Flight compensation method and device of seedling throwing unmanned aerial vehicle, unmanned aerial vehicle and storage medium

Abstract

The embodiment of the invention discloses a flight compensation method and device of a seedling throwing unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium. According to the technical scheme provided by the embodiment of the invention, the longitudinal distance, the transverse moving distance and the transverse moving direction of two times of seedling throwing actions of the seedling taking module of the seedling throwing unmanned aerial vehicle are obtained; determining a seedling throwing position track of the seedling taking module according to the longitudinal distance, the transverse moving distance and the transverse moving direction; and then performing flight compensation control on the seedling throwing unmanned aerial vehicle according to the seedling throwing position trajectory. By adopting the technical means, the seedling throwing position track of the seedling taking module is generated according to the displacement of the seedling taking module, flight compensation control is carried out according to the deviation of the seedling throwing position track relative to the linear flight track of the seedling throwing unmanned aerial vehicle, seedling throwing operation standardization is guaranteed, and the seedling throwing drop point track is kept straight; the situation that the operation effect is affected by deviation of seedling falling points is avoided, and the seedling throwing operation effect is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of drone technology, and in particular to a flight compensation method and device for a rice seedling throwing drone, a drone, and a storage medium. Background Art

[0002] At present, with the rapid development of drone technology, it is widely used in various scenarios for high-altitude operations. Especially in agricultural scenarios, some fields are not convenient to operate with ground-based agricultural machinery. For example, in fields with 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 be equipped with seedling throwing mechanisms to throw seedlings in the air to plant them in the fields.

[0003] However, when performing the seedling throwing operation, the seedling throwing mechanism needs to separate the seedlings from various positions of the entire blanket of seedlings for the seedling throwing operation, which causes the relative position offset between the seedling throwing operation position and the drone. When the drone flies in a straight line, the relative displacement of the seedling throwing position makes it impossible for the seedling throwing landing point trajectory to remain straight, thus affecting the effect of the seedling throwing operation. Summary of the invention

[0004] The embodiments of the present application provide a flight compensation method, device, drone and storage medium for a rice-throwing drone, which can perform flight compensation on the rice-throwing drone, keep the landing trajectory of the rice-throwing drone straight, and solve the problem of rice-throwing landing point deviation of the rice-throwing drone.

[0005] In a first aspect, an embodiment of the present application provides a flight compensation method for a seedling throwing drone, the method being applied to a drone equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism comprises a seedling sending module and a seedling taking module, the seedling sending module being used to carry a seedling blanket at a fixed position, and the seedling taking module being used to separate the seedlings from the seedling blanket by reciprocating lateral movement and then throwing them out;

[0006] The method includes:

[0007] Obtain the longitudinal distance, lateral distance and lateral direction of the two seedling throwing actions of the seedling picking module of the seedling throwing drone;

[0008] Determine the seedling throwing position trajectory of the seedling picking module according to the longitudinal distance, the lateral movement distance and the lateral movement direction;

[0009] The flight compensation control of the rice seedling throwing UAV is carried out according to the rice seedling throwing position trajectory.

[0010] In a second aspect, an embodiment of the present application provides a flight compensation device for a seedling throwing drone, which is applied to a drone equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, the seedling delivery module is used to carry the seedling blanket at a fixed position, and the seedling retrieval module is used to separate the seedlings from the seedling blanket by reciprocating lateral movement and then throw them out;

[0011] The device includes:

[0012] An acquisition module is configured to acquire the longitudinal distance, lateral movement distance and lateral movement direction of two seedling throwing actions of the seedling picking module of the seedling throwing drone;

[0013] A trajectory determination module is configured to determine the seedling throwing position trajectory of the seedling taking module according to the longitudinal distance, the lateral movement distance and the lateral movement direction;

[0014] The flight compensation module is configured to perform flight compensation control on the rice seedling throwing UAV according to the rice seedling throwing position trajectory.

[0015] In a third aspect, an embodiment of the present application provides a drone, including:

[0016] memory and one or more processors;

[0017] A memory for storing one or more programs;

[0018] When one or more programs are executed by one or more processors, the one or more processors implement the flight compensation method for the rice seedling throwing drone as described in the first aspect.

[0019] In a fourth aspect, an embodiment of the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute the flight compensation method for a rice seedling throwing drone as in the first aspect.

[0020] In a fifth aspect, an embodiment of the present application provides a seedling throwing system, including a seedling throwing drone and a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling sending module and a seedling taking module, wherein:

[0021] The seedling delivery module is used to carry the blanket seedlings in a fixed position;

[0022] The seedling picking module is used to separate the seedlings from the seedling blanket by reciprocating horizontal movement and then throw them out;

[0023] Rice seedling throwing drones are used for:

[0024] Obtain the longitudinal distance, lateral distance and lateral direction of the two seedling throwing actions of the seedling picking module of the seedling throwing drone;

[0025] Determine the seedling throwing position trajectory of the seedling picking module according to the longitudinal distance, the lateral movement distance and the lateral movement direction;

[0026] The flight compensation control of the rice seedling throwing UAV is carried out according to the rice seedling throwing position trajectory.

