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

Abstract

The invention discloses a seedling throwing control method, a seedling throwing system, an unmanned aerial vehicle and a storage medium, and relates to the technical field of unmanned aerial vehicles, and the method is applied to the unmanned aerial vehicle mounted with a seedling throwing mechanism. The first drop point position represents the position of the drop point of the thrown seedlings relative to the unmanned aerial vehicle when the unmanned aerial vehicle hovers to throw the user carpet seedlings; according to the first drop point position, a starting position and / or a stopping position of a seedling throwing mechanism are / is determined on a preset flight route, the starting position is the position where the unmanned aerial vehicle starts the seedling throwing mechanism, and the stopping position is the position where the unmanned aerial vehicle stops the seedling throwing mechanism; when the unmanned aerial vehicle flies based on the preset flight route, the seedling throwing mechanism is controlled according to the starting position and / or the stopping position. By means of the technical means, the problem that seedlings can be thrown out of a planting area when non-standard blanket seedlings are thrown by an unmanned aerial vehicle is solved, and the planting rate of the seedlings is increased.

Description

Technical Field

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

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

[0003] In order to evenly throw the seedlings into the field, the drone carries the reference blanket seedlings and flies at the reference flight speed, and controls the seedling thrower to throw the seedlings at the reference throwing speed. However, the reference blanket seedlings and the user's blanket seedlings are different in state and weight, resulting in a deviation in the landing point of the reference blanket seedlings and the user's blanket seedlings when throwing the seedlings, and the seedlings may be thrown outside the field, affecting the planting rate of the seedlings. Summary of the invention

[0004] The present application provides a seedling throwing control method, a seedling throwing system, a drone and a storage medium, which solve the problem that the seedlings will be thrown out of the planting area when the drone throws non-reference blanket seedlings, thereby improving the planting rate of the seedlings.

[0005] In a first aspect, the present application provides a rice seedling throwing control method, which is applied to a drone equipped with a rice seedling throwing mechanism, and the method comprises:

[0006] Acquire a first landing point position of the user's blanket seedlings, where the first landing point position indicates the position of the landing point of the seedlings thrown by the drone when the drone hovers to throw the user's blanket seedlings relative to the drone;

[0007] According to the first landing point position, the starting position and / or the stopping position of the seedling throwing mechanism are determined on the preset flight route, wherein the starting position is the position of the drone when starting the seedling throwing mechanism, and the stopping position is the position of the drone when stopping the seedling throwing mechanism;

[0008] When the UAV flies based on a preset flight route, the seedling throwing mechanism is controlled according to the starting position and / or the stopping position.

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

[0010] The seedling conveying module is used for conveying blanket seedlings;

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

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

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

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

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

[0016] In the present application, by obtaining the first landing point position of the user's blanket seedlings before the drone casts the user's blanket seedlings, the first landing point position can characterize the landing point of the seedlings thrown when the drone hovers to cast the user's blanket seedlings relative to the position of the drone hovering to cast the seedlings. According to the first landing point position, the starting position and / or the stopping position on the flight route can be determined. The starting position is the position when the drone controls the throwing mechanism to start throwing the seedlings, and the stopping position is the position when the drone controls the throwing mechanism to stop throwing the seedlings. When the drone flies based on the flight route, the throwing mechanism can be controlled according to the starting position and / or the stopping position to realize the flying throwing operation of the drone. Through the above-mentioned technical means, the starting position and / or the stopping position on the flight route are determined according to the first landing point position, so that when the drone flies to the starting position, the first seedling is thrown into the planting area and close to the starting boundary of the planting area through the throwing mechanism, and when the drone flies to the stopping position, the last seedling is thrown into the planting area and close to the ending boundary of the planting area through the throwing mechanism. When the drone is throwing seedlings, the planting positions of the first and last seedlings will constrain the planting positions of the remaining seedlings, that is, when the first and last seedlings fall within the planting area, the remaining seedlings are also within the planting area, thus maximizing the use of the planting area and preventing seedlings from being thrown outside the planting area. The drone controls the seedling throwing mechanism to start at the start position and / or stops at the stop position to throw the user's blanket seedlings into the planting area for planting, thereby solving the problem of seedlings being thrown out of the planting area or leaving vacancies in the planting area when non-reference blanket seedlings are thrown, and improving the planting rate of seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1This is one of the schematic diagrams of the landing point of the drone seedling throwing provided in the embodiment of the present application;

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

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

[0020] Figure 4 is a flow chart of a rice seedling throwing control method provided in an embodiment of the present application;

[0021] Figure 5 is a schematic diagram of the distance between the landing point of the seedlings and the drone provided in an embodiment of the present application;

[0022] Figure 6 This is the second schematic diagram of the landing point of the drone seedling throwing provided in the embodiment of the present application;

[0023] Figure 7 This is the third schematic diagram of the landing point of the drone seedling throwing provided in the embodiment of the present application;

