Disc throwing and sowing system, unmanned mobile equipment and control method of disc throwing and sowing system

Abstract

The invention provides a throwing disc sowing system, unmanned mobile equipment and a control method of the throwing disc sowing system. The throwing disc sowing system comprises a throwing disc and a driving mechanism of the throwing disc. Wherein the driving mechanism comprises a first motor; the projecting disc comprises a disc body and a plurality of blades which are mounted on the disc body and are distributed at intervals; the driving mechanism is connected with the throwing disc so as to drive the throwing disc to swing back and forth around the swing center within the angle swing range of the throwing disc; the throwing disc is used for making contact with materials, so that in the reciprocating swing process, the materials are flapped through the blades so that the materials can be spread outwards to a to-be-spread area with the preset spreading width. Wherein the larger the preset sowing width is, the larger the angle swing range of the throwing disc is. According to the throwing disc sowing system, the sowing width can be adjusted in real time by changing the angle swing range of the throwing disc, and the work efficiency of sowing work can be improved in sowing scenes needing different sowing widths.

Description

Technical Field

[0001] This invention relates to the field of seeding technology, and in particular to a disc seeding system, an unmanned mobile device, and a control method for the disc seeding system. Background Technology

[0002] When drones are used for material spreading, they often encounter scenarios where the spreading width needs to be adjusted. Theoretically, the spreading width can be adjusted by changing the oscillation frequency of the spreading disc or the drone's flight altitude. However, the oscillation frequency of the spreading disc is closely related to the type, size, and shape of the material particles, as well as the uniformity of spreading. Adjusting the spreading width by changing the oscillation frequency is limited and cannot meet the diverse needs of drone spreading width. Adjusting the spreading width by changing the drone's flight altitude also has several drawbacks: too low a flight altitude leads to severe crop lodging, while too high a flight altitude compromises spreading uniformity. Furthermore, changes in flight altitude increase safety risks when there are obstacles above or below the flight path. Additionally, since adjusting flight altitude takes time, adjusting the spreading width by changing the drone's flight altitude is delayed, preventing real-time adjustments during operation and impacting the efficiency of the spreading operation. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a spinning tray seeding system, an unmanned mobile device, and a control method for the spinning tray seeding system, so as to improve the efficiency of seeding operations by adjusting the seeding amplitude in real time by changing the angle swing range.

[0004] In a first aspect, embodiments of the present invention provide a spinning disc spreading system, which includes a spinning disc and a driving mechanism for the spinning disc; wherein, the driving mechanism includes a first motor; the spinning disc includes a disc body and a plurality of spaced blades mounted on the disc body; the driving mechanism is connected to the spinning disc to drive the spinning disc to reciprocate around the swing center within the angular swing range of the spinning disc; the spinning disc is used to contact the material, so that during the reciprocating swing, the material is spread outward to the area to be spread by the blades hitting the material; wherein, the larger the preset spreading width, the larger the angular swing range of the spinning disc.

[0005] Secondly, embodiments of the present invention also provide an unmanned mobile device, which includes the disc-splitting and seeding system shown in any of the above embodiments.

[0006] Thirdly, embodiments of the present invention provide a control method for a spinning disc seeding system. The method includes: determining a preset seeding width; determining the angular swing range of the spinning disc based on the preset seeding width; controlling a drive mechanism in the spinning disc seeding system to drive the spinning disc to reciprocate around the swing center within the angular swing range of the spinning disc; during the reciprocating swing, the material is patted by blades in the spinning disc seeding system, causing the material to be seeded outward to the seeding area with a preset seeding width; wherein, the larger the preset seeding width, the larger the angular swing range of the spinning disc.

[0007] The embodiments of the present invention bring the following beneficial effects:

[0008] The aforementioned disc-splitting seeding system, unmanned mobile device, and control method for the disc-splitting seeding system include a disc and a drive mechanism for the disc. The drive mechanism includes a first motor. The disc includes a disc body and multiple spaced blades mounted on the disc body. The drive mechanism is connected to the disc to drive it to reciprocate around a swing center within the disc's angular swing range. The disc contacts the material, and during the reciprocating swing, the blades strike the material, causing it to be dispersed outwards to the seeding area with a preset seeding width. The larger the preset seeding width, the larger the angular swing range of the disc. In this disc-splitting seeding system, the drive mechanism drives the disc to reciprocate around a swing center within the disc's angular swing range, causing the material to be dispersed outwards to the seeding area with a preset seeding width. Furthermore, the larger the preset seeding width of the unmanned mobile device, the larger the angular swing range of the disc. The seeding width can be adjusted in real time by changing the angular swing range of the disc, which is beneficial for improving the efficiency of seeding operations in seeding scenarios requiring different seeding widths.

