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

Abstract

Embodiments of the present application disclose a flight compensation method and device for a seedling throwing unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium. The technical solution provided by the embodiments of the present application obtains the longitudinal distance, the horizontal displacement distance and the horizontal displacement direction of the seedling taking module of the seedling throwing unmanned aerial vehicle before and after two seedling throwing actions, and then determines the seedling throwing position trajectory of the seedling taking module according to the longitudinal distance, the horizontal displacement distance and the horizontal displacement direction. Then, the flight compensation control of the seedling throwing unmanned aerial vehicle is performed according to the seedling throwing position trajectory. By using the above technical means, the seedling throwing position trajectory of the seedling taking module is generated according to the displacement of the seedling taking module, the flight compensation control is performed according to the deviation of the seedling throwing position trajectory relative to the straight flight trajectory of the seedling throwing unmanned aerial vehicle, the seedling throwing operation is standardized, the seedling throwing landing point trajectory is kept straight, the deviation of the seedling landing point is avoided to affect the operation effect, and the seedling throwing operation effect is improved.

Description

TECHNICAL FIELD

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

[0002] At present, with the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles are widely applied to various scenarios for high-altitude operations. In particular, in the agricultural scenario, some fields are not convenient for ground travel of agricultural machinery for operation, such as terraced fields with rugged ground, and the unmanned aerial vehicle can be used to perform high-altitude plant protection on crops planted in the field. Even the unmanned aerial vehicle can carry a seedling throwing mechanism to throw seedlings in the air to plant them in the field.

[0003] However, during the execution of the seedling throwing operation, the seedling throwing mechanism needs to separate seedlings from each position of the whole mat of seedlings for the seedling throwing operation, which results in a relative position offset between the seedling throwing operation position and the unmanned aerial vehicle. When the unmanned aerial vehicle flies in a straight line, the relative displacement of the seedling throwing position causes the seedling throwing drop point trajectory to deviate from a straight line, thereby affecting the seedling throwing operation effect. SUMMARY

[0004] Embodiments of the present application provide a flight compensation method and device for a seedling throwing unmanned aerial vehicle, an unmanned aerial vehicle, and a storage medium, which can compensate for the flight of the seedling throwing unmanned aerial vehicle, keep the seedling throwing drop point trajectory straight, and solve the problem of seedling throwing drop point deviation of the seedling throwing unmanned aerial vehicle.

[0005] In a first aspect, embodiments of the present application provide a flight compensation method for a seedling throwing unmanned aerial vehicle. The method is applied to an unmanned aerial vehicle carrying a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling feeding module and a seedling taking module. The seedling feeding module is used to carry a mat of seedlings at a fixed position, and the seedling taking module is used to throw out seedlings separated from the mat of seedlings through reciprocating horizontal movement.

[0006] The method includes the following steps:

[0007] Obtaining the longitudinal distance, the horizontal movement distance, and the horizontal movement direction of two seedling throwing actions of the seedling taking module of the seedling throwing unmanned aerial vehicle.

[0008] Determining the seedling throwing position trajectory of the seedling taking module according to the longitudinal distance, the horizontal movement distance, and the horizontal movement direction.

[0009] Controlling the flight compensation of the seedling throwing unmanned aerial vehicle according to the seedling throwing position trajectory.

[0010] In a second aspect, embodiments of the present application provide a flight compensation device for a seedling throwing unmanned aerial vehicle. The device is applied to an unmanned aerial vehicle carrying a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling feeding module and a seedling taking module. The seedling feeding module is used to carry a mat of seedlings at a fixed position, and the seedling taking module is used to throw out seedlings separated from the mat of seedlings through reciprocating horizontal movement.

[0011] The device comprises:

[0012] An acquisition module configured to acquire a longitudinal distance, a horizontal distance and a horizontal direction of two consecutive seedling throwing actions of a seedling taking module of a seedling throwing unmanned aerial vehicle;

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

[0014] A flight compensation module configured to perform flight compensation control on the seedling throwing unmanned aerial vehicle according to the seedling throwing position trajectory.

[0015] In a third aspect, an embodiment of the present application provides an unmanned aerial vehicle, comprising:

[0016] a memory and one or more processors;

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

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the flight compensation method of the seedling throwing unmanned aerial vehicle according to the first aspect.

[0019] In a fourth aspect, an embodiment of the present application provides a storage medium containing computer executable instructions, which are used to execute the flight compensation method of the seedling throwing unmanned aerial vehicle according to the first aspect when executed by a computer processor.

[0020] In a fifth aspect, an embodiment of the present application provides a seedling throwing system comprising a seedling throwing unmanned aerial vehicle and a seedling throwing mechanism, wherein the seedling throwing mechanism comprises a seedling feeding module and a seedling taking module, and wherein:

[0021] the seedling feeding module is used to carry blanket seedlings at a fixed position;

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

[0023] the seedling throwing unmanned aerial vehicle is used to:

[0024] acquire a longitudinal distance, a horizontal distance and a horizontal direction of two consecutive seedling throwing actions of the seedling taking module;

[0025] determine a seedling throwing position trajectory of the seedling taking module according to the longitudinal distance, the horizontal distance and the horizontal direction;

[0026] perform flight compensation control on the seedling throwing unmanned aerial vehicle according to the seedling throwing position trajectory.

