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

Abstract

The application discloses a seedling throwing control method, a seedling throwing system, a unmanned aerial vehicle and a storage medium, relates to the technical field of unmanned aerial vehicles, and the method is applied to a unmanned aerial vehicle carrying a seedling throwing mechanism. The method comprises the following steps: acquiring a first landing point position of a user blanket seedling, wherein the first landing point position represents the position of the landing point of the seedling thrown by the unmanned aerial vehicle when the unmanned aerial vehicle hovers to throw the user blanket seedling relative to the unmanned aerial vehicle; determining a starting position and / or a stopping position of the seedling throwing mechanism on a preset flight route according to the first landing point position, wherein the starting position is the position of the unmanned aerial vehicle when the unmanned aerial vehicle starts to throw the seedling throwing mechanism, and the stopping position is the position of the unmanned aerial vehicle when the unmanned aerial vehicle stops to throw the seedling throwing mechanism; and controlling the seedling throwing mechanism according to the starting position and / or the stopping position when the unmanned aerial vehicle flies based on the preset flight route. Through the technical means, the problem that the seedlings are thrown out of the planting area when the unmanned aerial vehicle throws the non-reference blanket seedlings is solved, and the planting rate of the seedlings is improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a rice seedling throwing control method, a rice seedling throwing system, an UAV, and a storage medium. Background Technology

[0002] With the rapid development of drone technology, it is widely used for aerial operations in various scenarios. Especially in agriculture, some fields are not convenient to operate on the ground, such as terraced fields or other rugged terrain. Drones can be used for aerial plant protection of crops in these fields. Drones can even be equipped with rice transplanters to deliver rice seedlings into the fields from the air.

[0003] To ensure that the drone can evenly distribute rice seedlings into the field, the drone carries a reference seedbed and flies at a reference speed, controlling the transplanter to distribute the seedlings at the same reference speed. However, the reference seedbed and the seedbed used by the user differ in condition and weight, causing a deviation in their landing points during transplanting. This may result in seedlings being thrown outside the field, affecting the planting rate. Summary of the Invention

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

[0005] In a first aspect, this application provides a rice seedling throwing control method, applied to a drone equipped with a rice seedling throwing mechanism, the method comprising:

[0006] The first landing point position of the user's seedling is obtained, where the first landing point position represents the position of the seedling relative to the drone when the drone hovers and throws the user's seedling.

[0007] Based on the first landing point position, the start position and / or stop position of the rice-throwing mechanism are determined on the preset flight path. The start position is the position where the UAV starts the rice-throwing mechanism, and the stop position is the position where the UAV stops the rice-throwing mechanism.

[0008] When the UAV flies along a preset flight path, the rice-throwing mechanism is controlled according to the start position and / or the stop position.

[0009] Secondly, this application provides a rice 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 collection module, and the drone includes a control module, wherein:

[0010] The seedling delivery module is used to deliver the seedlings on a mat;

[0011] The seedling picking module is used to separate the seedlings from the seedlings conveyed 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] Thirdly, this application provides a drone, comprising:

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

[0015] Fourthly, this application provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the rice transplanting control method as described in the first aspect.

[0016] In this application, before the drone throws the user's seedlings onto the planting mat, the first landing point position of the seedling is obtained. This first landing point position characterizes the position of the seedling thrown by the drone relative to the drone's hovering and throwing motion. Based on the first landing point position, the start position and / or stop position on the flight path can be determined. The start position is the position where the drone controls the throwing mechanism to begin throwing, and the stop position is the position where the drone controls the throwing mechanism to stop throwing. When the drone flies along the flight path, the throwing mechanism can be controlled according to the start position and / or stop position to achieve the drone's aerial seedling throwing operation. Through the above technical means, the start position and / or stop position on the flight path are determined based on the first landing point position, so that when the drone flies to the start position, the throwing mechanism throws the first seedling into the planting area near the starting boundary of the planting area, and when the drone flies to the stop position, the throwing mechanism throws the last seedling into the planting area near the ending boundary of the planting area. When a drone plants rice seedlings, the planting positions of the first and last seedlings constrain the planting positions of the remaining seedlings. This means that when the first and last seedlings land within the planting area, the remaining seedlings are also within the planting area, thus maximizing the utilization of the planting area and preventing any seedlings from being thrown out. The drone controls the seedling-throwing mechanism to start at the start position and / or stops at the stop position, thus placing the user's seedbed seedlings into the planting area. This solves the problem of seedlings falling out of the planting area or leaving gaps when using non-reference seedbed seedlings, improving the planting rate. Attached Figure Description

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

[0018] Figure 2 This is a schematic diagram of the structure of the rice transplanting system provided in the embodiments of this application;