[0009] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0010] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0011] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0012] Figure 1This is a schematic diagram of the structure of the first type of disc-spreading system provided in an embodiment of the present invention;

[0013] Figure 2 A schematic diagram illustrating the first type of indicating the swing angle range of the swivel disc provided in an embodiment of the present invention;

[0014] Figure 3 A schematic diagram of a designated sowing path for a first type of sowing area planning provided in an embodiment of the present invention;

[0015] Figure 4 A schematic diagram of a designated sowing path for a second sowing area is provided for embodiments of the present invention;

[0016] Figure 5 This is a schematic diagram of the structure of the second type of disc-spreading system provided in an embodiment of the present invention;

[0017] Figure 6 A schematic diagram illustrating the second type of indicating the swing angle range of the swivel disc provided in an embodiment of the present invention;

[0018] Figure 7 A schematic diagram illustrating the third type of indicating the swing angle range of the swivel disc provided in an embodiment of the present invention;

[0019] Figure 8 A flowchart of a control method for a disc-spreading system provided in an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Based on this, embodiments of the present invention provide a disc-splitting seeding system, an unmanned mobile device, and a control method for the disc-splitting seeding system. This technology can be applied to seeding operation scenarios using unmanned mobile devices.

[0022] To facilitate understanding of this embodiment, a detailed description of the disc-splitting seeding system disclosed in this invention will be provided first. Please refer to [link to relevant documentation]. Figure 1The swivel disc spreading system includes a swivel disc and a drive mechanism for the swivel disc; wherein, the drive mechanism includes a first motor; the swivel disc includes a disc body and a plurality of spaced blades mounted on the disc body, the drive mechanism is connected to the swivel disc to drive the swivel disc to reciprocate around the swing center within the angular swing range of the swivel disc, the swivel disc is used to contact the material, so that during the reciprocating swing process, the material is spread outward to the area to be spread by the blades hitting the material; wherein, the larger the preset spreading width, the larger the angular swing range of the swivel disc.

[0023] The aforementioned drive mechanism provides power for the reciprocating oscillation of the spinning disc, and includes a first motor. The aforementioned spreading width refers to the width of the material spread by the spinning disc spreading system when it spreads the material outward to the area to be spread. The spreading width includes a left spreading width and a right spreading width. The aforementioned preset spreading width can be an asymmetrical spreading width or a symmetrical spreading width. In an asymmetrical spreading width, the left and right spreading widths are different, while in a symmetrical spreading width, the left and right spreading widths are the same. The aforementioned oscillation center can be located on the central axis of the spinning disc. The aforementioned angular oscillation range of the spinning disc refers to the angle range formed by the maximum leftward offset angle of the spinning disc relative to the starting position during reciprocating oscillation and the maximum rightward offset angle of the spinning disc relative to the starting position during reciprocating oscillation. For example, the leftward offset angle of the spinning disc relative to the starting position is negative, and the rightward offset angle is positive. For example, when the swing center is located on the central axis of the spinning disc, the spinning disc has a zero-point reference line, which is the position of the central axis before the spinning disc begins its reciprocating swing. At this time, the starting position of the swing is the zero-point reference line. Therefore, the maximum leftward offset angle of the spinning disc relative to the starting position during the reciprocating swing is determined by the maximum angle between the central axis and the zero-point reference line when the spinning disc swings to the left. That is, the maximum leftward offset angle is the opposite of the maximum angle between the central axis and the zero-point reference line when the spinning disc swings to the left. Similarly, the maximum rightward offset angle of the spinning disc relative to the starting position during the reciprocating swing is determined by the maximum angle between the central axis and the zero-point reference line when the spinning disc swings to the right. That is, the maximum rightward offset angle is the maximum angle between the central axis and the zero-point reference line when the spinning disc swings to the right. Finally, the offset angle between the maximum leftward offset angle and the maximum rightward offset angle is determined as the angular swing range of the spinning disc. It should be noted that the angular swing range of the disc includes the maximum offset angle to the left and the maximum offset angle to the right mentioned above.

[0024] The angular swing range of the spinning disc is mapped to a preset playback width, and can be determined based on the preset playback width. Specifically, the maximum leftward offset angle of the spinning disc relative to the starting position during reciprocating swing can be determined based on the left playback width of the preset playback width, and the maximum rightward offset angle of the spinning disc relative to the starting position during reciprocating swing can be determined based on the right playback width of the preset playback width, thus obtaining the angular swing range of the spinning disc. Here, the larger the left or right playback width of the preset playback width, the larger the corresponding maximum offset angle value. This maximum offset angle value can be understood as the absolute value of the maximum offset angle. The larger the maximum leftward or rightward offset angle value of the spinning disc relative to the starting position during reciprocating swing, the larger the obtained angular swing range of the spinning disc.