[0027] The embodiment of the application obtains the longitudinal distance, the horizontal moving distance and the horizontal moving direction of the two times of seedling throwing actions of the seedling taking module of the seedling throwing unmanned aerial vehicle; then the seedling throwing position track of the seedling taking module is determined according to the longitudinal distance, the horizontal moving distance and the horizontal moving direction; and then the flight compensation control of the seedling throwing unmanned aerial vehicle is performed according to the seedling throwing position track. By determining the displacement of the seedling taking module to generate the seedling throwing position track of the seedling taking module, the flight compensation control is performed according to the deviation of the seedling throwing position track relative to the straight flight track of the seedling throwing unmanned aerial vehicle, the seedling throwing operation is standardized, the seedling throwing landing point track is kept straight, the deviation of the seedling landing point is avoided to affect the operation effect, and the seedling throwing operation effect is improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a structural schematic diagram of a seedling throwing system provided by the embodiment of the application;

[0029] Figure 2 is one of structural schematic diagrams of a seedling throwing mechanism provided by the embodiment of the application;

[0030] Figure 3 is one of structural schematic diagrams of a seedling taking module of the embodiment of the application;

[0031] Figure 4 is another structural schematic diagram of a seedling taking module of the embodiment of the application;

[0032] Figure 5 is a third structural schematic diagram of a seedling taking module of the embodiment of the application;

[0033] Figure 6 is a second structural schematic diagram of a seedling throwing mechanism provided by the embodiment of the application;

[0034] Figure 7 is a third structural schematic diagram of a seedling throwing mechanism provided by the embodiment of the application;

[0035] Figure 8 is a fourth structural schematic diagram of a seedling throwing mechanism provided by the embodiment of the application;

[0036] Figure 9 is a fifth structural schematic diagram of a seedling throwing mechanism provided by the embodiment of the application;

[0037] Figure 10 is a flowchart of a flight compensation method of a seedling throwing unmanned aerial vehicle provided by the embodiment of the application;

[0038] Figure 11 is a seedling throwing position schematic diagram provided by the embodiment of the application;

[0039] Figure 12 is a flight compensation track schematic diagram provided by the embodiment of the application;

[0040] Figure 13 is a schematic diagram of a seedling throwing position after flight compensation provided by an embodiment of the present application;

[0041] Figure 14 is a structural schematic diagram of a flight compensation device of a seedling throwing unmanned aerial vehicle provided by an embodiment of the present application;

[0042] Figure 15 is a structural schematic diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

[0043] In the figure, 10 is a blanket seedling, 11 is a seedling, 20 is an unmanned aerial vehicle, 30 is a seedling throwing mechanism, 31 is a seedling feeding module, 311 is a seedling feeding disc, 312 is a conveying device, 32 is a seedling taking module, 321 is a rotary motor, 322 is a cutter head, 323 is a lead screw, 324 is a sliding block, 325 is a connecting frame, 326 is a seedling supporting plate, and 327 is a horizontal moving motor. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in combination with the drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the contents. Before discussing the example embodiments in more detail, it should be mentioned that some example embodiments are described as processes or methods depicted as flowcharts. Although the flowchart describes each operation (or step) as a sequential process, many of the operations can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when the operations are completed, but can also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0045] The flight compensation method of the seedling throwing unmanned aerial vehicle provided by an embodiment of the present application determines the horizontal moving distance and horizontal moving direction of the seedling taking module relative to the seedling throwing unmanned aerial vehicle when the seedling taking module performs the seedling throwing operation, and then generates a seedling throwing position trajectory of the seedling taking module according to the horizontal moving distance and horizontal moving 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 unmanned aerial vehicle, keep the seedling throwing landing point straight, and realize standardized seedling throwing operation. Wherein, Figure 1 is a structural schematic diagram of a seedling throwing system provided by an embodiment of the present application. As shown in Figure 1 , the seedling throwing system comprises a seedling throwing mechanism 30 and an unmanned aerial vehicle 20, and the seedling throwing mechanism 30 is hung on the unmanned aerial vehicle 20. Figure 2 is a structural schematic diagram of a seedling throwing mechanism provided by an embodiment of the present application. As shown in Figure 2As shown, the seedling throwing mechanism 30 includes a seedling delivery module 31 and a seedling taking module 32. The seedling delivery module 31 carries the seedlings 10 in a fixed position through the seedling delivery tray 311. The seedling taking module 32 is used to reciprocate laterally to separate the seedlings 11 from the seedlings 10 carried by the seedling delivery module 31 and throw them out.

[0046] Among them, reference Figures 3 to 5 The seedling-picking module 32 includes a rotary motor 321 and a cutter head 322. The module 32 achieves seedling picking through a structure consisting of a lead screw 323, a slider 324, a connecting frame 325, a seedling support plate 326, and a transverse motor 327. The transverse motor 327 drives the lead screw 323 to rotate. The slider 324 on the lead screw 323 is slidably connected to it, allowing the slider 324 to reciprocate transversely on the lead screw 323 when the transverse motor 327 drives the lead screw 323 to rotate in either the forward or reverse direction. The slider 324 is then fixedly connected to the connecting frame 325, causing the slider to drive the entire connecting frame 325 to move transversely. The connecting frame 325 is used to fix and support the seedling support plate 326 and the rotary motor 321. When the slider 324 drives the connecting frame to reciprocate transversely, the seedling support plate 326 and the rotary motor 321 synchronously follow the reciprocating transverse movement. During the synchronous lateral movement, the rotary motor 321 drives the connected cutter head 322 to separate the seedlings 11 of the seedling tray 311 from the seedlings 10 on the seedling support plate 326 at the opening, and then throws out the separated seedlings 11. There are many ways to separate the seedlings, such as cutting, grabbing, pushing, or pressing. This application does not limit the specific separation and seedling removal methods.

[0047] The drone 20 can be used to execute the flight compensation method for the rice-throwing drone provided in this embodiment. The drone 20 can be implemented through software and / or hardware. The drone 20 can consist of two or more physical entities, or it can consist of a single physical entity. The drone 20 refers to a flight device that operates according to remote control commands or preset commands. For example, the drone 20 is a rotary-wing drone, specifically a quadcopter drone. Depending on the actual configuration, it can also be a single-rotor drone, a dual-rotor drone, a hexacopter drone, an octacopter drone, etc. The drone 20 can operate automatically according to preset paths, flight speeds, attitudes, etc., or it can be manually controlled by an operator.