[0019] Figure 3 This is a schematic diagram of the structure of the rice-throwing mechanism provided in the embodiments of this application;

[0020] Figure 4 This is a flowchart of a rice seedling throwing control method provided in an embodiment of this application;

[0021] Figure 5 This is a schematic diagram illustrating the distance between the seedling landing point and the drone provided in an embodiment of this application;

[0022] Figure 6 This is the second schematic diagram of the landing point of the drone-thrown rice seedlings provided in the embodiments of this application;

[0023] Figure 7 This is the third schematic diagram of the landing point of the drone-thrown rice seedlings provided in the embodiments of this application;

[0024] Figure 8 This is the fourth schematic diagram of the landing point of the drone-thrown rice seedlings provided in the embodiments of this application;

[0025] Figure 9 This is a schematic diagram of the throwing trajectories of the reference seedbed and the user seedbed provided in the embodiments of this application;

[0026] Figure 10 This is a schematic diagram of the structure of a drone provided in an embodiment of this application;

[0027] In the diagram, 10 is a seedbed; 11 is a seedling; 12 is a trench; 20 is a drone; 21 is a flight path; 30 is a seedling throwing mechanism; 31 is a seedling delivery module; 311 is a seedling delivery tray; 312 is a seedling support plate; 313 is an opening; 314 is a conveying device; 315 is a drive device; 32 is a seedling picking module; 321 is a drive source; 322 is a cutter head; 40 is a planting area; 50 is a first parabola; 60 is a second parabola; 61 is a third parabola; 71 is a processor; 72 is a memory; 73 is a communication device; 74 is an input device; and 75 is an output device. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. A process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0029] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0030] In the relevant implementation methods, Figure 1 This is a schematic diagram of the landing point of the rice seedlings thrown by the drone according to an embodiment of this application. Figure 1 As shown, when the drone 20, equipped with the seed-throwing mechanism 30, throws seedlings onto the reference seedbed, one seedling from the reference seedbed lands at point B within the planting area 40 along the first parabola 50. When the drone 20, equipped with the seed-throwing mechanism 30, throws seedlings onto the user seedbed, one seedling from the user seedbed lands at point A outside the planting area 40 along the second parabola 60. Therefore, when the drone 20 uses the throwing parameters of the reference seedbed to throw seedlings onto the user seedbed, the differences in the state and weight of the reference and user seedbeds (e.g., differences in moisture content, seedling time, seedling type, etc.) can cause a deviation in the landing point of the reference and user seedbeds during throwing. Seedlings may be thrown outside the field, affecting the planting rate.

[0031] To address the problems existing in the above-mentioned technologies, this embodiment provides a seedling throwing control method, a seedling throwing system, a drone, and a storage medium to redetermine the seedling throwing parameters for the user, ensuring that all seedlings fall within the planting area and improving the seedling planting rate.

[0032] Figure 2 This is a schematic diagram of the structure of the rice transplanting system provided in an embodiment of this application. Figure 2 As shown, the rice seedling throwing system includes a seedling throwing mechanism 30 and a drone 20, with the seedling throwing mechanism 30 mounted on the drone 20. The seedling throwing mechanism 30 includes a seedling delivery module 31 and a seedling collection module 32. The seedling delivery module 31 delivers the seedlings 10, and the seedling collection module 32 separates the seedlings 11 from the seedlings 10 delivered by the seedling delivery module 31 and throws them out. For example, when the drone 20 carries the seedling throwing mechanism 30 for aerial seedling throwing, the seedling delivery module 31 delivers the corresponding loaded seedlings 10 to the collection point, and the seedling collection module 32 separates the seedlings 11 located at the collection point from the seedlings 10 and throws them out using centrifugal force and / or ejection force. It should be noted that there are many separation methods, such as cutting, grabbing, pushing, and pressing. The specific separation and seedling collection methods are not limited.