[0025] In one example, such as Figure 2 As shown, the swing center of the spinning disc is located on its central axis. The starting position of the swing is the zero-point reference line, which is the position of the central axis before the spinning disc begins its reciprocating swing. During the left-right reciprocating swing of the spinning disc around the swing center, there will be an angle between the central axis and the zero-point reference line. Based on the preset left-side playback width, the maximum angle between the central axis and the zero-point reference line during the left-side swing can be determined. Based on the preset right-side playback width, the maximum angle between the central axis and the zero-point reference line during the right-side swing can be determined, thus obtaining the angular swing range of the spinning disc. For example: If the preset amplitude is asymmetrical, with a left amplitude of 4m and a right amplitude of 2.5m, based on the 4m left amplitude, the maximum angle between the central axis and the zero-point baseline when the spinning disc swings to the left around its swing center is determined to be 50°. Based on the 2.5m right amplitude, the maximum angle between the central axis and the zero-point baseline when the spinning disc swings to the right around its swing center is determined to be 15°. Therefore, the swing angle range of the spinning disc is [-50°, 15°]. Figure 2 As shown.

[0026] In the aforementioned disc-splitting spreading system, the drive mechanism drives the disc to oscillate back and forth around the swing center within the angular swing range of the disc, so that the material is spread outward to the area to be spread with a preset spreading width. The larger the preset spreading width of the drone, the larger the angular swing range of the disc. The spreading width can be adjusted in real time by changing the angular swing range of the disc, which is beneficial to improving the efficiency of spreading operations in spreading scenarios that require different spreading widths.

[0027] In one embodiment, the spinning disc seeding system further includes a spinning disc controller, which is used to: determine a preset seeding width; determine the angular swing range of the spinning disc based on the preset seeding width; and control the drive mechanism to drive the spinning disc to reciprocate around the swing center within the angular swing range of the spinning disc.

[0028] The aforementioned disc-spinning controller can be understood as the control center of the disc-spinning system, which can acquire key parameters of the disc's reciprocating oscillation and control the reciprocating oscillation of the disc.

[0029] Here, the swivel controller can be used to determine the preset width, and based on the preset width, determine the angular swing range of the swivel. At the same time, it will also control the drive mechanism to drive the swivel to reciprocate around the swing center within the angular swing range of the swivel.

[0030] Specifically, after determining the preset playback width, the swivel controller can determine the corresponding angular swing range of the swivel dial based on the mapping relationship between the angular swing range of the swivel dial and the preset playback width. Once the swivel controller has determined the angular swing range, it controls the drive mechanism to drive the swivel dial to reciprocate around the swing center within the angular swing range. It should be noted that the swivel controller can be directly physically connected to the drive mechanism for direct control, or it can be connected to the drive mechanism via data communication for remote control.

[0031] In one approach, the area to be seeded is planned with a designated seeding path, which includes multiple seeding operation segments. Each seeding operation segment is associated with a designated seeding width. The designated seeding width includes: an asymmetrical seeding width or a symmetrical seeding width. In an asymmetrical seeding width, the left and right seeding widths are different. In a symmetrical seeding width, the left and right seeding widths are the same. The tray-spinning controller is used to: determine the seeding operation segment of the unmanned mobile device where the tray-spinning seeding system is located in the area to be seeded, and determine the designated seeding width associated with the seeding operation segment as a preset seeding width.

[0032] The aforementioned area to be sown has a designated sowing path, which includes multiple sowing operation segments. Each sowing operation segment is associated with a designated sowing width, which can be either asymmetrical or symmetrical. In asymmetrical sowing widths, the left and right sowing widths are different; in symmetrical sowing widths, the left and right sowing widths are the same. The aforementioned unmanned mobile equipment can be drones, intelligent agricultural unmanned vehicles, etc., capable of performing agricultural sowing operations such as spraying, fertilizing, and seeding.

[0033] For example, such as Figure 3 As shown, Figure 3The width of the area to be sown is 40.5m. The designated sowing path planned for this area includes 7 parallel sowing operation sections. The first 6 sowing operation sections are associated with symmetrical sowing widths, with both the left and right sowing widths being 3m. The 7th sowing operation section is associated with an asymmetrical sowing width, with the left sowing width being 3m and the right sowing width being 1.5m.

[0034] against Figure 3 The area to be seeded shown can also have other designated seeding paths planned, such as... Figure 4 As shown, the seeding path includes 7 parallel seeding operation sections. The designated seeding width associated with each seeding operation section is a symmetrical seeding width. Specifically, the left and right seeding widths of the symmetrical seeding widths associated with the first 6 seeding operation sections are both 3m, and the left and right seeding widths of the symmetrical seeding widths associated with the 7th seeding operation section are both 2.25m.

[0035] In this case, the tray-spinning controller can obtain the seeding operation segment of the unmanned mobile device where the tray-spinning system is located in the seeding area in real time, and determine the asymmetric or symmetric seeding width associated with the seeding operation segment as the preset seeding width.

[0036] Furthermore, the swivel controller can determine the swivel angle range of the swivel based on the preset mapping relationship between the playback width and the swivel angle range of the swivel, and map symmetrical or asymmetrical playback widths to the corresponding swivel amplitude of the swivel.