[0027] The embodiment of the present application obtains the longitudinal distance, lateral distance and lateral direction of the two seedling throwing actions of the seedling picking module of the seedling throwing drone; then determines the seedling throwing position trajectory of the seedling picking module according to the longitudinal distance, lateral distance and lateral direction; and then performs flight compensation control on the seedling throwing drone according to the seedling throwing position trajectory. The above technical means are adopted to generate the seedling throwing position trajectory of the seedling picking module by determining the displacement of the seedling picking module, so as to perform flight compensation control according to the deviation of the seedling throwing position trajectory relative to the straight flight trajectory of the seedling throwing drone, so as to ensure the standardization of the seedling throwing operation, keep the seedling throwing landing point trajectory straight, avoid the situation where the seedling landing point deviation affects the operation effect, and improve the seedling throwing operation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the seedling throwing system provided in an embodiment of the present application;

[0029] Figure 2 This is one of the structural schematic diagrams of the seedling throwing mechanism provided in the embodiment of the present application;

[0030] Figure 3 This is one of the structural schematic diagrams of the seedling removal module of the embodiment of the present application;

[0031] Figure 4 This is the second structural schematic diagram of the seedling removal module of the embodiment of the present application;

[0032] Figure 5 This is the third structural schematic diagram of the seedling removal module of the embodiment of the present application;

[0033] Figure 6 This is the second structural schematic diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0034] Figure 7 This is the third structural schematic diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0035] Figure 8 This is the fourth structural schematic diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0036] Fig. 9 This is the fifth structural diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0037] Fig.10 It is a flow chart of a flight compensation method for a rice seedling throwing drone provided in an embodiment of the present application;

[0038] Fig.11 This is a schematic diagram of the position of seedling throwing provided in an embodiment of the present application;

[0039] Fig.12 is a schematic diagram of the flight compensation trajectory provided by an embodiment of the present application;

[0040] Fig.13 is a schematic diagram of the position of seedlings being thrown after flight compensation provided in an embodiment of the present application;

[0041] Fig.14 It is a structural schematic diagram of a flight compensation device for a rice seedling throwing drone provided in an embodiment of the present application;

[0042] Fig.15 It is a structural schematic diagram of a drone provided in an embodiment of the present application.

[0043] In the figure, 10, blanket seedlings; 11, seedlings; 20, drone; 30, seedling throwing mechanism; 31, seedling delivery module; 311, seedling delivery tray; 312, conveying device; 32, seedling removal module; 321, rotating motor; 322, cutter head; 323, screw rod; 324, slider; 325, connecting frame; 326, seedling supporting plate; 327, transverse motor. DETAILED DESCRIPTION

[0044] 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.

[0045] The flight compensation method of the seedling throwing drone in the embodiment of the present application determines the lateral movement distance and lateral movement direction of the seedling picking module relative to the seedling throwing drone when performing the seedling throwing operation, and then generates the seedling throwing position trajectory of the seedling picking module according to the lateral movement distance and lateral movement direction, so as to perform flight compensation control according to the deviation of the seedling throwing position trajectory relative to the straight flight trajectory of the seedling throwing drone, so as to keep the seedling throwing landing point in a straight line and realize a standardized seedling throwing operation. Among them, Figure 1 Schematic diagram of a seedling throwing system provided in an embodiment of the present application. Figure 1 As shown, the seedling throwing system includes a seedling throwing mechanism 30 and a drone 20 , and the seedling throwing mechanism 30 is mounted on the drone 20 . Figure 2 Schematic diagram of the structure of the seedling throwing mechanism provided in the embodiment of the present application. Figure 2As shown, the seedling throwing mechanism 30 includes a seedling sending module 31 and a seedling taking module 32. The seedling sending module 31 carries the seedling blanket 10 in a fixed position through a seedling sending plate 311, and the seedling taking module 32 is used for reciprocating horizontal movement to separate the seedlings 11 from the seedling blanket 10 carried by the seedling sending module 31 and then throw them out.

[0046] Among them, refer to Figures 3 to 5 The seedling removal module 32 includes a rotating motor 321 and a cutter head 322. The seedling removal module 32 is matched with a screw rod 323, a slider 324, a connecting frame 325, a seedling support plate 326, and a transverse motor 327 to realize the seedling removal operation. The transverse motor 327 is used to drive the screw rod 323 to rotate. The slider 324 on the screw rod 323 is connected to the screw rod 323 by sliding, so that when the transverse motor 327 drives the screw rod 323 to rotate forward or reverse, the slider 324 can move back and forth on the screw rod 323. Then, a connecting frame 325 is fixedly connected to the slider 324, so that the slider drives the entire connecting frame 325 to move horizontally. The connecting frame 325 is used to fix and support the seedling support plate 326 and the rotating motor 321. When the slider 324 drives the connecting frame to move back and forth, the seedling support plate 326 and the rotating motor 321 synchronously follow the reciprocating movement. During the synchronous lateral movement, the rotary motor 321 drives the connected cutter head 322 to separate the seedlings 11 of the blanket seedlings 10 on the seedling support plate 326 at the opening of the seedling support plate 326, and throw out the separated seedlings 11. There are many ways to separate the seedlings, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling removal methods are not limited in this application.

[0047] The drone 20 can be used to execute the flight compensation method of the rice seedling throwing drone provided in this embodiment. The drone 20 can be implemented by software and / or hardware. The drone 20 can be composed of two or more physical entities, or it can be composed of one physical entity. Among them, the drone 20 refers to a flying device that operates according to remote control instructions or preset instructions. Exemplarily, the drone 20 is a rotor drone, specifically a quad-rotor drone. According to the actual configuration, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone 20 can automatically operate according to a preset path, flight speed, posture, etc., or the flight can be manually controlled by the operator.

[0048] The drone 20 is installed with at least one type of operating system, and the drone 20 can install at least one application based on the operating system. The application can be an application that comes with the operating system, or an application downloaded from a third-party device or server. In the embodiment of the present application, the drone 20 has at least an application that can perform flight compensation of the rice seedling throwing drone.