[0048] The drone 20 is equipped with at least one type of operating system. The drone 20 can install at least one application based on this operating system. The application can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the drone 20 has at least one application capable of performing flight compensation for rice-throwing drones.

[0049] Specifically, refer to Figures 1 to 5The seedling delivery module 31 includes a seedling delivery tray 311, the lower part of which is located within a seedling support plate 326. The seedling delivery tray 311 is fixed in position for placing the blanket seedlings 10. The seedling support plate 326 supports the seedling delivery tray 311 and provides a seedling-retrieving position for the seedling-retrieving module 32 through a fixed opening. The seedling-retrieving module 32 utilizes a structure consisting of a transverse motor 327, a lead screw 323, a slider 324, and a connecting frame 325 to drive the cutter head 322 and the seedling support plate 326 to reciprocate transversely. A rotary motor 321 drives the cutter head 322 to rotate, separating the blanket seedlings 11 from the blanket seedlings 10 on the seedling delivery tray 311 through the opening in the seedling support plate 326, and then throwing out the separated seedlings 11. It should be noted that the seedling support plate 326 needs to support the blanket seedlings while also moving synchronously with the cutter head 322 to ensure that the opening of the seedling support plate 326 is always aligned with the cutter head 322, providing a seedling-retrieving position for the cutter head 322.

[0050] Depend on Figure 6 It is known that the seedling delivery module 31 includes multiple seedling delivery trays 311, which are fixedly arranged side by side on the seedling support plate 326. Correspondingly, the seedling throwing mechanism 30 includes multiple seedling picking modules 32, which correspond one-to-one with the seedling delivery trays 311. The structure of the lead screw 323, slider 324, connecting frame 325, and transverse motor 327 is used to drive the seedling picking modules 32 and the seedling support plate 326 to move left and right, so that the opening of the seedling support plate 326 is aligned with the seedlings on the seedling delivery trays 311. The seedling delivery trays 311 remain stationary, while the cutter head 322 of the seedling picking module 32 moves reciprocally left and right. During this transverse movement, the cutter head 322 separates the seedlings 11 from adjacent seedlings 11 through the opening on the seedling support plate 326, thereby achieving row-by-row and plant-by-plant separation and throwing of the seedlings 10. The drive motor 321 can drive the cutter head 322 along... Figure 1 The blade 322 rotates in the direction indicated by arrow A, thereby separating the seedlings 10 during contact. The separated seedlings 11 follow the rotation of the blade 322 in the direction of arrow A. When the blade reaches a specific position, the seedlings 11 are thrown out under the action of centrifugal force and / or ejection force. Furthermore, a seedling picking module 32 can evenly arrange multiple blades 322. For example, when a seedling picking module 32 is equipped with two blades 322, the angle between the two blades 322 and the center of the drive source 321 is 180 degrees. Three blades 322 can be spaced 120 degrees apart, and four blades 322 can be spaced 90 degrees apart.

[0051] refer to Figure 2 The seedling delivery module 31 also includes a conveying device 312, which drives the seedlings 10 on the seedling delivery tray 311 to move toward the seedling support plate 326. The conveying device 312 can be a conveyor belt or a conveyor roller (e.g., a toothed roller).

[0052] Reference Figures 6 to 9The seedling throwing process of the seedling throwing mechanism 30 is described. Figures 6 to 9 This is a schematic diagram of the structure of the rice-throwing mechanism 30 provided in an embodiment of this application. Figures 6 to 9 As shown, the three seedling trays 311 initially hold eight rows and five columns of seedlings 10. The initial position of the blades 322 of the three seedling-collecting modules 32 is the lower left position of the seedlings on the corresponding seedling trays 311. When the drone 20 starts performing the aerial seedling-throwing operation, the seedling-collecting module 32 is controlled to rotate. The blades 322 of the seedling-collecting module 32 rotate to the lower left position of the seedlings and cut the connection between the seedlings 11 in the first row and first column of the seedling tray 10 and the seedlings 11 in the first row and second column of the seedling tray 10, thus throwing the seedlings 11 in the first row and first column into the field for planting. Then, the lead screw 323 drives the blades 322 to move laterally to the right. When it moves to the seedlings 11 in the first row and second column, the blades 322 of the seedling-collecting module 32 rotate to the position of the seedlings 11 and cut the connection between the seedlings 11 in the first row and third column of the seedling tray 10, thus throwing the seedlings 11 in the first row and second column into the field for planting. Repeating this process, when the blade 322 of the seedling-picking module 32 moves laterally to the right side of the seedling-delivery tray 311, that is, when it reaches the seedling 11 in the fifth column of the first row, the blade 322 of the seedling-picking module 32 rotates and throws the seedling 11 in the fifth column of the first row into the field for planting. At this time, the first row of seedlings 11 of the blanket seedlings 10 has been thrown out. The seedling-picking module 32 can be controlled to stop moving laterally and the conveying device 312 can be started to move the blanket seedlings 10 on the seedling-delivery tray 311 toward the seedling support plate 326. When the second row of seedlings 11 of the blanket seedlings 10 moves to the seedling support plate 326, the conveying device 312 is stopped. At the same time as the conveying device 312 stops, the blade 322 of the seedling-picking module 32 rotates to the position of the seedling 11 in the fifth column of the second row, cuts off the connection between it and the seedling 11 in the fourth column of the second row, and throws the seedling 11 in the fifth column of the second row out. Simultaneously, the seedling-collecting module 32 is activated and moves horizontally to the left to the position of the seedling 11 in the fourth column of the second row, cutting off the connection between it and the seedling 11 in the third column of the second row. This process is repeated until all the seedlings 11 on the seedling delivery tray 311 are thrown out. It should be noted that the initial position of the seedling-collecting module 32 can also be the bottom right edge of the corresponding seedling delivery tray, and it moves horizontally to the left after activation. This embodiment does not limit the initial position of the seedling-collecting module 32.