[0037] In one embodiment, the swivel controller is further configured to: determine the rotation angle of the first motor in the drive mechanism based on the angular swing range of the swivel; control the first motor to operate at the rotation angle, so that the swivel reciprocates around the swing center within the angular swing range of the swivel under the drive of the first motor.

[0038] In other words, in this method, the swivel controller can determine the rotation angle of the first motor in the drive mechanism based on the angular swing range of the swivel. Then, by controlling the first motor to run at the rotation angle, the swivel can be driven by the first motor to swing back and forth around the swing center within the angular swing range of the swivel.

[0039] Here, the angular swing range of the seeding disc and the rotation angle of the motor can be determined through experiments, simulations, and other methods. The corresponding relationship can be presented in a table or similar format. This allows the seeding width requirement to be converted into a control requirement for the seeding disc during the seeding operation, thereby generating a control command for the rotation angle of the first motor. Ultimately, by controlling the first motor, the seeding disc is made to oscillate back and forth within its angular swing range, thus controlling the seeding width during the seeding operation to be within the preset range.

[0040] In one specific implementation, the angular swing range of the swivel disc and the rotation angle of the first motor conform to the following relationship:

[0041]

[0042] The angular swing range of the spinning disc is [x, y], the rotation angle of the first motor is A, x is the maximum offset angle of the spinning disc to the left relative to the starting position of the swing during the reciprocating swing process; y is the maximum offset angle of the spinning disc to the right relative to the starting position of the swing during the reciprocating swing process; w is the swing frequency of the spinning disc, in rad / s, and t is the time parameter of the spinning disc reciprocating swing, in s.

[0043] For example, when the oscillation range of the spinning disc is [-30°, 30°] and the oscillation frequency is 15Hz, the expression for the rotation angle of the first motor is: A = 30 * sin(15 * 2 * π * t). When the oscillation range of the spinning disc is [-10°, 40°] and the oscillation frequency is 15Hz, it means that the spinning disc is in an asymmetrical reciprocating oscillation, and the expression for the rotation angle of the first motor is A = 25 * sin(15 * 2 * π * t) + 15.

[0044] In one approach, the preset playback width includes either asymmetrical or symmetrical playback width; in asymmetrical playback width, the left and right playback widths are different; in symmetrical playback width, the left and right playback widths are the same.

[0045] Understandably, the preset seeding width can be set to asymmetrical or symmetrical seeding width according to the size of the area to be seeded or the needs of the seeding operation. The left and right seeding widths are different in asymmetrical seeding widths, while the left and right seeding widths are the same in symmetrical seeding widths.

[0046] In this method, the preset spreading width can be either asymmetrical or symmetrical. That is, the disc-spinning spreading system can adjust the spreading width in real time by changing the angle swing range, so as to spread the material outward to the area to be spread with either asymmetrical or symmetrical spreading width. Therefore, the disc-spinning spreading system can be applied to scenarios that require different spreading widths. For example, when sweeping the edge of a plot of land, a small spreading width can be set to prevent spreading outside the plot boundary, while when working back and forth within the plot, a large spreading width can be set to improve work efficiency.

[0047] In one method, the angular swing range of the spinning disc includes: a first left angle and a first right angle; wherein, the first left angle is: the maximum offset angle of the spinning disc to the left relative to the starting position of the swing during the reciprocating swing process; the first right angle is: the maximum offset angle of the spinning disc to the right relative to the starting position of the swing during the reciprocating swing process; the larger the preset amplitude, the larger the angle value corresponding to the first left angle and / or the first right angle.

[0048] The angle value corresponding to the first left angle mentioned above is the maximum leftward offset angle of the spinning disc relative to the starting position of the swing during the reciprocating swing process. This angle value can be understood as the absolute value of this maximum offset angle. The angle value corresponding to the first right angle mentioned above is the maximum rightward offset angle of the spinning disc relative to the starting position of the swing during the reciprocating swing process. This angle value can be understood as the absolute value of this maximum offset angle.

[0049] Understandably, the angular swing range of the spinning disc is an angular interval. The angular swing range of the spinning disc is the interval formed by the maximum leftward offset angle of the spinning disc relative to the starting position during the reciprocating swing process and the maximum rightward offset angle of the spinning disc relative to the starting position during the reciprocating swing process. Among them, the leftward offset angle of the spinning disc relative to the starting position is a negative value, and the rightward offset angle of the spinning disc relative to the starting position is a positive value.

[0050] Here, the maximum leftward offset angle of the spinning disc relative to the starting position during reciprocating oscillation is set as the first left angle, and the maximum rightward offset angle of the spinning disc relative to the starting position during reciprocating oscillation is set as the first right angle. The larger the left amplitude in the preset playback width, the larger the angle value corresponding to the first left angle; the larger the right amplitude in the preset playback width, the larger the angle value corresponding to the first right angle; if both the left and right amplitudes in the preset playback width increase, then the angle values ​​corresponding to the first left angle and the first right angle both increase.