[0049] Specifically, refer to Figure 1 to Figure 5The seedling delivery module 31 includes a seedling delivery tray 311, the lower part of which is located in the seedling support plate 326. The seedling delivery tray 311 is fixed in position and used to place the blanket seedlings 10. The seedling support plate 326 is used to support the seedling delivery tray 311 and provide a seedling removal position for the seedling removal module 32 through a fixed opening. The seedling removal module 32 uses the structure of the transverse motor 327, the screw rod 323, the slider 324 and the connecting frame 325 to drive the cutter head 322 and the seedling support plate 326 to move back and forth, and drives the cutter head 322 to rotate through the rotary motor 321 to separate the seedlings 11 of the blanket seedlings 10 on the seedling delivery tray 311 through the opening position of the seedling support plate 326, and throw out the separated seedlings 11. It should be noted that the seedling support plate 326 needs to support the blanket seedlings on the one hand, and also needs to move synchronously with the cutter head 322 on the other hand to ensure that the opening of the seedling support plate 326 is always aligned with the cutter head 322, providing a position for the cutter head 322 to take the seedlings.

[0050] Depend on Figure 6 It can be known that the seedling delivery module 31 includes a plurality of seedling delivery trays 311, and the plurality of seedling delivery trays 311 are fixedly arranged side by side on the seedling supporting plate 326. Correspondingly, the seedling throwing mechanism 30 includes a plurality of seedling taking modules 32, and the seedling taking modules 32 correspond to the seedling delivery trays 311 one by one. The structure of the screw rod 323, the slider 324, the connecting frame 325, and the transverse movement motor 327 is used to drive the seedling taking module 32 and the seedling supporting plate 326 to move left and right, so that the opening of the seedling supporting plate 326 is aligned with the blanket seedlings on the seedling delivery tray 311. The seedling delivery tray 311 remains stationary, and the cutter head 322 of the seedling taking module 32 moves back and forth in the left and right directions. During the transverse movement, the cutter head 322 separates the seedlings 11 from the adjacent seedlings 11 through the opening on the seedling supporting plate 326, so as to achieve the separation and throwing of the blanket seedlings 10 row by row and plant by plant. The drive motor 321 can drive the cutter head 322 along Figure 1 The cutter head 322 rotates in the direction indicated by the arrow A, 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 A following the cutter head 322. 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, a seedling removal module 32 can evenly arrange multiple cutter heads 322. For example, when a seedling removal module 32 is provided with two cutter heads 322, the angle between the two cutter heads 322 and the center of the driving source 321 is 180 degrees, three cutter heads 322 can be spaced 120 degrees apart, and four cutter heads 322 can be spaced 90 degrees apart.

[0051] refer to Figure 2 The seedling delivery module 31 further includes a conveying device 312, which is used to drive the blanket seedlings 10 on the seedling delivery tray 311 to move toward the seedling supporting plate 326. The conveying device 312 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel).

[0052] Reference Figure 6 to Figure 9, the seedling throwing process of the seedling throwing mechanism 30 is described. Figure 6 to Figure 9 Schematic diagram of the structure of the seedling throwing mechanism 30 provided in the embodiment of the present application. Figure 6 to Figure 9 As shown, the three seedling delivery trays 311 initially place eight rows and five columns of blanket seedlings 10, and the initial positions of the blade heads 322 of the corresponding three seedling removal modules 32 are the positions of the blanket seedlings at the bottom left of the corresponding seedling delivery trays 311. When the drone 20 starts to perform the flying seedling throwing operation, the seedling removal module 32 is controlled to start rotating, and the blade head 322 of the seedling removal module 32 rotates to the bottom left blanket seedling position to cut off the connection between the first row and first column of the blanket seedling 10 and the first row and second column of the seedling 11, and throws the first row and first column of the seedling 11 into the field for planting. Then the screw rod 323 drives the blade head 322 to move horizontally to the right, and when it moves horizontally to the first row and second column of the seedling 11, the blade head 322 of the seedling removal module 32 just rotates to the position of the seedling 11, and cuts off the connection between the seedlings 11 in the first row and third column. And the seedlings 11 in the first row and second column are thrown into the field for planting. Repeat this process. When the blade 322 of the seedling picking module 32 moves horizontally to the right side of the seedling delivery tray 311, that is, moves to the seedling 11 in the first row and the fifth column, the blade 322 of the seedling picking module 32 rotates to throw the seedling 11 in the first row and the fifth column into the field for planting. At this time, the seedlings 11 in the first row of the blanket 10 have been thrown out. The seedling picking module 32 can be controlled to stop moving horizontally and start the conveying device 312 to move the blanket 10 on the seedling delivery tray 311 toward the supporting plate 326. When the seedlings 11 in the second row of the blanket 10 move to the supporting plate 326, the conveying device 312 is stopped. When the conveying device 312 stops, the blade 322 of the seedling picking module 32 just rotates to the position of the seedling 11 in the second row and the fifth column, cuts off the connection between it and the seedling 11 in the second row and the fourth column, and throws out the seedlings 11 in the second row and the fifth column. At the same time, the seedling taking module 32 is started to move horizontally to the left to the position of the seedling 11 in the fourth column of the second row, and the connection between it and the seedling 11 in the third column of the second row is cut off, and this is repeated until the seedlings 11 on the seedling delivery tray 311 are all thrown. It should be noted that the initial position of the seedling taking module 32 can also be the rightmost lower edge of the corresponding seedling delivery tray, and move horizontally to the left after starting. This embodiment does not limit the initial position of the seedling taking module 32.