[0024] Figure 8 This is the fourth schematic diagram of the landing point of the drone seedling throwing provided in the embodiment of the present application;

[0025] Fig. 9 It is a schematic diagram of the planting trajectory of the reference blanket seedlings and the user blanket seedlings provided in the embodiment of the present application;

[0026] Fig.10 It is a schematic diagram of the structure of a drone provided in an embodiment of the present application;

[0027] In the figure, 10, blanket seedlings; 11, seedlings; 12, grooves; 20, drones; 21, flight routes; 30, seedling throwing mechanisms; 31, seedling delivery modules; 311, seedling delivery trays; 312, seedling support plates; 313, openings; 314, conveying devices; 315, driving devices; 32, seedling removal modules; 321, driving sources; 322, cutter heads; 40, planting areas; 50, first parabolas; 60, second parabolas; 61, third parabolas; 71, processors; 72, memory devices; 73, communication devices; 74, input devices; 75, output devices. DETAILED DESCRIPTION

[0028] 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.

[0029] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0030] In a related implementation, Figure 1 Schematic diagram of the landing point of the drone seedling throwing provided in the embodiment of the present application. Figure 1 As shown, when the drone 20 carries the seedling throwing mechanism 30 to throw the reference seedlings, one seedling of the reference seedlings falls along the first parabola 50 at point B in the planting area 40 for planting. When the drone 20 carries the seedling throwing mechanism 30 to throw the user seedlings, one seedling of the user seedlings falls along the second parabola 60 at point A outside the planting area 40 for planting. Therefore, when the drone 20 uses the seedling throwing parameters of the reference seedlings to throw the user seedlings, due to the difference in state and weight between the reference seedlings and the user seedlings (for example, in terms of water content, seedling raising time, seedling species, etc.), there will be a deviation in the landing point of the reference seedlings and the user seedlings when throwing, and the seedlings may be thrown outside the field, affecting the planting rate of the seedlings.

[0031] In order to solve the problems existing in the above-mentioned technology, the present embodiment provides a seedling throwing control method, a seedling throwing system, a drone and a storage medium to redetermine the seedling throwing parameters of the user's blanket seedlings, ensure that the seedlings all fall within the planting area, and improve the planting rate of the seedlings.

[0032] Figure 2 Schematic diagram of the structure of the seedling throwing system provided in the embodiment of the present application. Figure 2 As shown, the seedling throwing system includes a seedling throwing mechanism 30 and a drone 20, and the seedling throwing mechanism 30 is mounted on the drone 20. The seedling throwing mechanism 30 includes a seedling sending module 31 and a seedling taking module 32, the seedling sending module 31 is used to transport the blanket seedlings 10, and the seedling taking module 32 is used to separate the seedlings 11 from the blanket seedlings 10 transported by the seedling sending module 31 and then throw them out. Exemplarily, when the drone 20 carries the seedling throwing mechanism 30 to perform a flying seedling throwing operation, the seedling sending module 31 transports the corresponding loaded blanket seedlings 10 to the seedling taking point, and the seedling taking module 32 separates the seedlings 11 located at the seedling taking point from the blanket seedlings 10 and throws the seedlings 11 out through centrifugal force and / or ejection force. It should be noted that there are many ways of separation, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling taking methods are not limited.

[0033] In this embodiment, Figure 3 Schematic diagram of the structure of the seedling throwing mechanism provided in the embodiment of the present application. Figure 2 and Figure 3 As shown, the seedling delivery module 31 includes a seedling supporting plate 312, a seedling delivery tray 311 and a driving device 315. The seedling supporting plate 312 is provided with an opening 313. The lower part of the seedling delivery tray 311 is located inside the seedling supporting plate 312. The seedling delivery tray 311 is used to place the blanket seedlings 10. The driving device 315 is used to drive the seedling delivery tray 311 to move laterally relative to the seedling supporting plate 312. The seedling picking module 32 includes a driving source 321 and a cutter head 322. The driving source 321 is used to drive the cutter head 322 to rotate so as to separate the seedlings 11 of the blanket seedlings 10 on the seedling delivery tray 311 through the opening 313 and throw out the separated seedlings 11. Among them, the opening 313 of the seedling supporting plate 312 is the seedling picking point of the seedling picking module 32. Figure 3 It can be known that the seedling delivery module 31 may include a plurality of seedling delivery trays 311, and the plurality of seedling delivery trays 311 are arranged side by side on the seedling supporting plate 312, and the plurality of seedling delivery plates move synchronously. Correspondingly, the seedling throwing mechanism 30 includes a plurality of seedling picking modules 32, and the seedling picking modules 32 correspond to the seedling delivery trays 311 one by one. The seedling picking modules 32 and the seedling supporting plate 312 remain stationary, and the seedling delivery tray 311 can move back and forth in the left and right directions. During the movement of the seedling delivery tray 311, the seedling picking module 32 separates the seedlings 11 exposed in the opening 313 from the adjacent seedlings 11 through the cutter head 322, thereby realizing the separation and throwing of the user's blanket seedlings placed on the seedling delivery tray 311 row by row and bunch by bunch. The driving source 321 can drive the cutter head 322 along Figure 2The cutter head 322 rotates in the direction indicated by the arrow C, thereby separating the seedling blanket 10 during the contact process. The separated seedling 11 rotates along the direction of the arrow C following the cutter head 322. When the cutter head 322 rotates to a specific position, the seedling 11 is thrown out under the action of the centrifugal force and / or the ejection force. Further, the 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.