[0051] Here, the left span in the preset span is used to determine the first left angle; the right span in the preset span is used to determine the first right angle. Therefore, after determining the preset span, the first left angle in the angular swing range of the spinning disc can be determined based on the left span in the preset span, and the first right angle in the angular swing range of the spinning disc can be determined based on the right span in the preset span. When the preset span is a symmetrical span, the left and right spans are the same, and the angle values ​​corresponding to the first left and first right angles are the same. When the preset span is an asymmetrical span, the left and right spans are different, and the angle values ​​corresponding to the first left and first right angles are different.

[0052] In one embodiment, the drive mechanism further includes a reducer; the first motor is connected to the reducer, and the output shaft of the reducer is directly connected to the swivel disc, and the first motor drives the swivel disc to reciprocate through the reducer.

[0053] The aforementioned speed reducer can be used to reduce the speed of the first motor. When the speed of the first motor does not meet the actual speed requirement, the speed of the first motor can be adjusted using the speed reducer.

[0054] For example, such as Figure 5As shown, the drive mechanism includes a first motor and a reducer. The first motor is connected to the reducer, and the output shaft of the reducer is directly connected to the swivel disc. The first motor can drive the swivel disc to reciprocate through the reducer.

[0055] In related technologies, the seeding system of unmanned mobile equipment consists of three parts: a storage bin, an auger feeding section, and a throwing disc seeding system. The auger feeding section transports the seeding material, which falls from above the throwing disc in the throwing disc seeding system. The throwing disc scatters the material by reciprocating horizontally. The drive mechanism of the throwing disc seeding system is connected to the throwing disc and includes a motor, a reducer, and a linkage mechanism, which can be a crank-rocker mechanism. A motor can be used as the power source to drive a planetary reducer, which in turn drives a crank-connecting rod mechanism, converting the original circular motion of the motor into the left-right reciprocating horizontal motion of the throwing disc, thus completing the seeding operation. However, this throwing disc seeding system is limited by the crank-rocker mechanism, which restricts the throwing disc to a fixed swing amplitude, making it unsuitable for scenarios requiring varying the spreading amplitude during flight.

[0056] In this embodiment of the invention, the drive mechanism of the disc-spinning seeding system includes a first motor and a reducer. The first motor drives the reducer, and the output shaft of the reducer is directly connected to the disc. By controlling the first motor to perform forward and reverse rotation, the disc is driven to perform a back-and-forth sweeping oscillation. Since the first motor directly drives the disc, the angular oscillation range of the disc can be changed at any time by controlling the rotation angle of the first motor. This method gives the disc-spinning seeding system the ability to adjust the seeding width in real time during operation, allowing users to perform seeding operations according to the required symmetrical or asymmetrical seeding width. This is beneficial for improving the efficiency of seeding operations in seeding scenarios that require different seeding widths.

[0057] In one embodiment, the swing center is located on the central axis of the disc, and the spinning disc has a zero-point reference line, which is the position of the central axis before the spinning disc begins to swing back and forth. The maximum leftward offset angle of the spinning disc relative to the starting position during the reciprocating swing is determined by the angle value of the maximum angle between the central axis and the zero-point reference line during the leftward swing of the spinning disc around the swing center. The maximum rightward offset angle of the spinning disc relative to the starting position during the reciprocating swing is determined by the angle value of the maximum angle between the central axis and the zero-point reference line during the rightward swing of the spinning disc around the swing center.

[0058] In other words, the swing center of the spinning disc can be located on the central axis of the disc. The spinning disc has a zero-point reference line, which is the position of the central axis before the spinning disc begins its reciprocating swing. When the swing center is located on the central axis of the spinning disc, and the starting position of the swing is the zero-point reference line, the maximum leftward offset angle of the spinning disc relative to the starting position during the reciprocating swing is determined by the maximum angle between the central axis and the zero-point reference line when the spinning disc swings to the left. That is, the maximum leftward offset angle is the opposite of the angle value of the maximum angle between the central axis and the zero-point reference line when the spinning disc swings to the left. Similarly, the maximum rightward offset angle of the spinning disc relative to the starting position during the reciprocating swing is determined by the maximum angle between the central axis and the zero-point reference line when the spinning disc swings to the right. That is, the maximum rightward offset angle is the angle value of the maximum angle between the central axis and the zero-point reference line when the spinning disc swings to the right. Finally, the offset angle between the maximum leftward offset angle and the maximum rightward offset angle is determined as the angular swing range of the spinning disc. It should be noted that the angular swing range of the disc includes the maximum offset angle to the left and the maximum offset angle to the right mentioned above.

[0059] For example, such as Figure 6 As shown, the swing angle range of the swivel disc is [-30, 30]. This means that during the reciprocating swing of the swivel disc around its swing center, the maximum angle between the central axis and the zero-point reference line when the swivel disc swings to the left is 30°, and the maximum angle between the central axis and the zero-point reference line when the swivel disc swings to the right is also 30°. At this time, when the swivel disc reciprocates within this swing angle range, the material is spread outwards with a symmetrical spread width.