[0033] In this embodiment, Figure 3 This is a schematic diagram of the structure of the rice-throwing mechanism provided in an embodiment of this application. Figure 2 and Figure 3 As shown, the seedling feeding module 31 includes a seedling support plate 312, a seedling feeding tray 311, and a driving device 315. The seedling support plate 312 has an opening 313. The lower part of the seedling feeding tray 311 is located inside the seedling support plate 312. The seedling feeding tray 311 is used to hold the seedlings 10. The driving device 315 is used to drive the seedling feeding tray 311 to move laterally relative to the seedling support plate 312. The seedling picking module 32 includes a driving source 321 and a cutting head 322. The driving source 321 is used to drive the cutting head 322 to rotate so as to separate the seedlings 11 of the seedlings 10 on the seedling feeding tray 311 through the opening 313 and throw out the separated seedlings 11. The opening 313 of the seedling support plate 312 is the seedling picking point of the seedling picking module 32. Figure 3 It can be seen that the seedling delivery module 31 may include multiple seedling delivery trays 311, which are arranged side by side on the seedling support plate 312, and the multiple seedling delivery plates move synchronously. Correspondingly, the seedling throwing mechanism 30 includes multiple seedling picking modules 32, which correspond one-to-one with the seedling delivery trays 311. The seedling picking modules 32 and the seedling support plate 312 remain stationary, while the seedling delivery trays 311 can move back and forth in the left and right directions. During the lateral movement of the seedling delivery trays 311, the seedling picking modules 32 use the cutter head 322 to separate the seedlings 11 exposed in the opening 313 from the adjacent seedlings 11, thereby realizing the separation and throwing of the user-supplied seedlings placed on the seedling delivery trays 311 row by row. The drive source 321 can drive the cutter head 322 along the direction of the seedling delivery trays 311. Figure 2The blade 322 rotates in the direction indicated by arrow C, thereby separating the seedlings 10 during contact. The separated seedlings 11 follow the rotation of the blade 322 in the direction of arrow C. When the blade reaches a specific position, the seedlings 11 are thrown out under the action of centrifugal force and / or ejection force. Furthermore, the 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.

[0034] refer to Figure 2 The seedling delivery module 31 also includes a conveying device 314, which drives the seedlings 10 on the seedling delivery tray 311 to move towards the seedling support plate 312. The conveying device 314 can be a conveyor belt or a conveyor roller (e.g., a toothed roller). Figure 3 The seedling throwing process of the seedling throwing mechanism 30 is as follows: When the seedling delivery tray 311 moves laterally from the left side of the seedling support plate 312, the cutter head 322 of the seedling taking module 32 rotates to the opening 313 to separate and throw out the first row and first column of seedlings 11 of the blanket seedlings 10 placed on the seedling delivery tray 311. When the seedling delivery tray 311 moves laterally to the right to move the first row and second column of seedlings 11 of the blanket seedlings 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 first row and second column of seedlings 11. When the seedling delivery tray 311 moves to the right side of the seedling support plate 312, the first row of seedlings 11 of the blanket seedlings 10 has been thrown out, and then the conveying device 314 is activated to move the second row of seedlings 11 onto the seedling support plate 312. When the second row of seedlings 11 moves onto the seedling tray 312, the last column of seedlings 11 in the second row is located at the opening 313. The blade 322 of the seedling-taking module 32 rotates to the opening 313 to separate and throw out the last column of seedlings 11 in the second row. When the seedling tray 311 moves laterally to the left to move the second-to-last column of seedlings 11 in the second row to the opening 313, the blade 322 of the seedling-taking module 32 rotates to the opening 313 to separate and throw out the second-to-last column of seedlings 11 in the second row. In this manner, the seedling-throwing mechanism 30 can throw the seedlings 11 of the seedbed 10 one by one into the planting area 40 for planting.

[0035] The rice seedling throwing control method provided in this embodiment can be executed by a drone 20. 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 be a single physical entity. The drone 20 refers to a flying 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; however, 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.

[0036] 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 executing a rice-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 uses the UAV 20 as the main body for executing the rice seedling throwing control method as an example for description.

[0039] Figure 4 A flowchart of a rice transplanting control method provided in an embodiment of this application is given. (Reference) Figure 4 The specific methods for controlling rice transplanting include:

[0040] S110. Obtain the first landing point position of the user's seedling. The first landing point position indicates the position of the seedlings thrown by the drone relative to the drone when the drone hovers and throws the user's seedlings.

[0041] The first landing point can be the three-dimensional position of the seedling thrown by the drone 20 relative to the drone 20 when it hovers and throws the seedlings onto the user's blanket, or it can be the position of the seedling's landing point relative to the projection of the drone 20 onto the horizontal plane. The landing point includes the distance between the seedling landing point and the drone 20, as well as 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 on the drone 20 throws seedlings in front of the drone 20, the seedling landing point is located in front of the drone 20. Figure 5 This is a schematic diagram illustrating the distance between the seedling landing point and the drone 20 provided in this embodiment of the application. Figure 5As shown, point A is the landing point of the seedling thrown from the user's seedbed by the seedling throwing mechanism 30 when the drone 20 hovers at point D, and point E is the projection of point D onto 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 and the drone 20 included in the first landing point position is the distance d1 between point D and point A. When the first landing point position represents the position of the projection of the landing point relative to the drone 20 onto the horizontal plane, the distance between the seedling landing point and the drone 20 included in the first landing point position is the distance d2 between point E and point A.

