatile memory such as a magnetic medium (e.g., a hard disk or optical storage); registers, or other similar types of memory elements, etc. The storage medium can also include other types of storage medium and combinations thereof. Additionally, the storage medium can be located in a first computer system in which the programs are executed, or the second computer system that is connected to the first computer system over a network such as 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 storage mediums that reside in different locations, e.g., in different computer systems that are connected over a network. The storage medium can store program instructions (e.g., as an installed program) that can be executed by one or more processors.

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

[0075] The seedling throwing system, the storage medium and the unmanned aerial vehicle provided in the above embodiment can execute the flight control method provided in any embodiment of the present application, and the technical details not described in the above embodiment can be referred to the flight control method provided in any embodiment of the present application.

[0076] The above merely describes the preferred embodiments of the present application and the technical principles applied. The present application is not limited to the specific embodiments herein, and various obvious changes, modifications and replacements made by those skilled in the art without departing from the scope of the present application shall not be excluded. 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 more other equivalent embodiments can be included 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 by, The application is applied to unmanned aerial vehicle with seedling throwing mechanism, the seedling throwing mechanism includes seedling feeding module and seedling taking module, the seedling feeding module is used for conveying blanket seedlings, the seedling feeding module includes reciprocating transverse seedling feeding disc, the transverse moving direction of the seedling feeding disc is perpendicular to the advancing direction of the unmanned aerial vehicle, the seedling taking module is used for throwing out the seedlings separated from the blanket seedlings conveyed by the seedling feeding module;The method comprises: Obtaining the motion parameters of the seedling feeding disc;The motion parameters of the seedling feeding disc include the reciprocating motion frequency of the seedling feeding disc; According to the motion parameters of the seedling feeding disc, the roll angle disturbance of the unmanned aerial vehicle is determined, the roll angle disturbance is used to reflect the disturbance of the seedling feeding disc in the transverse moving direction when the seedling feeding disc reciprocates transversely;Wherein, according to the motion parameters of the seedling feeding disc and the structure model of the unmanned aerial vehicle, the counter torque of the unmanned aerial vehicle is determined when the seedling feeding disc reciprocates transversely;According to the counter torque, the roll angle disturbance of the unmanned aerial vehicle is determined; According to the roll angle disturbance, the roll angle of the unmanned aerial vehicle in flight is controlled.

2. The flight control method according to claim 1, characterized by, The seedling feeding module further comprises seedling supporting plate and driving device, the seedling supporting plate is provided with opening, the lower part of the seedling feeding disc is located in the seedling supporting plate, the seedling feeding disc is used for placing the blanket seedlings, and the driving device is used for driving the seedling feeding disc to move transversely relative to the seedling supporting plate;The seedling taking module comprises driving source and cutter head, the driving source is used for driving the cutter head to rotate to separate the seedlings from the blanket seedlings on the seedling feeding disc through the opening, and throw out the separated seedlings.

3. The flight control method according to claim 2, characterized by, The method for obtaining the motion parameters of the seedling feeding disc comprises: According to the length of the seedling feeding disc and the seedling supporting plate, the distance of reciprocating movement of the seedling feeding disc is determined; According to the distance and the moving speed of the seedling feeding disc, the time period of reciprocating movement of the seedling feeding disc is determined; According to the time period, the reciprocating motion frequency of the seedling feeding module is determined.

4. The flight control method according to claim 1, characterized by, According to the roll angle disturbance, the target roll angle control amount of the unmanned aerial vehicle is determined; According to the target roll angle control amount, the roll angle of the unmanned aerial vehicle in flight is controlled. According to the actual roll angle parameters of the unmanned aerial vehicle and the counter torque, the estimated roll angle parameters of the unmanned aerial vehicle are determined; 5. The flight control method according to claim 4, characterized by, According to the expected roll angle of the unmanned aerial vehicle and the estimated roll angle parameters, the first roll angle control amount of the unmanned aerial vehicle is determined; According to the first roll angle control amount and the roll angle disturbance, the target roll angle control amount of the unmanned aerial vehicle is determined. According to the actual roll angle parameters of the unmanned aerial vehicle and the counter torque, the estimated roll angle parameters of the unmanned aerial vehicle are determined, which comprises: Obtaining the actual roll angle, actual roll angle speed and actual roll angle acceleration of the unmanned aerial vehicle; 6. The flight control method according to claim 5, characterized by, According to the counter torque, the disturbance threshold is determined; According to the actual roll angle, the actual roll angle speed, the actual roll angle acceleration and the disturbance threshold, the estimated roll angle, the estimated roll angle speed and the estimated roll angle acceleration are determined. ​ ​ 7. The flight control method according to claim 5, characterized by, The first roll angle control quantity of the UAV is determined according to the expected roll angle and the estimated roll angle parameter, and the method comprises: The expected roll angle and the estimated roll angle parameter are input into a preset proportional integral differential controller to output the first roll angle control quantity of the UAV.

8. A throwing system, characterized in that, The application relates to a rice seedling throwing mechanism and a UAV, wherein the rice seedling throwing mechanism is mounted on the UAV, and the rice seedling throwing mechanism comprises a seedling conveying module and a seedling taking module; the UAV comprises a control module, wherein: The seedling conveying module is used for conveying seedling mats, and the seedling conveying module comprises a reciprocating transversely moving seedling conveying disc, and the transverse moving direction of the seedling conveying disc is perpendicular to the advancing direction of the UAV; The seedling taking module is used for throwing out seedlings after separating the seedlings from the seedling mats conveyed by the seedling conveying module; The control module is used for executing the flight control method as described in any one of claims 1 to 7.

9. A drone, characterized in that, The application relates to a UAV, and the UAV comprises: One or more processors; A memory for storing one or more programs, wherein 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 to 7.

10. A storage medium containing computer-executable instructions, wherein: The computer executable instructions are used for executing the flight control method as described in any one of claims 1 to 7 when executed by a computer processor.

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