[0034] refer to Figure 2 The seedling delivery module 31 further includes a conveying device 314, which is used to drive the blanket seedlings 10 on the seedling delivery tray 311 to move toward the seedling support plate 312. The conveying device 314 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel). Figure 3 The seedling throwing process of the seedling throwing mechanism 30 is as follows: when the seedling feeding tray 311 starts to move horizontally from the left side of the seedling supporting plate 312, the cutter head 322 of the seedling taking module 32 rotates to the opening 313 to separate and throw out the seedlings 11 in the first row and first column of the seedling blanket 10 placed on the seedling feeding tray 311. When the seedling feeding tray 311 moves horizontally to the right to move the seedlings 11 in the first row and second column of the seedling blanket 10 to the opening 313, the cutter head 322 of the seedling taking module 32 rotates to the opening 313 to separate and throw out the seedlings 11 in the first row and second column. When the seedling feeding tray 311 moves to the right side of the seedling supporting plate 312, the seedlings 11 in the first row of the seedling blanket 10 are thrown out, and then the conveying device 314 is started to move the seedlings 11 in the second row to the seedling supporting plate 312. When the second row of seedlings 11 moves onto the seedling support plate 312, the seedlings 11 in the last column of the second row are located at the opening 313, and the cutter head 322 of the seedling removal module 32 rotates to the opening 313 to separate and throw out the seedlings 11 in the last column of the second row. When the seedling delivery tray 311 moves horizontally to the left to move the seedlings 11 in the second to last column of the second row to the opening 313, the cutter head 322 of the seedling removal module 32 rotates to the opening 313 to separate and throw out the seedlings 11 in the second to last column of the second row. By analogy, the seedling throwing mechanism 30 can throw the seedlings 11 of the blanket seedling 10 one by one into the planting area 40 for planting.

[0035] The rice seedling throwing control method provided in this embodiment can be performed by a drone 20, which can be implemented by software and / or hardware. The drone 20 can be composed of two or more physical entities, or it can be composed of one physical entity. Among them, the drone 20 refers to a flying device that operates according to remote control instructions or preset instructions. Exemplarily, the drone 20 is a rotor drone, specifically a quad-rotor drone. Of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone 20 can run automatically according to a preset path, flight speed, posture, etc., or it can be manually controlled by an operator.

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

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

[0038] For ease of understanding, this embodiment is described by taking the drone 20 as an example of the main body for executing the rice seedling throwing control method.

[0039] Figure 4 A flow chart of a rice seedling throwing control method provided in an embodiment of the present application is given. Figure 4 The rice seedling throwing control method specifically includes:

[0040] S110, obtaining a first landing point position of the user's blanket seedlings, where the first landing point position indicates a position relative to the drone where the seedlings thrown out when the drone hovers to throw the user's blanket seedlings.

[0041] The first landing point position may be the three-dimensional position of the landing point of the seedlings thrown by the drone 20 when the drone 20 hovers to throw the seedlings for the user relative to the drone 20, or may be the position of the landing point of the seedlings thrown by the drone 20 when the drone 20 hovers to throw the seedlings for the user relative to the projection of the drone 20 on the horizontal plane. The landing point position includes the distance between the seedling landing point and the drone 20 and the direction of the seedling landing point relative to the drone 20. The direction of the seedling landing point relative to the drone 20 is equivalent to the throwing direction of the seedling throwing mechanism 30. For example, when the seedling throwing mechanism 30 carried by the drone 20 throws the seedlings in front of the drone 20, the seedling landing point is located in front of the drone 20. Figure 5 Schematic diagram of the distance between the landing point of the seedlings and the drone 20 provided in the embodiment of the present application. Figure 5As shown, point A is the landing point of the seedlings thrown from the user's blanket seedlings by the seedling throwing mechanism 30 when the drone 20 hovers at point D, and point E is the projection point of point D on the horizontal plane. When the first landing point position represents the three-dimensional position of the landing point relative to the drone 20, the distance between the seedling landing point included in the first landing point position and the drone 20 is the distance d1 between point D and point A. When the first landing point position represents the position of the landing point relative to the projection of the drone 20 on the horizontal plane, the distance between the seedling landing point included in the first landing point position and the drone 20 is the distance d2 between point E and point A.

[0042] This embodiment is described by taking the first landing point as the position of the landing point of the thrown seedlings relative to the projection of the drone 20 on the horizontal plane when the drone 20 hovers to throw the seedlings to the user as an example.