[0042] This embodiment describes the first landing point as the position of the landing point of the seedlings thrown by the drone 20 when it hovers and throws the seedlings onto the horizontal plane, relative to the projection of the drone 20 onto the horizontal plane.

[0043] In one embodiment, before the drone 20 loads user-supplied seedlings for formal operation, the drone 20 can hover at the height for seedling throwing. At this time, the seedling tray 311 of the seedling throwing mechanism 30 on the drone 20 contains user-supplied seedlings. After the drone 20 controls the seedling throwing mechanism 30 to throw out one seedling 11 from the user-supplied seedling, the operator can determine the distance between the seedling landing point and the drone 20 based on the coordinates of the seedling 11's landing point in the horizontal plane and the horizontal coordinates of the drone 20. Furthermore, the drone 20 can be controlled to hover at the seedling throwing height and throw out seedlings 11 multiple times, measuring the distance between each seedling 11 and the drone 20. The average distance between multiple seedlings 11 and the drone 20 is taken as the distance between the seedling landing point and the drone 20 at the first landing point position. The first landing point position is generated based on the distance between the seedling landing point and the drone 20 and the throwing direction of the seedling throwing mechanism 30. The first landing point position is saved in the flying seedling throwing operation task of the drone 20 so that the drone 20 can obtain the first landing point position from the operation task when it starts to carry out the operation.

[0044] S120. Based on the first landing point position, determine the start position and / or stop position of the rice-throwing mechanism on the preset flight path. The start position is the position where the UAV starts the rice-throwing mechanism, and the stop position is the position where the UAV stops the rice-throwing mechanism.

[0045] The preset flight path 21 is a flight path 21 planned based on the planting area 40 for the drone 20 to perform the aerial rice transplanting operation, and it is saved in the operation task. Since the drone 20 maintains a constant flight altitude during the aerial rice transplanting operation, the waypoint, start position, and stop position of the flight path 21 are all two-dimensional coordinates in the horizontal plane.

[0046] The seedling throwing mechanism 30 typically throws seedlings in front of or behind the drone 20, meaning the throwing direction coincides with the drone 20's forward direction, and the coordinates of the seedling landing point are the same as the coordinates of a waypoint on the flight path 21. Based on the pre-set seedling landing points within the planting area 40 and the position of the first landing point, the drone 20's hovering position on the flight path 21 can be determined to ensure that the drone 20 throws the user's seedlings 11 onto the planting area 40. In this embodiment, when the drone 20 activates the seedling throwing mechanism 30, the seedling picking module 32 can separate and throw the seedlings 11 from the opening 313 of the seedling support plate 312. Therefore, the activation position is also the hovering position of the drone 20 when it throws the first seedling 11 from the user's seedling support. Based on the planting position and landing point of the first seedling 11 within the planting area 40, the position where the drone 20 hovers and throws the first seedling 11 of the user blanket seedlings can be determined on the flight path 21. This is also the position when the seedling throwing mechanism 30 is activated, so that when the drone 20 flies to the activation position, it can throw the first seedling 11 of the user blanket seedlings into the planting area 40 for planting. Similarly, when the drone 20 stops the seedling throwing mechanism 30, the seedling picking module 32 separates the seedling 11 from the opening 313 of the seedling tray 312 and throws it out, then stops rotating. Therefore, the stopping position is also the position where the drone 20 hovers when it throws the last seedling 11 of the user blanket seedlings. It should be noted that this last seedling 11 does not mean that only this seedling 11 remains on the seedling tray 311, but rather that this seedling 11 is the last seedling 11 thrown by the seedling throwing mechanism 30. Based on the planting position of the last seedling 11 in the planting area 40 and the position of the first landing point, the position of the last seedling 11 of the user's blanket seedling can be determined on the flight path 21 when the drone 20 hovers and throws it, which is also the position when the seedling throwing mechanism 30 stops, so that when the drone 20 flies to the stopping position, it can throw the last seedling 11 of the user's blanket seedling into the planting area 40 for planting.

[0047] Since the flight path 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 sows the rice seedlings will constrain the planting positions of the remaining seedlings 11. That is, when the first and last seedlings 11 land within the planting area 40, the remaining seedlings 11 are also located within the planting area 40. Therefore, it is only necessary to determine the start position and / or stop position of the drone 20 to ensure that all the seedlings 11 are sowed within the planting area 40.