[0053] It is understandable that since the seedling picking module 32 needs to perform the seedling throwing operation by moving left and right, and the flight trajectory of the drone during the seedling throwing operation is a straight line, during the seedling throwing operation, the seedling throwing position of the blade 322 of the seedling picking module 32 will be offset left and right relative to the drone. This offset will cause the landing trajectory of the seedlings to be "S"-shaped. In order to ensure the operation specifications and avoid the deviation of the seedling landing trajectory affecting the operation effect, it is necessary to use the drone's flight compensation to eliminate the seedling landing deviation caused by this offset and achieve accurate seedling throwing operations.

[0054] Below, for ease of understanding, this embodiment is described by taking the drone 20 as the main body of the flight compensation method for the rice seedling throwing drone as an example. Fig.10 A flow chart of a flight compensation method for a rice seedling throwing UAV provided in an embodiment of the present application is given, and the flight compensation method for the rice seedling throwing UAV specifically includes:

[0055] S110, obtaining the longitudinal distance, lateral distance and lateral direction of two seedling throwing actions of the seedling picking module of the seedling throwing drone.

[0056] In order to compensate for the offset of the seedling throwing position of the seedling picking module and correct the deviation of the seedling throwing landing point caused by the offset, it is first necessary to determine the offset of the seedling throwing position of the seedling picking module relative to the straight flight trajectory of the drone. Figure 6 to Figure 9 In the process of throwing seedlings, the position of the seedlings is gradually moved to the right relative to the drone, and then to the left, so as to perform a reciprocating horizontal movement. In this process, the drone flies forward in a straight line, and the following can be obtained: Fig.11 The various seedling throwing positions shown in the figure. L0 is the straight flight trajectory of the drone. During the seedling throwing process, due to the lateral movement of the seedling picking module, the seedling throwing position gradually deviates from the straight flight trajectory, and then the seedling throwing position of the fifth row of seedlings moves to the left, and the seedling throwing position gradually approaches the straight flight trajectory. By analogy, we can get Fig.11 The various seedling throwing positions are shown.

[0057] In order to determine each seedling throwing position, the embodiment of the present application determines the longitudinal distance between two seedling throwing operations of the seedling picking module of the seedling throwing drone. The longitudinal distance can be based on the time interval between the two seedling throwing operations, or the lateral movement duration between the two seedling throwing operations, combined with the flight speed of the drone during the time difference or lateral movement duration, and the product of the two is the longitudinal distance between the two seedling throwing operations of the seedling picking module.

[0058] Optionally, for the case where the drone flies in a straight line at a constant speed and the time interval between two seedling throwing operations is fixed, it is only necessary to determine the time interval once, and the longitudinal distance of all seedling throwing positions can be determined in combination with the flight speed of the drone.

[0059] On the other hand, by obtaining the lateral displacement distance of the two seedling throwing actions of the seedling picking module, the seedling throwing position can be determined according to the longitudinal and lateral displacement of the seedling picking module. It should be noted that since the seedling picking module moves back and forth laterally, its lateral displacement direction needs to be determined, so as to determine the lateral displacement of the two seedling throwing positions in combination with the lateral displacement distance, and then determine the seedling throwing position.

[0060] Among them, determining the lateral movement distance and lateral movement direction of the two seedling throwing actions of the seedling picking module includes:

[0061] Determine the lateral movement distance of the two seedling throwing actions of the seedling picking module based on the rotor position sensor set on the lateral movement motor of the seedling picking module; or

[0062] The lateral movement distances of the two seedling throwing actions of the seedling picking module are determined based on the distance sensor arranged in the lateral movement direction of the corresponding seedling picking module.

[0063] In the embodiment of the present application, when determining the lateral displacement distance of the two seedling throwing actions of the seedling picking module, the lateral displacement distance of the two seedling throwing actions of the seedling picking module is determined by the rotor position sensor provided on the lateral displacement motor of the seedling picking module. It can be understood that the lateral displacement motor is used to drive the screw rod to rotate, and then the screw rod drives the seedling picking module to move horizontally. Then, by determining the rotor position sensor provided on the lateral displacement motor, its rotor position change can be determined, and according to the lateral displacement amount caused by its rotor position change, the lateral displacement distance of the two seedling throwing actions of the seedling picking module can be determined.

[0064] Optionally, the UAV may also set a distance sensor in the lateral direction of the seedling module, directly read the distance position of the seedling picking module according to the distance sensor, and then determine the lateral distance and lateral direction of the two consecutive seedling throwing actions.

[0065] In addition, the lateral displacement distance of the two seedling throwing actions can be determined according to the lateral displacement control amount pre-set in the seedling picking module. In the case where the seedlings on the blanket are arranged at a fixed interval, the distance between the two seedlings in the lateral direction can also be directly used as the lateral displacement distance of the two seedling throwing actions. According to the actual situation, the method for determining the lateral displacement distance of the two seedling throwing actions of the seedling picking module can be adaptively set. The embodiment of the present application does not impose fixed restrictions on the specific determination method, which will not be repeated here.

[0066] On the other hand, the lateral movement distance and lateral movement direction of the two seedling throwing actions before and after the seedling picking module are determined, including:

[0067] The one-way lateral movement limit length of the seedling taking module is obtained, and the corresponding lateral movement direction is determined according to the one-way lateral movement limit length and the lateral movement distance of the two seedling throwing actions before and after the seedling taking module.