[0060] like Figure 7 As shown, the swing angle range of the swivel disc is [-10, 50], which means that during the reciprocating swing of the swivel disc around its swing center, the maximum angle between the central axis and the zero-point reference line when the swivel disc swings to the left is 10°, and the maximum angle between the central axis and the zero-point reference line when the swivel disc swings to the right is 50°. At this time, when the swivel disc reciprocates within this swing angle range, the material is spread outward with an asymmetrical spreading width.

[0061] This embodiment also provides an unmanned mobile device, which includes the disc-splitting spreading system described in any of the preceding claims. This unmanned mobile device is used to spread materials to a designated location within the spreading area, thereby completing the spreading operation. It should be noted that this unmanned mobile device can be applied to spreading operations in agriculture, such as seed spreading, fertilizer spreading, or pesticide spreading; of course, it can also be applied to animal husbandry, such as feed spreading; in addition, it can also be used to spread other solid, granular, or gel-like materials, which will not be elaborated further here. Furthermore, the unmanned mobile device provided in this application can move according to a user-defined spreading path, and during this movement, it can spread materials at designated locations. The unmanned mobile device can adjust the spreading amplitude in real time by changing the oscillation range of the disc in the disc-splitting spreading system, which helps to improve the efficiency of the spreading operation.

[0062] For the aforementioned disc-spreading system, see [link / reference]. Figure 8 An embodiment of a control method for a disc seeding system is shown. The method is applied to the aforementioned disc seeding system and includes:

[0063] Step S802: Determine the preset playback width;

[0064] The preset playback widths mentioned above include: asymmetrical playback widths or symmetrical playback widths, wherein the left and right playback widths of the asymmetrical playback widths are different; and the left and right playback widths of the symmetrical playback widths are the same.

[0065] In one approach, a designated spreading path is pre-planned for the area to be sown. This path includes multiple spreading operation segments, each associated with a designated spreading width. The designated spreading width associated with a spreading operation segment can be determined by identifying the spreading operation segment of the unmanned mobile device housing the sowing system within the area to be sown. This designated spreading width can be either asymmetrical or symmetrical.

[0066] Step S804: Determine the angle swing range of the spinning disc based on the preset playback width; wherein, the larger the preset playback width, the larger the angle swing range of the spinning disc.

[0067] The aforementioned angle swing range of the spinning disc is an angle interval. The angle swing range of the spinning disc is the angle interval formed by the maximum leftward offset angle of the spinning disc relative to the starting position of the swing during the reciprocating swing process and the maximum rightward offset angle of the spinning disc relative to the starting position of the swing during the reciprocating swing process. Among them, the leftward offset angle of the spinning disc relative to the starting position of the swing is a negative value, and the rightward offset angle of the spinning disc relative to the starting position of the swing is a positive value.

[0068] The angular swing range of the spinning disc is mapped to a preset playback width, and can be determined based on the preset playback width. Specifically, the maximum leftward offset angle of the spinning disc relative to the starting position during reciprocating swing can be determined based on the left playback width of the preset playback width, and the maximum rightward offset angle of the spinning disc relative to the starting position during reciprocating swing can be determined based on the right playback width of the preset playback width, thus obtaining the angular swing range of the spinning disc. Here, the larger the left or right playback width of the preset playback width, the larger the corresponding maximum offset angle value. This maximum offset angle value can be understood as the absolute value of the maximum offset angle. The larger the maximum leftward or rightward offset angle value of the spinning disc relative to the starting position during reciprocating swing, the larger the obtained angular swing range of the spinning disc.

[0069] Step S806: Control the drive mechanism in the disc-spinning system to drive the disc to reciprocate around the swing center within the angular swing range of the disc; during the reciprocating swing, the blades in the disc-spinning system beat the material, so that the material is spread outward to the area to be spread with a preset spreading width.

[0070] After determining the angular swing range of the spinning disc according to the preset spreading width, the driving mechanism in the spinning disc spreading system is controlled to drive the spinning disc to reciprocate around the swing center within the angular swing range of the spinning disc. During the reciprocating swing, the blades in the spinning disc spreading system beat the material, so that the material is spread outward to the area to be spread with the preset spreading width.

[0071] The control method of the aforementioned disc-splitting seeding system determines a preset seeding width; based on the preset seeding width, it determines the angular swing range of the disc; wherein, the larger the preset seeding width, the larger the angular swing range of the disc; it controls the drive mechanism in the disc-splitting seeding system to drive the disc to reciprocate around the swing center within the angular swing range of the disc; during the reciprocating swing, the blades in the disc-splitting seeding system beat the material, causing the material to be seeded outward to the seeding area with the preset seeding width. In this method, after determining the preset seeding width, the angular swing range of the disc is determined according to the preset seeding width, and the drive mechanism is controlled to drive the disc to reciprocate around the swing center within the angular swing range of the disc, causing the material to be seeded outward to the seeding area with the preset seeding width. The larger the preset seeding width, the larger the angular swing range of the disc. This method can adjust the seeding width in real time by changing the angular swing range of the disc, and applying this control method of the disc-splitting seeding system to seeding scenarios requiring different seeding widths is beneficial to improving the efficiency of seeding operations.