[0053] Understandably, since the seedling-collecting module 32 needs to perform the seedling-throwing operation by moving left and right, and the drone's flight path during seedling-throwing is a straight line, the seedling-throwing position of the blade 322 of the seedling-collecting module 32 will shift left and right relative to the drone during the seedling-throwing operation. This shift will cause the seedling's landing trajectory to be in an "S" shape. To ensure standardized operation and avoid the seedling landing trajectory shift affecting the operation effect, it is necessary to use drone flight compensation to eliminate the seedling landing deviation caused by this shift and achieve precise seedling-throwing operation.

[0054] Below, for the convenience of understanding, the embodiment takes the unmanned aerial vehicle 20 as an example to describe the main body of the flight compensation method of the seedling throwing unmanned aerial vehicle. Figure 10 A flowchart of the flight compensation method of the seedling throwing unmanned aerial vehicle is given, and the flight compensation method of the seedling throwing unmanned aerial vehicle specifically includes:

[0055] S110, the longitudinal distance, the horizontal distance and the horizontal direction of the seedling throwing action of the seedling taking module of the seedling throwing unmanned aerial vehicle before and after are acquired.

[0056] In order to compensate for the offset of the seedling throwing position of the seedling taking module, and correct the seedling falling point deviation caused by the offset, it is necessary to first determine the offset of the seedling throwing position of the seedling taking module relative to the straight flight trajectory of the unmanned aerial vehicle. Referring to the seedling throwing process of Figures 6 to 9 , the seedling throwing position gradually moves to the right, and then moves to the left, and the reciprocating horizontal movement is performed. In this process, the unmanned aerial vehicle flies straight forward, and the seedling throwing position can be obtained as shown in Figure 11 . Wherein L0 is the straight flight trajectory of the unmanned aerial vehicle. Due to the horizontal movement of the seedling taking module, the seedling throwing position gradually deviates from the straight flight trajectory, and then the seedling throwing position of the seedling of the fifth column moves to the left, and at this time the seedling throwing position gradually approaches the straight flight trajectory. In this way, the seedling throwing position can be obtained as shown in Figure 11 .

[0057] In order to determine the seedling throwing position, the embodiment of the application determines the longitudinal distance of the seedling throwing operation of the seedling taking module of the seedling throwing unmanned aerial vehicle before and after. The longitudinal distance can be determined according to the time interval between the seedling throwing operation before and after, or the horizontal movement time between the seedling throwing operation before and after, combined with the flight speed of the unmanned aerial vehicle in the time difference or the horizontal movement time, and the product of the two is the longitudinal distance of the seedling throwing operation of the seedling taking module before and after.

[0058] Optionally, for the case that the unmanned aerial vehicle flies straight at a constant speed, and the time interval between the seedling throwing operation before and after is fixed, only the time interval needs to be determined, combined with the flight speed of the unmanned aerial vehicle, and the longitudinal distance of all seedling throwing positions can be determined.

[0059] On the other hand, the horizontal movement distance of the seedling throwing action of the seedling taking module before and after is acquired, that is, the seedling throwing position of the seedling taking module can be determined according to the longitudinal and horizontal displacement of the seedling taking module. It should be noted that since the seedling taking module moves horizontally and reciprocally, the horizontal movement direction needs to be determined to determine the horizontal displacement of the seedling throwing position before and after, and further determine the seedling throwing position.

[0060] Wherein, the horizontal movement distance and the horizontal movement direction of the seedling throwing action of the seedling taking module before and after are determined, including:

[0061] The rotor position sensor arranged on the horizontal moving motor of the seedling taking module is used to determine the horizontal moving distance of the seedling taking module in the two seedling throwing actions.

[0062] The distance sensor arranged in the horizontal moving direction of the seedling taking module corresponding to the seedling taking module is used to determine the horizontal moving distance of the seedling taking module in the two seedling throwing actions.

[0063] In the embodiment of the present application, the rotor position sensor arranged on the horizontal moving motor of the seedling taking module is used to determine the horizontal moving distance of the seedling taking module in the two seedling throwing actions. It can be understood that the horizontal moving motor is used to drive the screw rod to rotate, and then the screw rod drives the seedling taking module to move horizontally. Therefore, the rotor position sensor arranged on the horizontal moving motor is used to determine the rotor position change, and the horizontal moving distance of the seedling taking module in the two seedling throwing actions is determined according to the horizontal moving distance caused by the rotor position change.

[0064] Alternatively, the distance sensor arranged in the horizontal moving direction of the seedling taking module is used to determine the horizontal moving distance of the seedling taking module in the two seedling throwing actions.

[0065] In addition, the horizontal moving distance of the seedling taking module in the two seedling throwing actions can also be determined according to the pre-set horizontal moving control amount of the seedling taking module. For the case that the seedlings on the seedling blanket are arranged at fixed intervals, the distance between the two seedlings in the horizontal direction can be directly used as the horizontal moving distance of the seedling taking module in the two seedling throwing actions. According to the actual situation, the determination method of the horizontal moving distance of the seedling taking module in the two seedling throwing actions can be adaptively set, and the specific determination method is not limited in the embodiment of the present application, which will not be described here.