[0048] In one embodiment, the second landing point position of the reference seedling can be obtained, the landing point deviation between the first and second landing point positions can be determined, and the starting position on the flight path 21 can be determined based on the landing point deviation and the reference launch position on the flight path 21. The second landing point position represents the position of the landing point of the seedling 11 thrown by the drone 20 when it hovers and throws the reference seedling, relative to the drone 20. It 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 seedling 11 thrown by the drone 20 when it hovers and throws the reference seedling, 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 seedling 11 thrown by the drone 20 when it hovers and throws the reference seedling, relative to the projection of the drone 20 on the horizontal plane. The reference launch position is the position projected onto the horizontal plane when the drone 20 hovers and throws the first seedling 11 of the reference seedling. Since the throwing direction of the rice seedling throwing mechanism 30 remains unchanged, the direction at the first landing position is the same as the direction at the second landing position. Subtracting the distance at the second landing position from the distance at the first landing position yields the landing point deviation between the two landing positions. The waypoint on the flight path 21 that differs from the reference throwing position by this landing point deviation is used as the starting position to advance or delay the start of the rice seedling throwing mechanism 30, compensating for the difference between the distance at the second landing position and the distance at the first landing position.

[0049] In this embodiment, the starting position on the flight path is obtained by offsetting the reference launch position of the flight path by a distance corresponding to the landing point deviation in the forward or backward direction of the flight path. The distance corresponding to the landing point deviation is the absolute value of the landing point deviation. For example, when the landing point deviation is less than zero, it indicates that the distance at the second landing point position is greater than the distance at the first landing point position. In order for the UAV to launch the first seedling of the user's blanket seedling to the same landing point as the first seedling of the reference blanket seedling, the waypoint offset by the absolute value of the landing point deviation from the reference launch position in the forward direction of the flight path can be used as the starting position. When the landing point deviation is greater than zero, it indicates that the distance at the second landing point position is less than the distance at the first landing point position. In order for the UAV to launch the first seedling of the user's blanket seedling to the same landing point as the first seedling of the reference blanket seedling, the waypoint offset by the absolute value of the landing point deviation from the reference launch position in the backward direction of the flight path can be used as the starting position. Figure 6 and Figure 7 This is a schematic diagram of the landing point of the rice seedlings thrown by the drone according to an embodiment of this application. Figure 6 and Figure 7As shown, when the drone 20 hovers at point D and throws the reference blanket seedling 11, the reference blanket seedling 11 lands at point B along the first parabola 50. When the drone 20 hovers at point D and throws the user blanket seedling 11, the user blanket seedling 11 lands at point A along the second parabola 60. Point E is the projection of point D onto the horizontal plane. The distance between points A and E is the distance in the first landing position, and the distance between points B and E is the distance in the second landing position. The distance d3 between points A and B is the absolute value of the landing point deviation between the first and second landing positions. Figure 6 It can be seen that when the landing point deviation is less than zero, the distance at the second landing point is greater than the distance at the first landing point. In order for the drone 20 to also throw the user's seedling 11 to point B, the drone 20 continues to fly forward a distance d3 based on the flight path direction 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 at the first landing point. When the drone 20 hovers at point F and throws the user's seedling 11, the seedling 11 lands at point B along a third parabola, 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 at the second landing point is less than the distance at the first landing point. In order for the drone 20 to also throw the user's seedling 11 to point B, the drone 20 hovers at point F, a distance d3 from point D, before reaching point D. When the drone 20 hovers at point F and throws the user's seedling 11, the seedling 11 lands at point B along a third parabola, the same as the second parabola 60. (Reference) Figure 6 and Figure 7 With point E as the reference starting position, point G can be determined as the starting position of the drone 20. When the drone 20 reaches point F along the flight path 21, the seedling throwing mechanism 30 is activated to throw the first seedling 11 of the user's blanket seedling to point B, ensuring that the first seedling 11 is planted within the planting area 40.

[0050] Similarly, when determining the stopping position on flight path 21, the second landing point position of the reference seedling can be obtained, and the landing point deviation between the first and second landing point positions can be determined. Based on the landing point deviation and the reference stopping position on flight path 21, the stopping position on flight path 21 is determined. The reference stopping position is the position projected onto the horizontal plane when the UAV 20 hovers and throws the last seedling 11 of the reference seedling. In this embodiment, the stopping position on the flight path is obtained by offsetting the reference stopping position of the flight path by the distance corresponding to the landing point deviation in the forward or backward direction of the flight path. Similarly, when the landing point deviation is less than zero, in order for the UAV to throw the last seedling of the user's seedling to the same landing point as the last seedling of the reference seedling, the waypoint offset by the absolute value of the landing point deviation from the reference stopping position in the forward direction of the flight path can be used as the stopping position. When the landing point deviation is greater than zero, the waypoint offset by the absolute value of the landing point deviation from the reference stopping position in the backward direction of the flight path can be used as the stopping position. (Reference) Figure 6 and Figure 7 With point E as the reference stopping position, point G can be determined as the stopping position of the drone 20. When the drone 20 reaches point F along the flight path 21, the seedling throwing mechanism 30 stops to throw the last seedling 11 of the user's blanket seedling to point B, ensuring that the last seedling 11 is planted within the planting area 40.