[0043] In one embodiment, before the drone 20 is loaded with the user's blanket seedlings for formal operation, the drone 20 can be hovered at the height of the operation seedling throwing. At this time, the user's blanket seedlings are placed on the seedling delivery tray 311 of the seedling throwing mechanism 30 carried by the drone 20. After the drone 20 controls the seedling throwing mechanism 30 to throw out a seedling 11 of the user's blanket seedlings, the staff can determine the distance between the seedling landing point and the drone 20 according to the coordinates of the landing point of the seedling 11 in the horizontal plane and the horizontal coordinates of the drone 20. Further, the drone 20 can be controlled to hover at the height of the operation seedling throwing to throw out the seedlings 11 multiple times, measure the distance between each seedling 11 and the drone 20, and use the average value of the distances between the multiple seedlings 11 and the drone 20 as the distance between the seedling landing point and the drone 20 in the first landing position. The first landing point is generated based on the distance between the seedling landing point and the drone 20 and the seedling throwing direction of the seedling throwing mechanism 30, and the first landing point is saved in the flying seedling throwing operation task of the drone 20 so that the first landing point can be obtained from the operation task when the drone 20 starts the operation.

[0044] S120. According to the first landing point, a starting position and / or a stopping position of the seedling throwing mechanism is determined on a preset flight route, wherein the starting position is the position of the drone when the seedling throwing mechanism is started, and the stopping position is the position of the drone when the seedling throwing mechanism is stopped.

[0045] The preset flight route 21 is a flight route 21 for the drone 20 to perform the flying seedling throwing operation task based on the planting area 40, and is saved in the operation task. Since the flying altitude of the drone 20 remains unchanged during the flying seedling throwing operation, the waypoints, starting positions, and stopping positions of the flight route 21 are all two-dimensional coordinates in the horizontal plane.

[0046] The seedling throwing mechanism 30 generally throws the seedlings in front of or behind the drone 20, that is, the direction of the seedling throwing coincides with the forward direction of the drone 20, and the coordinates of the seedling landing point are the same as the coordinates of a certain waypoint on the flight route 21. The position of the drone 20 when hovering and throwing the seedlings can be determined on the flight route 21 according to the seedling landing point and the first landing point position in the pre-set planting area 40, so as to ensure that the drone 20 throws the user's seedlings 11 to the planting area 40. In this embodiment, when the drone 20 starts the seedling throwing mechanism 30, the seedling picking module 32 can separate and throw the seedlings 11 from the opening 313 of the seedling supporting plate 312, so the starting position is also the position where the drone 20 hovers when the drone 20 throws the first seedling 11 of the user's seedlings. According to the planting position of the first seedling 11 in the planting area 40 and the first landing point, the position of the first seedling 11 of the user's blanket seedlings that the drone 20 hovers over can be determined on the flight route 21, that is, the position when the seedling throwing mechanism 30 is started, so that when the drone 20 flies to the starting position, the first seedling 11 of the user's blanket seedlings is thrown into the planting area 40 for planting. Similarly, when the drone 20 stops the seedling throwing mechanism 30, the seedling taking module 32 separates the seedling 11 at the opening 313 of the seedling supporting plate 312 and throws it out, and then it no longer rotates. Therefore, the stop position is also the position where the drone 20 hovers when the drone 20 throws the last seedling 11 of the user's blanket seedlings. It should be noted that the last seedling 11 does not mean that this is the only seedling 11 left on the user's blanket seedlings on the seedling delivery tray 311, but that this seedling 11 is the last seedling 11 thrown by the seedling throwing mechanism 30. According to the planting position of the last seedling 11 in the planting area 40 and the first landing point, the position of the last seedling 11 where the drone 20 hovers to throw the user's blanket seedlings can be determined on the flight route 21, that is, the position when the seedling throwing mechanism 30 is stopped, so that when the drone 20 flies to the stop position, the last seedling 11 of the user's blanket seedlings can be thrown into the planting area 40 for planting.

[0047] Since the flight route 21 of the drone 20 is planned based on the planting area 40, the planting positions of the first and last seedlings 11 when the drone 20 is throwing the seedlings will constrain the planting positions of the remaining seedlings 11, that is, when the first and last seedlings 11 fall within the planting area 40, the remaining seedlings 11 are also within the planting area 40. Therefore, it is only necessary to determine the starting position and / or the stopping position of the drone 20 to achieve throwing all the seedlings 11 into the planting area 40 for planting.