[0066] On the other hand, determining the horizontal moving distance and the horizontal moving direction of the seedling taking module in the two seedling throwing actions comprises:

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

[0068] For the horizontal moving direction of the seedling taking module, the one-way horizontal moving limit length can be used to determine the horizontal moving direction in combination with the horizontal moving distance of the two seedling throwing actions. The one-way horizontal moving limit length is the maximum length of the seedling taking module moving in one direction. For example, Figures 6 to 9If the seedling taking module is used in the seedling throwing process of the rice seedling taking device, the seedling taking module will move horizontally to the right by a distance of 5 seedlings, and then move horizontally to the left by a distance of 5 seedlings, and so on. By determining the one-way horizontal movement limit length, combined with the horizontal movement distance of the seedling throwing action of the seedling taking module before and after, it can be determined that the horizontal movement direction of the seedling taking module after the first seedling taking is to the right, the horizontal movement direction after the second seedling taking is to the right, the horizontal movement direction after the third seedling taking is to the right, and when the fourth seedling taking is performed and the seedling taking module moves to the right, the seedling taking module takes the seedlings in the fifth column of the first row and reaches the one-way horizontal movement limit length, and does not move to the right any more, but keeps the original horizontal position. Then the seedlings in the fifth column of the second row are taken, and then the seedlings in the fourth column of the second row are taken. By combining the one-way horizontal movement limit length of the seedling taking module and the horizontal movement distance of the seedling throwing action before and after, the corresponding horizontal movement direction of each time of horizontal movement can be determined. For the case that the seedlings in the first column or the fifth column are taken and no horizontal movement is performed, the horizontal movement direction and the horizontal movement distance are 0.

[0069] Alternatively, the horizontal movement direction can also be directly determined according to the number of seedlings in each row. For example, 5 seedlings are taken in a row, and the horizontal movement direction is determined according to the above method. After the first, second, third, and fourth seedlings are taken, the seedling taking module moves to the right, and after the fifth seedling is taken, the seedling taking module does not move horizontally. After the sixth, seventh, eighth, and ninth seedlings are taken, the seedling taking module moves to the left, and after the tenth seedling is taken, the seedling taking module does not move horizontally. By analogy, only the initial horizontal movement direction of the seedling taking module needs to be determined, and combined with the number of seedlings in each row, the horizontal movement direction of the seedling throwing action before and after can be determined.

[0070] According to the actual setting, the determination method of the horizontal movement direction of the seedling throwing action before and after can be adaptively set, and the specific determination method is not limited in the embodiments of the present application, which will not be described here.

[0071] In S120, the seedling throwing position trajectory of the seedling taking module is determined according to the longitudinal distance, the horizontal movement distance, and the horizontal movement direction.

[0072] Further, based on the determined longitudinal distance, horizontal movement distance, and horizontal movement direction, each seedling throwing position can be determined. It can be understood that the longitudinal distance represents the time difference between the seedling throwing operations before and after the seedling taking module. According to the time difference, the straight flight distance of the unmanned aerial vehicle in this time can be determined, and thus the longitudinal distance between the two seedling throwing positions can be determined. The longitudinal distance can be determined according to the time difference between the seedling taking module moving horizontally from one seedling throwing position to another seedling throwing position, or according to the time difference between the seedling throwing actions of the seedling taking module before and after.

[0073] Similarly, by obtaining the horizontal moving distance of the two times of seedling throwing actions before and after the seedling taking module, the horizontal distance between the two times of seedling throwing positions can be determined. In the case that the horizontal distance and the longitudinal distance between the two times of seedling throwing positions are known, the seedling throwing position of each time of seedling throwing action can be determined, and all the seedling throwing positions are connected in sequence according to the seedling throwing sequence, so that 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 horizontal moving distance and the horizontal moving direction comprises:

[0075] determining the longitudinal coordinate of each seedling throwing operation position of the seedling taking module on the working plane according to the longitudinal distance;

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

[0077] determining the seedling throwing position trajectory of the seedling taking module based on the longitudinal coordinate and the horizontal coordinate of each seedling throwing operation position.

[0078] It can be understood that the longitudinal distance is the flight distance of the unmanned aerial vehicle between the two times of seedling throwing positions. Taking the first seedling throwing position of the unmanned aerial vehicle as the coordinate origin, the flight distance is calculated after each time of seedling throwing operation, so that the longitudinal coordinate of each seedling throwing operation position of the seedling taking module on the working plane can be determined in sequence. 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 flight distance.

[0079] Similarly, taking the first seedling throwing position of the unmanned aerial vehicle as the coordinate origin, the horizontal moving distance of the two times of seedling throwing operations is calculated after each time of seedling throwing operation, so that the horizontal coordinate of each seedling throwing operation position of the seedling taking module on the working plane 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 horizontal moving distance. Based on the determined horizontal coordinate and longitudinal coordinate, the seedling throwing position of each time of seedling throwing operation can be determined, and the seedling throwing position trajectory is connected.

[0080] It should be noted that in actual application, the horizontal moving distance and the longitudinal distance of each time of seedling throwing operation can be different, so that the horizontal moving distance and the longitudinal distance of each time of seedling throwing operation need to be recorded independently, and then the horizontal coordinate and the longitudinal coordinate of the seedling throwing position of the current seedling throwing operation are determined in combination with the horizontal coordinate and the longitudinal coordinate of the previous seedling throwing position.

[0081] For the case that the horizontal moving distance and the longitudinal distance of each time of seedling throwing operation are fixed, the horizontal moving distance and the longitudinal distance can be detected only once, and then the coordinate of each time of seedling throwing position is determined in combination with the horizontal moving direction of each time of seedling throwing and the seedling throwing position coordinate of the initial seedling throwing operation.

[0082] The embodiment of the present application does not make fixed restrictions on the specific seedling throwing position determination method, and will not be described here.

[0083] Optionally, before determining the seedling throwing position trajectory of the seedling taking module based on the longitudinal coordinate and the transverse coordinate of each seedling throwing operation position, the method further comprises:

[0084] determining a time interval from completing a transverse movement operation to completing a seedling throwing operation, determining position correction information based on the time interval, and correcting the longitudinal coordinate of the seedling throwing operation position according to the position correction information.