[0051] In another embodiment, a first planting position within the planting area 40 can be determined based on the location information of the planting area 40; and a starting position on the flight path 21 can be determined based on 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 blanket seedling within the planting area 40. Figure 8 This is a schematic diagram of the landing point of the rice seedlings thrown by the drone according to an embodiment of this application. Figure 8 As shown, the distance between the planting point Q of the first seedling 11 and the boundary of the planting area 40 is d4. Based on the distance d4 and the boundary position of the planting area 40, the first planting position at a distance d4 from the boundary of the planting area 40 can be determined on the flight path 21 of the UAV 20. Based on the first planting position and the direction and distance of the seedling throwing at the first landing point, the starting position on the flight path 21 is determined. Figure 8 It can be seen that if the seedling throwing direction at the first landing position is forward, the starting position is located on the flight path 21 before the first planting position. If the seedling throwing direction at the first landing position is backward, the starting position is located on the flight path 21 after the first planting position. The distance between the first planting position and the starting position is equal to the distance at the first landing position. (Reference) Figure 8The distance between the projection point of waypoint H 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 waypoint H on the horizontal plane is the starting position. When the drone 20 flies to waypoint H, the seedling throwing mechanism 30 is activated so that the seedling throwing mechanism 30 throws the first seedling 11 of the user's blanket seedling. The first seedling 11 lands at point Q, which is the first planting position, along the second parabola 60.

[0052] Similarly, when determining the stopping position on flight path 21, the last planting position within planting area 40 can be determined based on the location information of planting area 40; the stopping position on flight path 21 is determined based on the first landing position and the last planting position. The last planting position is the planting point of the last seedling 11 of the user's blanket seedlings within planting area 40. Based on the distance between the planting point of the last seedling 11 within planting area 40 and the boundary of planting area 40, and the boundary position of planting area 40, the last planting position, corresponding to the distance from the boundary of planting area 40, is determined on flight path 21 of the UAV 20. The stopping position on flight path 21 is determined based on the last planting position and the throwing direction and distance at the first landing position. If the throwing direction at the first landing position is forward, the stopping position is located on the flight path 21 before the first planting position and is separated from the first planting position by the distance at the first landing position. If the throwing direction at the first landing position is backward, the stopping position is located on the flight path 21 after the first planting position and is separated from the first planting position by the distance at the first landing position. Correspondingly, when the drone 20 flies to the stop position, the rice seedling throwing mechanism 30 stops, so that the rice seedling throwing mechanism 30 throws out the last rice seedling 11, and the last rice seedling 11 lands at the last planting position.

[0053] S130. When the UAV flies along a preset flight path, the rice-throwing mechanism is controlled according to the start position and / or stop position.

[0054] For example, based on the position information of flight path 21, the drone 20 is controlled to fly along flight path 21. When the drone 20 flies to the start position, the seedling throwing mechanism 30 is activated to separate the first seedling 11 from the loaded user seedling blanket and throw the first seedling 11. The flight speed of the drone 20, the lateral movement speed of the seedling delivery tray 311, and the rotation speed of the cutter head 322 can be determined according to the preset seedling spacing to control the drone 20 to fly at the corresponding flight speed, the seedling delivery tray 311 to deliver the seedling 11 at the corresponding lateral movement speed, and the cutter head 322 to rotate at the corresponding rotation speed to pick up the seedling, so as to ensure that two adjacent seedlings 11 are planted in the planting area 40 at the specified seedling spacing.