[0068] The lateral movement direction of the seedling removal module can be determined based on its one-way lateral movement limit length and the two lateral movement distances before and after. The one-way lateral movement limit length is the maximum length of the seedling removal module moving horizontally in one direction. Figure 6 to Figure 9In the process of throwing seedlings, the seedling picking module will move horizontally to the right by the distance of 5 seedlings, and then move horizontally to the left by the distance of 5 seedlings, and so on. By determining this one-way lateral displacement limit length, combined with the lateral displacement distance of the two seedling throwing actions of the seedling picking module before and after, it can be determined that the lateral displacement direction of the seedling picking module after the first seedling picking is to the right, the lateral displacement direction after the second seedling picking is to the right, and the lateral displacement direction after the third seedling picking is to the right. When the seedlings are picked for the fourth time and moved horizontally to the right, the seedling picking module has taken the seedlings in the first row and the fifth column, reaching the one-way lateral displacement limit length, and no longer moves horizontally to the right, maintaining the original horizontal position. Then continue to take the seedlings in the second row and the fifth column, and then move horizontally to the left to take the seedlings in the second row and the fourth column. By analogy, combined with the one-way lateral displacement limit length of the seedling picking module and the lateral displacement distance of the two seedling throwing actions before and after, the lateral displacement direction corresponding to each lateral displacement can be determined. In the case where no lateral displacement is performed after the first or fifth column is picked, the lateral displacement direction and lateral displacement distance are 0.

[0069] Optionally, the above-mentioned lateral movement direction can also be directly determined according to the number of seedlings in each row. Taking 5 seedlings in a row as an example, refer to the above-mentioned method for determining the lateral movement direction. After the 1st, 2nd, 3rd, and 4th seedlings are taken, the seedling taking module moves horizontally to the right, does not move horizontally after the 5th seedling is taken, moves horizontally to the left after the 6th, 7th, 8th, and 9th seedlings are taken, and does not move horizontally after the 10th seedling is taken. By analogy, it is only necessary to determine the initial lateral movement direction of the seedling taking module, and combined with the number of seedlings in each row, the lateral movement direction of the two seedling throwing actions of the seedling taking module can be determined.

[0070] According to the actual setting, the method for determining the lateral movement direction of the two seedling throwing actions of the seedling taking module can be adaptively set. The embodiment of the present application does not impose fixed restrictions on the specific determination method, which will not be elaborated here.

[0071] S120, determining the seedling throwing position trajectory of the seedling taking module according to the longitudinal distance, the lateral movement distance and the lateral movement direction.

[0072] Furthermore, based on the determined longitudinal distance, lateral distance and lateral direction, each seedling throwing position can be determined. It can be understood that the longitudinal distance represents the time difference between the two seedling throwing operations of the seedling picking module. According to the time difference, the straight-line flight distance of the drone during this period can be determined, and the longitudinal distance between the two seedling throwing positions can be determined. The longitudinal distance can be determined based on the time difference between the seedling picking module moving horizontally from one seedling throwing position to another seedling throwing position, and can also be determined based on the time difference between the two seedling throwing actions completed by the blade head of the seedling picking module.

[0073] Similarly, by obtaining the lateral distance of the two seedling throwing actions of the seedling picking module, the lateral distance between the two seedling throwing positions can be determined. When the lateral distance and longitudinal distance of the two seedling throwing positions are known, each seedling throwing position can be determined. By connecting all the seedling throwing positions in series according to the seedling throwing sequence, the corresponding seedling throwing position trajectory can be obtained.

[0074] Optionally, determining the seedling throwing position trajectory of the seedling taking module according to the longitudinal distance, the lateral movement distance and the lateral movement direction includes:

[0075] Determine the longitudinal coordinates of each seedling throwing operation position of the seedling taking module on the operation plane according to the longitudinal distance;

[0076] Determine the horizontal coordinate of each seedling throwing operation position according to the horizontal movement distance and the horizontal movement direction;

[0077] The seedling throwing position trajectory of the seedling taking module is determined based on the ordinate and abscissa of each seedling throwing operation position.

[0078] It can be understood that the longitudinal distance is the flight distance between the two front and rear seedling throwing positions of the drone. Taking the first seedling throwing position of the drone as the coordinate origin, the flight distance is calculated after each seedling throwing operation, and the longitudinal coordinates of each seedling throwing operation position of the seedling picking module on the operation plane can be determined in turn. That is, the longitudinal coordinate of the next seedling throwing position is equal to the longitudinal coordinate of the previous seedling throwing position plus the above-mentioned flight distance.

[0079] Similarly, the first seedling throwing position of the drone is used as the coordinate origin. After each seedling throwing operation, the lateral displacement distance of the two seedling throwing operations is calculated, and the horizontal coordinates of each seedling throwing operation position of the seedling picking module on the operation plane for each seedling throwing operation can be determined in sequence. That is, the horizontal coordinate of the next seedling throwing position is equal to the horizontal coordinate of the previous seedling throwing position plus the above-mentioned lateral displacement distance. Based on the determined horizontal and vertical coordinates, the seedling throwing position of each seedling throwing operation can be determined and connected in series to form a seedling throwing position trajectory.

[0080] It should be noted that in actual applications, the lateral distance and longitudinal distance of each seedling throwing operation may be different. Therefore, the lateral distance and longitudinal distance need to be recorded independently for each seedling throwing operation, and then the horizontal and vertical coordinates of the seedling throwing position of the current seedling throwing operation are determined by combining the horizontal and vertical coordinates of the previous seedling throwing position.

[0081] When the lateral distance and longitudinal distance of each seedling throwing operation are fixed, the lateral distance and longitudinal distance can be detected only once, and then the coordinates of each seedling throwing position can be determined one by one by combining the lateral direction of each lateral movement and the seedling throwing position coordinates of the initial seedling throwing operation.

[0082] The embodiment of the present application does not impose any fixed restrictions on the specific method of determining the seedling throwing position, which will not be described in detail here.