[0085] It can be understood that there is a certain time interval from completing a transverse movement operation to completing a seedling throwing operation for the seedling taking module, and during this time interval, the unmanned aerial vehicle continues to fly forward, while the seedling taking module does not move transversely. Therefore, if the longitudinal distance between the front and rear seedling throwing operations is determined according to the transverse movement time between the front and rear seedling throwing operations of the seedling taking module, there may be a certain error. Based on this, by determining the time interval from completing a transverse movement operation to completing a seedling throwing operation, the flight distance of the unmanned aerial vehicle during 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. Through coordinate correction, the final obtained seedling throwing position is more accurate, and the subsequent flight compensation accuracy is improved.

[0086] S130, flight compensation control is performed on the seedling throwing unmanned aerial vehicle according to the seedling throwing position trajectory.

[0087] Further, based on the seedling throwing position trajectory obtained from the above determined seedling throwing position, flight compensation control can be performed on the unmanned aerial vehicle according to the deviation of the seedling throwing position trajectory from the straight flight trajectory of the unmanned aerial vehicle, and then the seedling throwing position is corrected.

[0088] The flight compensation control on the seedling throwing unmanned aerial vehicle according to the seedling throwing position trajectory comprises:

[0089] determining deviation information of the seedling throwing position trajectory relative to the straight flight trajectory of the seedling throwing unmanned aerial vehicle, generating a flight compensation trajectory based on the deviation information, and controlling the seedling throwing unmanned aerial vehicle to fly along the flight compensation trajectory.

[0090] Referring to Figure 11 Based on the seedling throwing position trajectory obtained by concatenating the seedling throwing positions, the deviation information N of the seedling throwing position trajectory relative to the straight flight trajectory L0 of the seedling throwing unmanned aerial vehicle is determined, and the flight compensation trajectory is constructed using the deviation information. Wherein, as Figure 12As shown, according to the deviation information, the position deviation compensation in the opposite direction is performed on the straight flight trajectory according to the deviation information, and the flight compensation trajectory is generated. For example, if a certain position on the seed throwing position trajectory deviates N to the right relative to the straight flight trajectory of the unmanned aerial vehicle, the flight compensation trajectory needs to deviate N to the left relative to the straight flight trajectory of the unmanned aerial vehicle at the corresponding position. By analogy, the reverse compensation is performed on each position, and the flight compensation trajectory as shown in Figure 12 is obtained.

[0091] Further, referring to Figure 13 , when the unmanned aerial vehicle flies along the flight compensation trajectory and performs the seed throwing operation, the seed throwing position remains straight due to the reverse deviation of the flight trajectory of the unmanned aerial vehicle, and the seed throwing landing point also remains straight.

[0092] It should be noted that when the flight compensation trajectory is generated, according to the accuracy requirement of the flight compensation trajectory, the deviation information can be determined for each seed throwing position, and then the flight compensation trajectory is generated according to each deviation information. Alternatively, a smaller comparison granularity can be used to determine a plurality of comparison positions between two seed throwing positions for fine comparison, and then more position deviation information is determined to construct a more refined flight compensation trajectory.

[0093] In addition, after the flight compensation trajectory is generated according to the deviation information determined for each seed throwing position, since the flight compensation trajectory is obtained by connecting the positions corresponding to the deviation information, referring to Figure 13 , the flight compensation trajectory is a polyline at the position where the seed taking module moves to the leftmost or rightmost position. That is, for the seed taking module reciprocatingly moving to the rightmost or leftmost position, the flight compensation of the unmanned aerial vehicle will have a too large turning angle, and therefore the flight stability of the unmanned aerial vehicle can be improved by flight trajectory smoothing. At this time, the flight compensation trajectory can be fitted in a linear fitting manner to obtain a more smooth flight compensation trajectory.

[0094] Alternatively, when the flight compensation control is performed on the seed throwing unmanned aerial vehicle according to the seed throwing position trajectory, the starting position of the seed throwing position trajectory can be directly determined, and the horizontal coordinate of the starting position coincides with the straight flight trajectory of the unmanned aerial vehicle. Then, according to the horizontal deviation of each sampling position after the seed throwing position trajectory relative to the straight flight trajectory of the unmanned aerial vehicle, the unmanned aerial vehicle is directly controlled to move in the opposite direction by a corresponding distance. For example, it is detected that the seed throwing position trajectory deviates M coordinate units to the right at the O sampling position relative to the starting position, and then when the unmanned aerial vehicle flies to the vertical coordinate corresponding to the O sampling position, the unmanned aerial vehicle needs to deviate M coordinate units to the left relative to the straight flight trajectory. By analogy, when the unmanned aerial vehicle flies, only the horizontal deviation of the unmanned aerial vehicle when the vertical coordinate coincides with the next sampling position needs to be determined in advance, and real-time flight compensation control can be realized.

[0095] The longitudinal distance, the horizontal distance and the horizontal direction of the two times of the seedling taking module of the seedling throwing unmanned aerial vehicle are obtained, and then the seedling throwing position trajectory of the seedling taking module is determined according to the longitudinal distance, the horizontal distance and the horizontal direction. Then, the flight compensation control of the seedling throwing unmanned aerial vehicle is performed according to the seedling throwing position trajectory. By determining the displacement of the seedling taking module to generate the seedling throwing position trajectory of the seedling taking module, the flight compensation control is performed according to the deviation of the seedling throwing position trajectory relative to the straight flight trajectory of the seedling throwing unmanned aerial vehicle, so as to ensure the standardization of the seedling throwing operation, keep the seedling throwing landing point trajectory straight, avoid the deviation of the seedling landing point affecting the operation effect, and improve the seedling throwing operation effect.