[0055] In this embodiment, the drone 20 can be controlled to fly based on a reference flight speed. After the seedling throwing mechanism 30 is activated, the drive device 315 is controlled to drive the seedling delivery tray 311 to move at a reference lateral speed, and the drive source 321 is controlled to drive the cutter head 322 to rotate at a reference rotation speed. The reference flight speed is the flight speed of the drone 20 when it carries the seedling throwing mechanism 30 to throw the reference seedlings onto the reference seedbed; the reference lateral speed is the lateral speed of the seedling delivery tray 311 when it carries the seedling throwing mechanism 30 to throw the reference seedlings onto the reference seedbed; and the reference rotation speed is the rotational speed of the cutter head 322 when it carries the seedling throwing mechanism 30 to throw the reference seedlings onto the reference seedbed. Figure 9 This is a schematic diagram of the throwing trajectories of the benchmark seedbed and the user seedbed provided in the embodiments of this application. For example... Figure 9 As shown, points x1, x2, and x3 are the three waypoints when the UAV 20 launches the seedling throwing mechanism 30 from the reference launching position and throws the reference seedbed. The seedlings 11 thrown by the UAV 20 at points x1, x2, and x3 land at points A1, A2, and A3 respectively along the first parabola 5050. Points y1, y2, and y3 are the three waypoints when the UAV 20 launches the seedling throwing mechanism 30 from the launching position and throws the user seedbed. The seedlings 11 thrown by the UAV 20 at points y1, y2, and y3 land at points A1, A2, and A3 respectively along the second parabola 6060. It can be understood that the spacing between seedlings 11 is determined by the flight speed, lateral speed, and reference rotation speed of the UAV 20. Therefore, the spacing between seedlings 11 when the seedling throwing mechanism 30 throws the user seedbed is equal to the spacing between seedlings 11 when the seedling throwing mechanism 30 throws the reference seedbed. After the drone 20 starts the seedling throwing mechanism 30 from the reference throwing position to the starting position, the landing point of each seedling 11 of the user's blanket seedlings thrown by the drone 20 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 rice seedling throwing control method provided in this application obtains the first landing point position of the user's seedbed before the drone 20 throws the seedbed. The first landing point position represents the position of the seedling 11 thrown by the drone 20 relative to the drone 20's hovering and throwing position. Based on the first landing point position, the start position and / or stop position on the flight path 21 can be determined. The start position is the position where the drone 20 controls the seedling throwing mechanism 30 to start throwing, and the stop position is the position where the drone 20 controls the seedling throwing mechanism 30 to stop throwing. When the drone 20 flies based on the flight path 21, the seedling throwing mechanism 30 can be controlled according to the start position and / or stop position to realize the drone 20's flight seedling throwing operation. Using the aforementioned technical means, the starting and / or stopping positions on the flight path 21 are determined based on the first landing point. This ensures that when the drone 20 flies to the starting position, the seedling-throwing mechanism 30 throws the first seedling 11 into the planting area 40, near its initial boundary. When the drone flies to the stopping position, the seedling-throwing mechanism 30 throws the last seedling 11 into the planting area 40, near its ending boundary. The planting positions of the first and last seedlings 11 during seedling throwing by the drone 20 constrain the planting positions of the remaining seedlings 11. That is, when the first and last seedlings 11 land within the planting area 40, the remaining seedlings 11 are also within the planting area 40. Therefore, the area of ​​the planting area 40 is maximized, and no seedlings are thrown outside the planting area 40. The drone 20 controls the seedling throwing mechanism 30 to start at the start position and / or controls the seedling throwing mechanism 30 to stop at the stop position, so as to throw the seedlings 11 of the user's mat seedlings into the planting area 40 for planting. This solves the problem that the seedlings 11 will be thrown out of the planting area 40 or there will be gaps in the planting area 40 when the drone 20 throws seedlings of non-reference mat seedlings, thus improving the planting rate of seedlings 11.

[0057] Figure 10 This is a schematic diagram of the structure of a drone 20 provided in an embodiment of this application, with reference to... Figure 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 drone 20 may have one or more processors 71 and one or more memory units 72. The processor 71, memory 72, communication device 73, input device 74, and output device 75 of the drone 20 can be connected via a bus or other means.

[0058] Memory 32, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the rice-throwing control method in any embodiment of this application. Memory 32 may mainly include a program storage area and a data storage area, wherein the program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created according to the use of the device, etc. In addition, memory 72 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the device via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, 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 software programs, instructions and modules stored in the memory 72, thereby realizing the above-mentioned rice transplanting control method.

[0061] Input device 74 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. Output device 75 may include display devices 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 embodiments, and has corresponding functions and beneficial effects.

[0063] This application embodiment also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute a seedling throwing control method. The seedling throwing control method includes: obtaining a first landing point position of a user's seedling, the first landing point position representing the position of the landing point of the seedling 11 thrown by the drone 20 relative to the drone 20 when the drone 20 hovers and throws the user's seedling; determining a start position and / or stop position of a seedling throwing mechanism 30 on a preset flight path 21 based on the first landing point position, the start position being the position where the drone 20 starts the seedling throwing mechanism 30, and the stop position being the position where the drone 20 stops the seedling throwing mechanism 30; and controlling the seedling throwing mechanism 30 according to the start position and / or stop position when the drone 20 flies based on the preset flight path 21.

[0064] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; 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 (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system 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” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0065] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the above-mentioned rice seedling throwing control method, but can also execute related operations in the rice seedling throwing control method provided in any embodiment of this application.

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

[0067] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application. The scope of this application is determined by the scope of the claims.