[0048] In one embodiment, the second landing point position of the reference blanket seedlings can be obtained, the landing point deviation between the first landing point position and the second landing point position can be determined, and the starting position on the flight route 21 can be determined according to the landing point deviation and the reference starting position on the flight route 21. The second landing point position represents the position of the landing point of the seedlings 11 thrown out when the drone 20 hovers to throw the reference blanket seedlings relative to the drone 20, which includes the throwing direction and the distance between the seedling landing point and the drone 20. When the first landing point position is the position of the landing point of the seedlings 11 thrown out when the drone 20 hovers to throw the user blanket seedlings relative to the projection of the drone 20 on the horizontal plane, the second landing point position is the position of the landing point of the seedlings 11 thrown out when the drone 20 hovers to throw the reference blanket seedlings relative to the projection of the drone 20 on the horizontal plane. The reference starting position is the position of the first seedling 11 of the reference blanket seedlings when the drone 20 hovers to throw the projection on the horizontal plane. Since the seedling throwing direction of the seedling throwing mechanism 30 remains unchanged, the direction in the first landing position is the same as the direction in the second landing position. The distance in the first landing position is subtracted from the distance in the second landing position to obtain the landing point deviation between the first landing position and the second landing position. The waypoint on the flight route 21 that differs from the reference throwing starting position by the landing point deviation is used as the starting position to start the seedling throwing mechanism 30 in advance or delay, and compensate for the difference between the distance in the second landing position and the distance in the first landing position.

[0049] In this embodiment, the reference starting position of the flight route is offset in the forward direction or backward direction of the flight route by the distance corresponding to the landing point deviation to obtain the starting position on the flight route. Among them, the distance corresponding to the landing point deviation is the absolute value of the landing point deviation. Exemplarily, when the landing point deviation is less than zero, it indicates that the distance in the second landing point position is greater than the distance in the first landing point position. In order for the drone to throw the first seedling of the user's blanket seedling to the same landing point as the first seedling of the benchmark blanket seedling, the reference starting position can be offset in the forward direction of the flight route by the absolute value of the landing point deviation. The waypoint as the starting position. When the landing point deviation is greater than zero, it indicates that the distance in the second landing point position is less than the distance in the first landing point position. In order for the drone to throw the first seedling of the user's blanket seedling to the same landing point as the first seedling of the benchmark blanket seedling, the waypoint as the absolute value of the landing point deviation can be offset in the backward direction of the flight route by the reference starting position. Figure 6 and Figure 7 Schematic diagram of the landing point of the drone seedling throwing provided in the embodiment of the present application. Figure 6 and Figure 7As shown, when the drone 20 hovers at point D and throws the seedlings 11 of the reference blanket seedlings, the seedlings 11 of the reference blanket seedlings fall at point B along the first parabola 50, and when the drone 20 hovers at point D and throws the seedlings 11 of the user blanket seedlings, the seedlings 11 of the user blanket seedlings fall at point A along the second parabola 60. Point E is the projection point of point D on the horizontal plane, that is, the distance between point A and point E is the distance in the first landing point position, and the distance between point B and point E is the distance in the second landing point position. The distance d3 between point A and point B is the absolute value of the landing point deviation between the first landing point position and the second landing point position. By Figure 6 It can be seen that when the landing point deviation is less than zero, the distance in the second landing point position is greater than the distance in the first landing point position. In order for the drone 20 to also throw the user's seedling blanket 11 to point B, the drone 20 continues to fly forward a distance d3 based on the forward direction of the flight route after reaching point D to reach point F. The distance between the projection point G of point F and point B is equal to the distance in the first landing point position. When the drone 20 hovers at point F and throws the user's seedling blanket 11, the user's seedling blanket 11 falls at point B along the third parabola that is the same as the second parabola 60. Figure 7 It can be seen that when the landing point deviation is greater than zero, the distance in the second landing point position is less than the distance in the first landing point position. In order for the drone 20 to also throw the seedlings 11 of the user's blanket seedlings to point B, the drone 20 hovers at point F at a distance d3 from point D before reaching point D. When the drone 20 hovers at point F to throw the seedlings 11 of the user's blanket seedlings, the seedlings 11 of the user's blanket seedlings fall at point B along the third parabola that is the same as the second parabola 60. Figure 6 and Figure 7 When point E is the reference starting position, the corresponding point G can be determined as the starting position of the drone 20, so that when the drone 20 reaches point F along the flight route 21, the seedling throwing mechanism 30 is started to throw the first seedling 11 of the user's blanket seedlings to point B, ensuring that the first seedling 11 is planted in the planting area 40.

[0050] Similarly, when determining the stop position on the flight route 21, the second landing point position of the benchmark blanket seedlings can be obtained, and the landing point deviation between the first landing point position and the second landing point position can be determined; the stop position on the flight route 21 can be determined based on the landing point deviation and the benchmark stop position on the flight route 21. The benchmark stop position is the position projected on the horizontal plane when the drone 20 hovers and throws the last seedling 11 of the benchmark blanket seedlings. In this embodiment, the benchmark stop position of the flight route is offset in the forward direction or backward direction of the flight route by a distance corresponding to the landing point deviation to obtain the stop position on the flight route. Similarly, when the landing point deviation is less than zero, in order for the drone to throw the last seedling of the user's blanket seedlings to the same landing point as the last seedling of the benchmark blanket seedlings, the waypoint at which the benchmark stop position is offset in the forward direction of the flight route by the absolute value of the landing point deviation can be used as the stop position. When the landing point deviation is greater than zero, the waypoint at which the benchmark stop position is offset in the backward direction of the flight route by the absolute value of the landing point deviation can be used as the stop position. Reference Figure 6 and Figure 7 When point E is the reference stop position, the corresponding point G can be determined as the stop position of the drone 20, so that when the drone 20 reaches point F along the flight route 21, the seedling throwing mechanism 30 is stopped to throw the last seedling 11 of the user's blanket seedlings to point B, ensuring that the last seedling 11 is planted in the planting area 40.