[0096] On the basis of the above-mentioned embodiments, Figure 14 The structure diagram of the flight compensation device of the seedling throwing unmanned aerial vehicle provided by the embodiments of the present application is shown in FIG. 1. Figure 14 The flight compensation device of the seedling throwing unmanned aerial vehicle provided by the embodiments of the present application 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 obtain the longitudinal distance, the horizontal distance and the horizontal direction of the two times of the seedling throwing operation of the seedling taking module of the seedling throwing unmanned aerial vehicle.

[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 horizontal distance and the horizontal direction.

[0099] The flight compensation module 43 is configured to perform flight compensation control of the seedling throwing unmanned aerial vehicle according to the seedling throwing position trajectory.

[0100] Specifically, the flight compensation control of the seedling throwing unmanned aerial vehicle according to the seedling throwing position trajectory includes:

[0101] determining the deviation information of the seedling throwing position trajectory relative to the straight flight trajectory of the seedling throwing unmanned aerial vehicle, generating the flight compensation trajectory based on the deviation information, and controlling the seedling throwing unmanned aerial vehicle to fly along the flight compensation trajectory.

[0102] The flight compensation trajectory is generated based on the deviation information, including:

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

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

[0105] The longitudinal coordinates of each seedling throwing operation position of the seedling taking module on the operation plane are determined according to the longitudinal distance.

[0106] The horizontal coordinates of each seedling throwing operation position are determined according to the horizontal distance and the horizontal direction.

[0107] determine the throwing position trajectory of the seed taking module based on the longitudinal coordinate and the lateral coordinate of each seed throwing operation position.

[0108] Before determining the throwing position trajectory of the seed taking module based on the longitudinal coordinate and the lateral coordinate of each seed throwing operation position, further comprising:

[0109] determine the time interval from completing a lateral movement action to completing a throwing action of the seed taking module, determine the position correction information based on the time interval, and correct the longitudinal coordinate of the seed throwing operation position according to the position correction information.

[0110] Specifically, the lateral movement distance and the lateral movement direction of the seed taking module before and after the seed throwing action are determined, comprising:

[0111] determine the lateral movement distance of the seed taking module before and after the seed throwing action based on the rotor position sensor arranged on the lateral movement motor of the seed taking module; or,

[0112] determine the lateral movement distance of the seed taking module before and after the seed throwing action based on the distance sensor arranged in the lateral movement direction corresponding to the seed taking module.

[0113] determine the lateral movement distance and the lateral movement direction of the seed taking module before and after the seed throwing action, comprising:

[0114] obtain the one-way lateral movement limit length of the seed taking module, and determine the corresponding lateral movement direction according to the one-way lateral movement limit length and the lateral movement distance of the seed taking module before and after the seed throwing action.

[0115] The above, by obtaining the longitudinal distance, the lateral movement distance and the lateral movement direction of the seed taking module of the seed throwing unmanned aerial vehicle before and after the seed throwing action, and then determining the throwing position trajectory of the seed taking module according to the longitudinal distance, the lateral movement distance and the lateral movement direction, and then performing flight compensation control on the seed throwing unmanned aerial vehicle according to the throwing position trajectory. By using the above technical means, the throwing position trajectory of the seed taking module is generated by determining the displacement of the seed taking module, so as to perform flight compensation control according to the deviation of the throwing position trajectory relative to the straight flight trajectory of the seed throwing unmanned aerial vehicle, to ensure the standardization of the seed throwing operation, keep the seed throwing landing point trajectory straight, avoid the deviation of the seedling landing point affecting the operation effect, and improve the seed throwing operation effect.

[0116] The flight compensation device of the seed throwing unmanned aerial vehicle provided by the embodiments of the present application can be used to execute the flight compensation method of the seed throwing unmanned aerial vehicle provided by the above embodiments, and has corresponding functions and beneficial effects.

[0117] The embodiments of the present application provide a unmanned aerial vehicle, which refers to Figure 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 by a bus or other means.

[0118] The memory, as a computer readable storage medium, can be used to store software programs, computer executable programs, and modules, such as program instructions / modules of the flight compensation method of the seedling throwing unmanned aerial vehicle (for example, the acquisition module, the trajectory determination module, and the flight compensation module in the flight compensation device of the seedling throwing unmanned aerial vehicle) according to any embodiment of the present application. The memory 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; and the data storage area can store data created according to the use of the device and the like. In addition, the memory 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.

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

[0120] The processor executes the software programs, instructions, and modules stored in the memory, thereby performing various functional applications and data processing of the device, that is, implementing the flight compensation method of the seedling throwing unmanned aerial vehicle described above.

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

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

[0123] The 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 of a seedling throwing unmanned aerial vehicle. The flight compensation method of the seedling throwing unmanned aerial vehicle includes: acquiring a longitudinal distance, a lateral distance, and a lateral direction of two seedling throwing actions of a seedling taking module of the seedling throwing unmanned aerial vehicle; determining a seedling throwing position trajectory of the seedling taking module according to the longitudinal distance, the lateral distance, and the lateral direction; and performing flight compensation control on the seedling throwing unmanned aerial vehicle according to the seedling throwing position trajectory.

[0124] Storage medium - any type of memory device or storage device. The term "storage medium" is intended to include an installation medium, e.g., a CD-ROM, floppy disks, or tape apparatus; 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 drive or optical storage); registers or other similar types of memory elements, etc. The memory medium can also include other types of storage medium or combinations thereof. In addition, the memory medium can reside in a first computer system's internal storage or external storage that is connected to the first computer system through an external interface. The first computer system can provide the program instructions to the second computer system for execution. The term "memory medium" can also include two or more memory mediums that reside in different locations, e.g., in different computer systems that are connected through a network. The memory medium can store program instructions that implement one or more embodiments of the methods described herein (e.g., embodied in a computer program product).