[0072] Specifically, the preset playback width includes asymmetrical playback width or symmetrical playback width; the left and right playback widths are different in asymmetrical playback width, while the left and right playback widths are the same in symmetrical playback width.

[0073] In this method, the preset spreading width can be either asymmetrical or symmetrical. That is, the disc-spinning spreading system can adjust the spreading width in real time by changing the angle swing range, so as to spread the material outward to the area to be spread with either asymmetrical or symmetrical spreading width. Therefore, the disc-spinning spreading system can be applied to scenarios that require different spreading widths. For example, when sweeping the edge of a plot of land, a small spreading width can be set to prevent spreading outside the plot boundary, while when working back and forth within the plot, a large spreading width can be set to improve work efficiency.

[0074] The following embodiments provide a method for determining a preset playback width.

[0075] In one approach, a designated sowing path is planned for the area to be sown. The designated sowing path includes multiple sowing operation segments, and each sowing operation segment is associated with a designated sowing width. The designated sowing width includes: an asymmetrical sowing width or a symmetrical sowing width. The left and right sowing widths in an asymmetrical sowing width are different. The left and right sowing widths in a symmetrical sowing width are the same. The sowing operation segment of the unmanned mobile device where the sowing system is located in the area to be sown is determined, and the designated sowing width associated with the sowing operation segment is determined as a preset sowing width.

[0076] The aforementioned area to be sown has a designated sowing path, which includes multiple sowing operation sections. Each sowing operation section is associated with a designated sowing width, which can be either asymmetrical or symmetrical. In asymmetrical sowing widths, the left and right sowing widths are different; in symmetrical sowing widths, the left and right sowing widths are the same. The aforementioned unmanned mobile equipment can be drones, intelligent agricultural unmanned vehicles, etc., capable of performing agricultural sowing operations such as spraying, fertilizing, and seeding.

[0077] In this case, the tray-spinning controller can obtain the seeding operation segment of the unmanned mobile device where the tray-spinning system is located in the seeding area in real time, and determine the asymmetric or symmetric seeding width associated with the seeding operation segment as the preset seeding width.

[0078] Furthermore, the swivel controller can determine the swivel angle range of the swivel based on the preset mapping relationship between the playback width and the swivel angle range of the swivel, and map symmetrical or asymmetrical playback widths to the corresponding swivel amplitude of the swivel.

[0079] In one method, the angular swing range of the spinning disc includes: a first left angle and a first right angle; wherein, the first left angle is: the maximum offset angle of the spinning disc to the left relative to the starting position of the swing during the reciprocating swing process; the first right angle is: the maximum offset angle of the spinning disc to the right relative to the starting position of the swing during the reciprocating swing process; the first left angle is determined based on the left span of the preset playback width; the first right angle is determined based on the right span of the preset playback width; and the angular swing range of the spinning disc is determined based on the first left angle and the first right angle.

[0080] Understandably, the angular swing range of the spinning disc is an angular interval. The angular swing range of the spinning disc is the interval formed by the maximum leftward offset angle of the spinning disc relative to the starting position during the reciprocating swing process and the maximum rightward offset angle of the spinning disc relative to the starting position during the reciprocating swing process. Among them, the leftward offset angle of the spinning disc relative to the starting position is a negative value, and the rightward offset angle of the spinning disc relative to the starting position is a positive value.

[0081] Here, the maximum leftward offset angle of the spinning disc relative to the starting position during reciprocating oscillation is set as the first left angle, and the maximum rightward offset angle of the spinning disc relative to the starting position during reciprocating oscillation is set as the first right angle. After determining the preset amplitude, the first left angle in the angular oscillation range of the spinning disc can be determined based on the left amplitude of the preset amplitude, and the first right angle in the angular oscillation range of the spinning disc can be determined based on the right amplitude of the preset amplitude. For example, if the preset amplitude is an asymmetrical amplitude with a left amplitude of 4m and a right amplitude of 2.5m, the first left angle can be determined as -50° based on the 4m left amplitude, and the first right angle can be determined as 15° based on the 2.5m right amplitude, thus obtaining the oscillation angle range of the spinning disc as [-50°, 15°].

[0082] Here, the larger the preset span, the larger the angle value corresponding to the first left angle and / or the first right angle.

[0083] The angle value corresponding to the first left angle is the absolute value of the first left angle, and the angle value corresponding to the first right angle is the absolute value of the first right angle. The larger the left span in the preset span, the larger the angle value corresponding to the first left angle. The larger the right span in the preset span, the larger the angle value corresponding to the first right angle. If both the left and right spans in the preset span increase, then the angle values ​​corresponding to the first left angle and the first right angle both increase.