[0051] In another embodiment, the first planting position in the planting area 40 can be determined according to the position information of the planting area 40; and the starting position on the flight route 21 can be determined according to the first landing position and the first planting position. The first planting position is the planting point of the first seedling 11 of the user's seedling blanket in the planting area 40. Figure 8 Schematic diagram of the landing point of the drone seedling throwing provided in the embodiment of the present application. Figure 8 As shown, the distance between the planting point Q of the first seedling 11 in the planting area 40 and the boundary of the planting area 40 is d4. According to the distance d4 and the boundary position of the planting area 40, the first planting position separated by a distance d4 from the boundary of the planting area 40 can be determined on the flight route 21 of the drone 20. According to the first planting position and the direction and distance of the seedling throwing in the first landing position, the starting position on the flight route 21 is determined. Figure 8 It can be seen that if the direction of throwing seedlings in the first landing position is forward throwing seedlings, the start position is located on the route before the first planting position of the flight route 21. If the direction of throwing seedlings in the first landing position is backward throwing seedlings, the start position is located on the route after the first planting position of the flight route 21. The distance between the first planting position and the start position is equal to the distance in the first landing position. Figure 8, the distance between the projection point of the waypoint H on the flight route 21 on the horizontal plane and the first planting position is equal to the distance d2 in the first landing position, that is, the projection point of the waypoint H on the horizontal plane is the starting position, and when the drone 20 flies to the waypoint H, the seedling throwing mechanism 30 is started to make the seedling throwing mechanism 30 throw the first seedling 11 of the user's blanket seedlings, and the first seedling 11 falls on point Q, which is the first planting position, along the second parabola 60.

[0052] Similarly, when determining the stop position on the flight route 21, the last planting position in the planting area 40 can be determined according to the position information of the planting area 40; the stop position on the flight route 21 can be determined according to the first landing position and the last planting position. Among them, the last planting position is the planting point of the last seedling 11 of the user's blanket seedlings in the planting area 40. According to the distance between the planting point of the last seedling 11 in the planting area 40 and the boundary of the planting area 40 and the boundary position of the planting area 40, the last planting position with a corresponding distance from the boundary of the planting area 40 is determined on the flight route 21 of the drone 20. According to the last planting position and the direction and distance of the seedling throwing in the first landing position, the stop position on the flight route 21 is determined. If the seedling throwing direction in the first landing position is forward seedling throwing, the stop position is located on the route before the first planting position of the flight route 21 and is separated from the first planting position by the distance in the first landing position. If the seedling throwing direction in the first landing position is backward seedling throwing, the stop position is located on the route after the first planting position of the flight route 21 and is separated from the first planting position by the distance in the first landing position. Correspondingly, when the drone 20 flies to the stop position, the seedling throwing mechanism 30 is stopped, so that the seedling throwing mechanism 30 throws out the last seedling 11, and the last seedling 11 falls at the last planting position.

[0053] S130: When the UAV flies based on a preset flight route, the rice seedling throwing mechanism is controlled according to the starting position and / or the stopping position.

[0054] For example, according to the position information of the flight route 21, the drone 20 is controlled to fly along the flight route 21. When the drone 20 flies to the starting position, the seedling throwing mechanism 30 is started so that the seedling throwing mechanism 30 separates the first seedling 11 from the loaded user blanket seedlings and throws the first seedling 11. The flight speed of the drone 20, the lateral speed of the seedling delivery tray 311 and the rotation speed of the cutter head 322 can be determined according to the preset seedling 11 spacing, so as to control the drone 20 to fly at the corresponding flight speed, the seedling delivery tray 311 to transport the seedlings 11 at the corresponding lateral speed and the cutter head 322 to rotate and take the seedlings at the corresponding rotation speed, so as to ensure that two adjacent seedlings 11 thrown out are planted in the planting area 40 at the seedling 11 spacing.