[0083] Optionally, before determining the seedling throwing position trajectory of the seedling taking module based on the ordinate and abscissa of each seedling throwing operation position, the method further includes:

[0084] Determine the time interval from when the seedling picking module completes a lateral movement to when it completes the seedling throwing action, determine the position correction information based on the time interval, and correct the vertical coordinate of the seedling throwing operation position according to the position correction information.

[0085] It is understandable that there is a certain time interval between the completion of each lateral movement of the seedling picking module and the completion of the seedling throwing action. During this time interval, the drone continues to fly forward, while the seedling picking module does not move laterally. Therefore, if the longitudinal distance between the two seedling throwing operations is determined according to the lateral movement time between the two seedling throwing operations of the seedling picking module, there may be a certain error. Based on this, by determining the time interval between the completion of a lateral movement of the seedling picking module and the completion of the seedling throwing action, the flight distance of the drone in this time interval is calculated, and the flight distance is used as the position correction information to correct the longitudinal coordinate of the seedling throwing operation position. The original longitudinal coordinate is added to the flight distance to obtain the corrected longitudinal coordinate. In this way, the coordinate correction is performed to ensure that the final seedling throwing position is more accurate and improve the subsequent flight compensation accuracy.

[0086] S130, performing flight compensation control on the rice-transporting UAV according to the rice-transporting position trajectory.

[0087] Furthermore, based on the seedling throwing position trajectory obtained based on the above-mentioned determined seedling throwing position, the flight compensation control of the drone can be performed according to its deviation from the straight flight trajectory of the drone, thereby correcting the seedling throwing position.

[0088] Among them, the flight compensation control of the seedling throwing drone is carried out according to the seedling throwing position trajectory, including:

[0089] The deviation information of the rice seedling throwing position trajectory relative to the straight flight trajectory of the rice seedling throwing UAV is determined, a flight compensation trajectory is generated based on the deviation information, and the rice seedling throwing UAV is controlled to fly along the flight compensation trajectory.

[0090] Reference Fig.11 Based on the seedling throwing position trajectory obtained by serial connection of the seedling throwing position, by determining the deviation information N of the seedling throwing position trajectory relative to the straight flight trajectory L0 of the seedling throwing UAV, the deviation information can be used to construct the flight compensation trajectory. Fig.12As shown in the figure, according to the deviation information, the position deviation compensation is performed in the opposite direction on the straight flight trajectory to generate a flight compensation trajectory. For example, if a certain position on the seedling throwing position trajectory deviates to the right by N relative to the straight flight trajectory of the drone, the flight compensation trajectory needs to correspond to the position and deviate to the left by N relative to the straight flight trajectory of the drone. Similarly, reverse compensation is performed for each position, and the following can be obtained: Fig.12 Compensated flight trajectory shown.

[0091] Further, refer to Fig.13 When the UAV flies with the flight compensation trajectory and performs the seedling throwing operation, the seedling throwing position remains straight due to the reverse offset of the UAV flight trajectory, and thus the seedling throwing landing point remains straight.

[0092] It should be noted that when generating the flight compensation trajectory, according to the accuracy requirements of the flight compensation trajectory, the deviation information can be determined for each seedling throwing position, and then the flight compensation trajectory can be generated according to each deviation information. It is also possible to use a smaller comparison granularity to determine multiple comparison positions between two seedling throwing positions for refined comparison, and then determine the deviation information of more positions to construct a more refined flight compensation trajectory.

[0093] In addition, after the flight compensation trajectory is generated according to the deviation information determined at each seedling throwing position, the flight compensation trajectory is obtained by directly connecting the positions corresponding to the deviation information. Fig.13 , the flight compensation trajectory is a broken line when the corresponding seedling picking module moves horizontally to the leftmost or rightmost position. That is, when the seedling picking module moves back and forth to the rightmost or leftmost position, the flight compensation of the drone will have a large turning angle. Therefore, the flight stability of the drone can be improved by smoothing the flight trajectory. At this time, the flight compensation trajectory can be fitted by linear fitting to obtain a smoother flight compensation trajectory.

[0094] Optionally, when performing flight compensation control on the seedling throwing UAV according to the seedling throwing position trajectory, the starting position of the seedling throwing position trajectory can also be directly determined, and the horizontal coordinate of the starting position coincides with the straight flight trajectory of the UAV. Then, according to the lateral offset of each sampling position after the seedling throwing position trajectory relative to the straight flight trajectory of the UAV, the corresponding distance of the lateral movement of the UAV in the opposite direction is directly controlled. For example, if it is detected that the seedling throwing position trajectory is offset to the right by M coordinate units relative to the starting position at the O sampling position, when the UAV flies to the longitudinal coordinate corresponding to the O sampling position, it needs to be offset to the left by M coordinate units relative to the straight flight trajectory. By analogy, when the UAV is flying, it only needs to determine in advance the offset of its own lateral direction when its longitudinal coordinate coincides with the next sampling position, so as to realize real-time flight compensation control.

[0095] In the above, the longitudinal distance, lateral distance and lateral direction of the two seedling throwing actions of the seedling picking module of the seedling throwing drone are obtained; then the seedling throwing position trajectory of the seedling picking module is determined according to the longitudinal distance, lateral distance and lateral direction; then the seedling throwing drone is subjected to flight compensation control according to the seedling throwing position trajectory. The above technical means are adopted to generate the seedling throwing position trajectory of the seedling picking module by determining the displacement of the seedling picking module, so as to perform flight compensation control according to the deviation of the seedling throwing position trajectory relative to the straight flight trajectory of the seedling throwing drone, so as to ensure the standardization of the seedling throwing operation, keep the seedling throwing landing point trajectory straight, avoid the situation where the seedling landing point deviation affects the operation effect, and improve the seedling throwing operation effect.