[0125] Of course, the storage medium provided by the embodiments of the present application includes computer executable instructions, and the computer executable instructions are not limited to the flight compensation method of the seedling throwing unmanned aerial vehicle as described above, but can also perform the related operations in the flight compensation method of the seedling throwing unmanned aerial vehicle provided by any of the embodiments of the present application.

[0126] The flight compensation device, storage medium and unmanned aerial vehicle provided in the above embodiments can execute the flight compensation method of the seedling throwing unmanned aerial vehicle provided by any of the embodiments of the present application, and the technical details not described in detail in the above embodiments can be referred to the flight compensation method of the seedling throwing unmanned aerial vehicle provided by any of the embodiments of the present application.

[0127] The above are only the preferred embodiments of the present application and the technical principles applied. The present application is not limited to the specific embodiments described herein, and various obvious changes, re-adjustments and replacements made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without deviating from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A flight compensation method for a rice-throwing drone, characterized in that, The method is applied to a drone equipped with a seedling throwing mechanism, which includes a seedling delivery module and a seedling retrieval module. The seedling delivery module is used to hold the seedlings on the mat in a fixed position, and the seedling retrieval module is used to separate the seedlings from the mat by reciprocating lateral movement and then throw them out. The method includes: Obtain the longitudinal distance, lateral distance, and lateral direction of the seedling-picking module of the seedling-throwing drone in two consecutive seedling-throwing actions; The seedling-picking module's seedling-throwing trajectory is determined based on the longitudinal distance, the lateral distance, and the lateral direction. The deviation information of the rice-throwing position trajectory relative to the straight flight trajectory of the rice-throwing drone is determined, a flight compensation trajectory is generated based on the deviation information, and the rice-throwing drone is controlled to fly along the flight compensation trajectory.

2. The flight compensation method for rice-throwing drones according to claim 1, characterized in that, The process of generating a flight compensation trajectory based on the deviation information includes: Based on the deviation information, position deviation compensation is performed in the opposite direction on the straight flight trajectory to generate a flight compensation trajectory.

3. The flight compensation method for rice-throwing drones according to claim 1, characterized in that, Determining the seedling-picking module's throwing position trajectory based on the longitudinal distance, the lateral distance, and the lateral direction includes: The longitudinal coordinates of each seedling-throwing position of the seedling-picking module on the working plane are determined based on the longitudinal distance. The horizontal coordinates of each of the seedling throwing positions are determined based on the lateral displacement distance and the lateral displacement direction. The trajectory of the seedling picking module is determined based on the vertical and horizontal coordinates of each seedling throwing position.

4. The flight compensation method for rice-throwing drones according to claim 3, characterized in that, Before determining the seedling-picking module's seedling-throwing trajectory based on the vertical and horizontal coordinates of each seedling-throwing operation position, the method further includes: The time interval between the completion of one lateral movement and the completion of the seedling throwing action by the seedling picking module is determined. Based on the time interval, position correction information is determined, and the ordinate of the seedling throwing position is corrected according to the position correction information.

5. The flight compensation method for rice-throwing drones according to claim 1, characterized in that, Determining the lateral distance and direction of the two seedling throwing actions of the seedling picking module includes: The lateral distance of the seedling-picking module during its two seedling-throwing actions is determined based on the rotor position sensor mounted on the lateral motor of the seedling-picking module; or, The lateral distance of the seedling-picking module during its two seedling-throwing actions is determined based on a distance sensor positioned in the lateral direction corresponding to the seedling-picking module.

6. The flight compensation method for rice-throwing drones according to claim 1, characterized in that, Determining the lateral distance and direction of the two seedling throwing actions of the seedling picking module includes: Obtain the unidirectional lateral movement limit length of the seedling picking module, and determine the corresponding lateral movement direction based on the unidirectional lateral movement limit length and the lateral movement distance of the seedling picking module in two consecutive seedling throwing actions.

7. A flight compensation device for a rice-throwing drone, characterized in that, The device is applied to a drone that carries a seedling throwing mechanism. The seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module. The seedling delivery module is used to hold the seedlings on the mat in a fixed position, and the seedling retrieval module is used to separate the seedlings from the mat by reciprocating lateral movement and then throw them out. The device includes: The acquisition module is configured to acquire the longitudinal distance, lateral distance, and lateral direction of the seedling-picking module of the seedling-throwing drone before and after two seedling-throwing actions. The trajectory determination module is configured to determine the seedling throwing position trajectory of the seedling picking module based on the longitudinal distance, the lateral distance, and the lateral direction. The flight compensation module is configured to determine the deviation information of the rice-throwing position trajectory relative to the straight flight trajectory of the rice-throwing drone, generate a flight compensation trajectory based on the deviation information, and control the rice-throwing drone to fly along the flight compensation trajectory.

8. 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-throwing drone as described in any one of claims 1-6.

9. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the flight compensation method for the rice-throwing drone as described in any one of claims 1-6.

10. A rice transplanting system, characterized in that, This includes a rice-throwing drone and a rice-throwing mechanism, wherein the rice-throwing mechanism includes a rice-feeding module and a rice-retrieving module, wherein: The seedling delivery module is used to hold the seedlings in a fixed position; The seedling picking module is used to separate the seedlings from the seedbed by reciprocating horizontal movement and then throw them out. The rice-throwing drone is used for: Obtain the longitudinal distance, lateral distance, and lateral direction of the seedling-picking module of the seedling-throwing drone in two consecutive seedling-throwing actions; The seedling-picking module's seedling-throwing trajectory is determined based on the longitudinal distance, the lateral distance, and the lateral direction. The deviation information of the rice-throwing position trajectory relative to the straight flight trajectory of the rice-throwing drone is determined, a flight compensation trajectory is generated based on the deviation information, and the rice-throwing drone is controlled to fly along the flight compensation trajectory.

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