[0055] In this embodiment, the drone 20 can be controlled to fly based on the reference flight speed, and after the seedling throwing mechanism 30 is started, the driving device 315 is controlled to drive the seedling delivery tray 311 to move at the reference lateral speed, and the driving source 321 is controlled to drive the cutter head 322 to rotate at the reference rotation speed. The reference flight speed is the flight speed of the drone 20 when the drone 20 carries the seedling throwing mechanism 30 to throw the reference blanket seedlings, the reference lateral speed is the lateral speed of the seedling delivery tray 311 when the drone 20 carries the seedling throwing mechanism 30 to throw the reference blanket seedlings, and the reference rotation speed is the rotation speed of the cutter head 322 when the drone 20 carries the seedling throwing mechanism 30 to throw the reference blanket seedlings. Fig. 9 Schematic diagram of the planting trajectory of the reference blanket seedlings and the user blanket seedlings provided in the embodiment of the present application. Fig. 9 As shown, point x1, point x2 and point x3 are three waypoints when the drone 20 throws the reference blanket seedlings after the drone 20 starts the seedling throwing mechanism 30 at the reference starting position. The seedlings 11 thrown by the drone 20 at points x1, x2 and x3 fall at points A1, A2 and A3 respectively along the first parabola 5050. Point y1, point y2 and point y3 are three waypoints when the drone 20 throws the user blanket seedlings after the drone 20 starts the seedling throwing mechanism 30 at the starting position. The seedlings 11 thrown by the drone 20 at points y1, y2 and y3 fall at points A1, A2 and A3 respectively along the second parabola 6060. It can be understood that the spacing of the seedlings 11 is determined by the flight speed, lateral speed and reference rotation speed of the drone 20, so the spacing of the seedlings 11 when the seedling throwing mechanism 30 throws the user blanket seedlings is equal to the spacing of the seedlings 11 when the seedling throwing mechanism 30 throws the reference blanket seedlings. After the position of the seedling throwing mechanism 30 started by the drone 20 changes from the reference starting position to the starting position, the landing point of each seedling 11 thrown by the drone 20 of the user's blanket seedlings is the same as the landing point of the seedlings 11 in the corresponding throwing sequence of the reference blanket seedlings, ensuring that each seedling 11 of the user's blanket seedlings falls within the planting area 40.

[0056] In summary, the seedling throwing control method provided in the embodiment of the present application obtains the first landing point position of the user's seedlings before the drone 20 throws the user's seedlings. The first landing point position can represent the landing point of the seedlings 11 thrown when the drone 20 hovers to throw the user's seedlings relative to the position of the drone 20 hovering to throw the seedlings. According to the first landing point position, the starting position and / or the stopping position on the flight route 21 can be determined. The starting position is the position where the drone 20 controls the seedling throwing mechanism 30 to start throwing the seedlings, and the stopping position is the position where the drone 20 controls the seedling throwing mechanism 30 to stop throwing the seedlings. When the drone 20 flies based on the flight route 21, the seedling throwing mechanism 30 can be controlled according to the starting position and / or the stopping position to realize the flying seedling throwing operation of the drone 20. Through the above technical means, the starting position and / or stopping position on the flight route 21 is determined according to the first landing point position, so that when the drone 20 flies to the starting position, the first seedling 11 is thrown into the planting area 40 and close to the starting boundary of the planting area 40 through the seedling throwing mechanism 30, and when the drone flies to the stopping position, the last seedling 11 is thrown into the planting area 40 and close to the ending boundary of the planting area 40 through the seedling throwing mechanism 30. When the drone 20 throws the seedlings, the planting positions of the first and last seedlings 11 will constrain the planting positions of the remaining seedlings 11, that is, when the first and last seedlings 11 fall into the planting area 40, the remaining seedlings 11 are also located in the planting area 40, so the area of ​​the planting area 40 is maximized, and no seedlings will be thrown out of the planting area 40. The drone 20 controls the seedling throwing mechanism 30 to start at the start position and / or stops at the stop position to throw the seedlings 11 of the user's blanket seedlings into the planting area 40 for planting, thereby solving the problem that the seedlings 11 may be thrown out of the planting area 40 or there may be vacancies in the planting area 40 when the drone 20 throws non-baseline blanket seedlings, thereby improving the planting rate of the seedlings 11.

[0057] Fig.10 is a schematic diagram of the structure of a drone 20 provided in an embodiment of the present application, with reference to Fig.10 The drone 20 includes: a processor 71, a memory 72, a communication device 73, an input device 74, and an output device 75. The number of the processor 71 in the drone 20 can be one or more, and the number of the memory 72 in the drone 20 can be one or more. The processor 71, the memory 72, the communication device 73, the input device 74, and the output device 75 of the drone 20 can be connected via a bus or other means.

[0058] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the rice seedling throwing control method of any embodiment of the present application. The memory 32 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 72 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0059] The communication device 73 is used for data transmission.

[0060] The processor 71 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 72, that is, realizes the above-mentioned rice seedling throwing control method.

[0061] The input device 74 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 75 may include a display device such as a display screen.

[0062] The drone 20 provided above can be used to execute the rice seedling throwing control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0063] An embodiment of the present application also provides a storage medium containing computer executable instructions, which are used to execute a rice seedling throwing control method when executed by a computer processor. The rice seedling throwing control method includes: obtaining a first landing point position of a user's seedling blanket, the first landing point position indicating the position of the landing point of the seedlings 11 thrown by the drone 20 when the drone 20 hovers to throw the user's seedling blanket relative to the drone 20; according to the first landing point position, determining the starting position and / or stopping position of the rice seedling throwing mechanism 30 on the preset flight route 21, the starting position being the position where the drone 20 starts the rice seedling throwing mechanism 30, and the stopping position being the position where the drone 20 stops the rice seedling throwing mechanism 30; when the drone 20 flies based on the preset flight route 21, the rice seedling throwing mechanism 30 is controlled according to the starting position and / or the stopping position.