[0096] Based on the above embodiments, Fig.14 This is a schematic diagram of the structure of a flight compensation device for a rice seedling throwing drone provided in an embodiment of the present application. Fig.14 The flight compensation device of the rice seedling throwing UAV provided in this embodiment specifically includes: an acquisition module 41, a trajectory determination module 42 and a flight compensation module 43.

[0097] The acquisition module 41 is configured to acquire the longitudinal distance, lateral movement distance and lateral movement direction of two seedling throwing actions of the seedling picking module of the seedling throwing drone;

[0098] The trajectory determination module 42 is configured to determine the seedling throwing position trajectory of the seedling taking module according to the longitudinal distance, the lateral movement distance and the lateral movement direction;

[0099] The flight compensation module 43 is configured to perform flight compensation control on the rice seedling throwing UAV according to the rice seedling throwing position trajectory.

[0100] Specifically, the flight compensation control of the rice seedling throwing UAV is performed according to the rice seedling throwing position trajectory, including:

[0101] The deviation information of the rice seedling throwing position trajectory relative to the straight flight trajectory of the rice seedling throwing UAV is determined, a flight compensation trajectory is generated based on the deviation information, and the rice seedling throwing UAV is controlled to fly along the flight compensation trajectory.

[0102] The generation of a flight compensation trajectory based on the deviation information includes:

[0103] The position deviation compensation is performed in the opposite direction on the straight flight trajectory according to the deviation information to generate a flight compensation trajectory.

[0104] Specifically, the seedling throwing position trajectory of the seedling picking module is determined according to the longitudinal distance, the lateral movement distance and the lateral movement direction, including:

[0105] Determine the longitudinal coordinates of each seedling throwing operation position of the seedling taking module on the operation plane according to the longitudinal distance;

[0106] Determine the horizontal coordinate of each seedling throwing operation position according to the horizontal movement distance and the horizontal movement direction;

[0107] The seedling throwing position trajectory of the seedling taking module is determined based on the ordinate and abscissa of each seedling throwing operation position.

[0108] Before determining the seedling throwing position trajectory of the seedling picking module based on the ordinate and abscissa of each seedling throwing operation position, the method further includes:

[0109] Determine the time interval from when the seedling picking module completes a lateral movement to when it completes the seedling throwing action, determine the position correction information based on the time interval, and correct the vertical coordinate of the seedling throwing operation position according to the position correction information.

[0110] Specifically, determining the lateral movement distance and lateral movement direction of the two seedling throwing actions of the seedling picking module includes:

[0111] Determine the lateral movement distance of the two seedling throwing actions of the seedling picking module based on the rotor position sensor set on the lateral movement motor of the seedling picking module; or

[0112] The lateral movement distances of the two seedling throwing actions of the seedling picking module are determined based on the distance sensor arranged in the lateral movement direction of the corresponding seedling picking module.

[0113] Determine the lateral movement distance and lateral movement direction of the two seedling throwing actions of the seedling picking module, including:

[0114] The one-way lateral movement limit length of the seedling taking module is obtained, and the corresponding lateral movement direction is determined according to the one-way lateral movement limit length and the lateral movement distance of the two seedling throwing actions before and after the seedling taking module.

[0115] In the above, the longitudinal distance, lateral distance and lateral direction of the two seedling throwing actions of the seedling picking module of the seedling throwing drone are obtained; then the seedling throwing position trajectory of the seedling picking module is determined according to the longitudinal distance, lateral distance and lateral direction; then the seedling throwing drone is subjected to flight compensation control according to the seedling throwing position trajectory. The above technical means are adopted to generate the seedling throwing position trajectory of the seedling picking module by determining the displacement of the seedling picking module, so as to perform flight compensation control according to the deviation of the seedling throwing position trajectory relative to the straight flight trajectory of the seedling throwing drone, so as to ensure the standardization of the seedling throwing operation, keep the seedling throwing landing point trajectory straight, avoid the situation where the seedling landing point deviation affects the operation effect, and improve the seedling throwing operation effect.

[0116] The flight compensation device for a rice-throwing UAV provided in the embodiment of the present application can be used to execute the flight compensation method for a rice-throwing UAV provided in the above-mentioned embodiment, and has corresponding functions and beneficial effects.

[0117] The present application embodiment provides a drone, referring to Fig.15The electronic device includes: a processor 51, a memory 52, a communication module 53, an input device 54 and an output device 55. The number of processors in the electronic device can be one or more, and the number of memories in the electronic device can be one or more. The processor, memory, communication module, input device and output device of the electronic device can be connected via a bus or other means.

[0118] As a computer-readable storage medium, the memory can be used to store software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the flight compensation method of the rice-throwing drone described in any embodiment of the present application (for example, the acquisition module, trajectory determination module and flight compensation module in the flight compensation device of the rice-throwing drone). The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0119] The communication module is used for data transmission.

[0120] The processor executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory, that is, realizes the flight compensation method of the above-mentioned rice seedling throwing drone.

[0121] The input device can be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device can include display devices such as display screens.

[0122] The electronic device provided above can be used to execute the flight compensation method of the rice seedling throwing drone provided in the above embodiment, and has corresponding functions and beneficial effects.

[0123] 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 compensation method for a seedling throwing drone, the flight compensation method for the seedling throwing drone comprising: obtaining the longitudinal distance, lateral distance and lateral direction of two seedling throwing actions before and after a seedling picking module of the seedling throwing drone; determining the seedling throwing position trajectory of the seedling picking module according to the longitudinal distance, lateral distance and lateral direction; and performing flight compensation control on the seedling throwing drone according to the seedling throwing position trajectory.