Claims

1. A method for controlling rice seedling transplanting, characterized in that, The method, applied to a drone equipped with a rice-throwing mechanism, includes: The first landing point position of the user's seedling is obtained, where the first landing point position represents the position of the seedling relative to the drone when the drone hovers and throws the user's seedling. Based on the first landing point position, the start position and / or stop position of the rice-throwing mechanism are determined on the preset flight path. The start position is the position where the UAV starts the rice-throwing mechanism, and the stop position is the position where the UAV stops the rice-throwing mechanism. When the UAV flies along a preset flight path, the rice-throwing mechanism is controlled according to the start position and / or the stop position.

2. The rice transplanting control method according to claim 1, characterized in that, The first landing point is the position of the landing point of the seedlings thrown by the drone when it hovers and throws the seedlings onto the horizontal plane, relative to the projection of the drone onto the horizontal plane.

3. The rice transplanting control method according to claim 1, characterized in that, Determining the start and / or stop positions of the rice-throwing mechanism along a preset flight path based on the first landing point position includes: The second landing point position of the reference seedling is obtained, and the landing point deviation between the first landing point position and the second landing point position is determined. The second landing point position represents the position of the seedling thrown by the drone relative to the drone when the drone hovers and throws the reference seedling. The launch position on the flight path is determined based on the landing point deviation and the reference launch position on the flight path.

4. The rice transplanting control method according to claim 3, characterized in that, Determining the launch position on the flight path based on the landing point deviation and the reference launch position on the flight path includes: The starting position on the flight path is obtained by shifting the reference launch position of the flight path by the distance corresponding to the landing point deviation in the forward or backward direction of the flight path.

5. The rice transplanting control method according to claim 1, characterized in that, Determining the start and / or stop positions of the rice-throwing mechanism along a preset flight path based on the first landing point position includes: The second landing point position of the reference seedling is obtained, and the landing point deviation between the first landing point position and the second landing point position is determined. The second landing point position represents the position of the seedling thrown by the drone relative to the drone when the drone hovers and throws the reference seedling. The stopping position on the flight path is determined based on the landing point deviation and the reference stopping position on the flight path.

6. The rice transplanting control method according to claim 5, characterized in that, Determining the stopping position on the flight path based on the landing point deviation and the reference stopping position on the flight path includes: The stopping position on the flight path is obtained by shifting the reference stopping position of the flight path by the distance corresponding to the landing point deviation in the forward or backward direction of the flight path.

7. The rice transplanting control method according to claim 1, characterized in that, Determining the start and / or stop positions of the rice-throwing mechanism along a preset flight path based on the first landing point position includes: Based on the location information of the planting area, determine the first planting location within the planting area; The starting position on the flight path is determined based on the first landing point and the first planting position.

8. The rice transplanting control method according to claim 1, characterized in that, Determining the start and / or stop positions of the rice-throwing mechanism along a preset flight path based on the first landing point position includes: Based on the location information of the planting area, determine the final planting location within the planting area; The stopping position on the flight path is determined based on the first landing point and the last planting position.

9. The rice transplanting control method according to claim 1, characterized in that, The seedling throwing mechanism includes a seedling feeding module and a seedling picking module. The seedling feeding module includes a seedling support plate, a seedling feeding tray, and a driving device. The seedling support plate has an opening, and the lower part of the seedling feeding tray is located inside the seedling support plate. The seedling feeding tray is used to place the seedlings on the seedling tray. The driving device is used to drive the seedling feeding tray to move laterally relative to the seedling support plate. The seedling picking module includes a driving source and a cutting head. The driving source is used to drive the cutting head to rotate so as to separate the seedlings on the seedling tray through the opening and throw out the separated seedlings.

10. The rice transplanting control method according to claim 9, characterized in that, The drone flies based on a preset flight path, including: The drone is controlled to fly based on a reference flight speed; Accordingly, controlling the rice-throwing mechanism according to the start position and / or the stop position includes: After the seedling throwing mechanism is started, the drive device is controlled to drive the seedling feeding tray to move at a reference lateral speed, and the drive source is controlled to drive the cutter head to rotate at a reference rotation speed.

11. A rice transplanting system, characterized in that, The system includes a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism is mounted on the drone and includes a seedling delivery module and a seedling collection module, and the drone includes a control module, wherein: The seedling delivery module is used to deliver the seedlings on a mat; The seedling picking module is used to separate the seedlings from the seedlings conveyed 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. An unmanned aerial vehicle (UAV), characterized in that, include: One or more processors; A memory that stores one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the rice transplanting 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, when executed by a computer processor, are used to perform the rice transplanting control method as described in any one of claims 1-10.

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