[0064] 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.

[0065] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application is not limited to the above-mentioned rice seedling throwing control method, and the computer executable instructions can also execute the relevant operations in the rice seedling throwing control method provided in any embodiment of the present application.

[0066] The seedling throwing control device, storage medium and drone provided in the above embodiments can execute the seedling throwing control method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the seedling throwing control method provided in any embodiment of the present application.

[0067] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for controlling seedling throwing, characterized in that: The method applied to a drone equipped with a seedling throwing mechanism comprises: Acquire a first landing point position of the user's blanket seedlings, where the first landing point position indicates the position of the landing point of the seedlings thrown by the drone relative to the drone when the drone hovers to throw the user's blanket seedlings; According to the first landing point position, the starting position and / or the stopping position of the seedling throwing mechanism are determined on the preset flight route, wherein the starting position is the position of the drone when starting the seedling throwing mechanism, and the stopping position is the position of the drone when stopping the seedling throwing mechanism; When the UAV flies based on a preset flight route, the seedling throwing mechanism is controlled according to the starting position and / or the stopping position.

2. The rice seedling throwing control method according to claim 1, characterized in that: The first landing point position is the position of the landing point where the seedlings are thrown out when the drone is hovering to throw the seedlings to the user relative to the projection of the drone on the horizontal plane.

3. The rice seedling throwing control method according to claim 1, characterized in that: Determining the starting position and / or stopping position of the seedling throwing mechanism on a preset flight route according to the first landing point position includes: Acquire a second landing point position of the reference blanket seedlings, and determine a landing point deviation between the first landing point position and the second landing point position, wherein the second landing point position represents a position of a landing point of the seedlings thrown by the drone when the drone hovers to throw the reference blanket seedlings relative to the drone; The starting position on the flight route is determined according to the landing point deviation and the reference launching position on the flight route.

4. The method for controlling seedling throwing according to claim 3, characterized in that: Determining the starting position on the flight route according to the landing point deviation and the reference launching position on the flight route includes: The reference launching position of the flight route is offset toward the forward direction or the backward direction of the flight route by a distance corresponding to the landing point deviation to obtain the starting position on the flight route.

5. The rice seedling throwing control method according to claim 1, characterized in that: Determining the starting position and / or stopping position of the seedling throwing mechanism on a preset flight route according to the first landing point position includes: Acquire a second landing point position of the reference blanket seedlings, and determine a landing point deviation between the first landing point position and the second landing point position, wherein the second landing point position represents a position of a landing point of the seedlings thrown by the drone when the drone hovers to throw the reference blanket seedlings relative to the drone; The stopping position on the flight route is determined according to the landing point deviation and the reference stopping position on the flight route.

6. The method for controlling seedling throwing according to claim 5, characterized in that: Determining the stop position on the flight route according to the landing point deviation and the reference stop position on the flight route includes: The reference stop position of the flight route is offset in the forward direction or the backward direction of the flight route by a distance corresponding to the landing point deviation to obtain a stop position on the flight route.

7. The rice seedling throwing control method according to claim 1, characterized in that: Determining the starting position and / or stopping position of the seedling throwing mechanism on a preset flight route according to the first landing point position includes: Determining a first planting position within the planting area according to the position information of the planting area; A starting position on the flight route is determined according to the first landing point position and the first planting position.

8. The rice seedling throwing control method according to claim 1, characterized in that: Determining the starting position and / or stopping position of the seedling throwing mechanism on a preset flight route according to the first landing point position includes: Determining the last planting position in the planting area according to the position information of the planting area; A stop position on the flight route is determined according to the first landing point position and the final planting position.

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

10. The rice seedling throwing control method according to claim 9, characterized in that: The UAV flies based on a preset flight route, including: Controlling the UAV to fly based on a reference flight speed; Correspondingly, the controlling the seedling throwing mechanism according to the starting position and / or the stopping position includes: After the seedling throwing mechanism is started, the driving device is controlled to drive the seedling delivery tray to move at a reference lateral speed, and the driving source is controlled to drive the cutter head to rotate at a reference rotation speed.

11. A seedling throwing system, characterized in that: It includes a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism is mounted on the drone, the seedling throwing mechanism includes a seedling sending module and a seedling taking module, and the drone includes a control module, wherein: The seedling conveying module is used for conveying blanket seedlings; The seedling taking module is used to separate the seedlings from the blanket of seedlings transported by the seedling delivery module and then throw them out; The control module is used to execute the rice seedling throwing control method as described in any one of claims 1-9.

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

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

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