[0124] 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.

[0125] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application is not limited to the flight compensation method of the rice seedling throwing drone as described above, and can also execute related operations in the flight compensation method of the rice seedling throwing drone provided in any embodiment of the present application.

[0126] The flight compensation device, storage medium and drone of the rice-throwing drone provided in the above embodiments can execute the flight compensation method of the rice-throwing drone provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the flight compensation method of the rice-throwing drone provided in any embodiment of the present application.

[0127] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A flight compensation method for a rice seedling throwing UAV, characterized in that: The method is applied to a drone equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism comprises a seedling sending module and a seedling taking module, wherein the seedling sending module is used to carry the seedling blanket at a fixed position, and the seedling taking module is used to separate the seedlings from the seedling blanket through reciprocating lateral movement and then throw them out; The method comprises: Obtain the longitudinal distance, lateral distance and lateral direction of the two seedling throwing actions of the seedling picking module of the seedling throwing drone; Determine the seedling throwing position trajectory of the seedling taking module according to the longitudinal distance, the lateral movement distance and the lateral movement direction; The seedling-throwing UAV is subjected to flight compensation control according to the seedling-throwing position trajectory.

2. The flight compensation method for a rice seedling throwing UAV according to claim 1, characterized in that: The performing flight compensation control on the seedling throwing UAV according to the seedling throwing position trajectory comprises: The deviation information of the seedling throwing position trajectory relative to the straight flight trajectory of the seedling throwing drone is determined, a flight compensation trajectory is generated based on the deviation information, and the seedling throwing drone is controlled to fly along the flight compensation trajectory.

3. The flight compensation method for a rice seedling throwing UAV according to claim 2, characterized in that: The generating a flight compensation trajectory based on the deviation information comprises: Position deviation compensation in the opposite direction is performed on the straight flight trajectory according to the deviation information to generate a flight compensation trajectory.

4. The flight compensation method for a rice seedling throwing UAV according to claim 1, characterized in that: The step of determining the seedling throwing position trajectory of the seedling taking module according to the longitudinal distance, the lateral movement distance and the lateral movement direction comprises: Determine the longitudinal coordinates of each seedling throwing operation position of the seedling taking module on the operation plane according to the longitudinal distance; Determine the horizontal coordinate of each of the seedling throwing operation positions according to the lateral movement distance and the lateral movement direction; The seedling throwing position trajectory of the seedling taking module is determined based on the ordinate and abscissa of each seedling throwing operation position.

5. The flight compensation method for a rice seedling throwing UAV according to claim 4, characterized in that: Before determining the seedling throwing position trajectory of the seedling taking module based on the ordinate and abscissa of each seedling throwing operation position, the method further includes: Determine the time interval from when the seedling picking module completes a lateral movement to when it completes the seedling throwing action, determine position correction information based on the time interval, and correct the vertical coordinate of the seedling throwing operation position according to the position correction information.

6. The flight compensation method for a rice seedling throwing UAV according to claim 1, characterized in that: The step of determining the lateral movement distance and lateral movement direction of the two seedling throwing actions of the seedling picking module comprises: Determine the lateral movement distance of the two seedling throwing actions of the seedling taking module based on the rotor position sensor arranged on the lateral movement motor of the seedling taking module; or The lateral movement distances of the two seedling throwing actions of the seedling taking module are determined based on a distance sensor arranged in the lateral movement direction corresponding to the seedling taking module.

7. The flight compensation method for a rice seedling throwing UAV according to claim 1, characterized in that: The step of determining the lateral movement distance and lateral movement direction of the two seedling throwing actions of the seedling picking module comprises: The one-way lateral movement limit length of the seedling taking module is obtained, and the corresponding lateral movement direction is determined according to the one-way lateral movement limit length and the lateral movement distances of the two seedling throwing actions of the seedling taking module.

8. A flight compensation device for a rice seedling throwing drone, characterized in that: The device is applied to a drone equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism comprises a seedling sending module and a seedling taking module, wherein the seedling sending module is used to carry the seedling blanket at a fixed position, and the seedling taking module is used to separate the seedlings from the seedling blanket through reciprocating lateral movement and then throw them out; The device comprises: An acquisition module is configured to acquire the longitudinal distance, lateral movement distance and lateral movement direction of two seedling throwing actions of the seedling picking module of the seedling throwing drone; A trajectory determination module is configured to determine the seedling throwing position trajectory of the seedling taking module according to the longitudinal distance, the lateral movement distance and the lateral movement direction; The flight compensation module is configured to perform flight compensation control on the seedling-transporting UAV according to the seedling-transporting position trajectory.

9. A drone, characterized in that: include: memory and one or more processors; The memory is used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the flight compensation method for the rice seedling throwing drone as described in any one of claims 1-7.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions, when executed by a computer processor, are used to execute the flight compensation method for a rice seedling throwing drone as described in any one of claims 1-7.

11. A seedling throwing system, characterized in that: It includes a seedling throwing drone and a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling sending module and a seedling taking module, wherein: The seedling delivery module is used to carry the blanket seedlings at a fixed position; The seedling picking module is used to separate the seedlings from the seedling blanket by reciprocating transverse movement and then throw them out; The rice seedling throwing drone is used for: Obtain the longitudinal distance, lateral distance and lateral direction of the two seedling throwing actions of the seedling picking module of the seedling throwing drone; Determine the seedling throwing position trajectory of the seedling taking module according to the longitudinal distance, the lateral movement distance and the lateral movement direction; The seedling-throwing UAV is subjected to flight compensation control according to the seedling-throwing position trajectory.

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