[0084] In one approach, the rotation angle of the first motor in the drive mechanism is determined based on the angular swing range of the swivel disc; the first motor is controlled to operate at the rotation angle, so that the swivel disc reciprocates around the swing center within the angular swing range of the swivel disc under the drive of the first motor.

[0085] In this method, the rotation angle of the first motor in the drive mechanism can be determined according to the angular swing range of the swivel disc. Then, by controlling the first motor to run at the rotation angle, the swivel disc is driven by the first motor to reciprocate around the swing center within the angular swing range of the swivel disc.

[0086] Here, the angular swing range of the seeding disc and the rotation angle of the motor can be determined through experiments, simulations, and other methods. The corresponding relationship can be presented in a table or similar format. This allows the seeding width requirement to be converted into a control requirement for the seeding disc during the seeding operation, thereby generating a control command for the rotation angle of the first motor. Ultimately, by controlling the first motor, the seeding disc is made to swing back and forth within a defined angular range, thus controlling the seeding width during the seeding operation to be within the preset range.

[0087] In one specific implementation, the angular swing range of the swivel disc and the rotation angle of the first motor conform to the following relationship:

[0088]

[0089] The angular swing range of the spinning disc is [x, y], the rotation angle of the first motor is A, x is the maximum offset angle of the spinning disc to the left relative to the starting position of the swing during the reciprocating swing process; y is the maximum offset angle of the spinning disc to the right relative to the starting position of the swing during the reciprocating swing process; w is the swing frequency of the spinning disc, in rad / s, and t is the time parameter of the spinning disc reciprocating swing, in s.

[0090] For example, when the oscillation range of the spinning disc is [-30°, 30°] and the oscillation frequency is 15Hz, the expression for the rotation angle of the first motor is: A = 30 * sin(15 * 2 * π * t). When the oscillation range of the spinning disc is [-10°, 40°] and the oscillation frequency is 15Hz, it means that the spinning disc is in an asymmetrical reciprocating oscillation, and the expression for the rotation angle of the first motor is A = 25 * sin(15 * 2 * π * t) + 15.

[0091] The computer program product of the disc-spinning seeding system, unmanned mobile device, and control method of the disc-spinning seeding system provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0092] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0093] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0094] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0095] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0096] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A disc-spreading system, characterized in that, The disc-spinning seeding system includes a disc and a drive mechanism for the disc; wherein, the drive mechanism includes a first motor; the disc includes a disc body and a plurality of spaced blades mounted on the disc body; The drive mechanism is connected to the swivel disc to drive the swivel disc to reciprocate around the swing center within the angular swing range of the swivel disc; the swivel disc is used to contact the material, so that during the reciprocating swing, the material is patted by the blades and the material is spread outward to the area to be spread with a preset spreading width; wherein, the larger the preset spreading width, the larger the angular swing range of the swivel disc.

2. The disc-spreading system according to claim 1, characterized in that, The disc-spinning spraying system further includes a disc-spinning controller, which is used for: Determine the preset playback width; Based on the preset broadcast amplitude, the angular swing range of the spinning disc is determined; The drive mechanism is controlled to drive the swivel disc to reciprocate around the swing center within the angular swing range of the swivel disc.

3. The disc-spreading system according to claim 2, characterized in that, The area to be sown is planned with a designated sowing path, and the designated sowing path includes multiple sowing operation segments, which are associated with a designated sowing width; The specified playback width includes: asymmetrical playback width or symmetrical playback width; the left and right playback widths of the asymmetrical playback width are different; the left and right playback widths of the symmetrical playback width are the same; The disk-spinning controller is further configured to: determine the spraying operation segment of the unmanned mobile device where the disk-spinning system is located in the area to be sprayed, and determine the specified spraying width associated with the spraying operation segment as the preset spraying width.

4. The disc-spreading system according to claim 2, characterized in that, The sling controller is also used for: Based on the angular swing range of the swivel disc, the rotation angle of the first motor in the drive mechanism is determined; The first motor is controlled to operate at the stated rotation angle, so that the swivel disc reciprocates around the swing center within the angular swing range of the swivel disc under the drive of the first motor.

5. The disc-spreading system according to claim 4, characterized in that, The angular swing range of the spinning disc is [x, y], and the rotation angle of the first motor is A. The rotation angle and the angular swing range of the spinning disc conform to the following relationship: Where x is the maximum offset angle of the spinning disc to the left relative to the starting position of the swing during the reciprocating swing, y is the maximum offset angle of the spinning disc to the right relative to the starting position of the swing during the reciprocating swing, w is the swing frequency of the spinning disc, and t is the time parameter for the spinning disc to perform the reciprocating swing.

6. The disc-spreading system according to claim 1, characterized in that, The preset playback width includes asymmetrical playback width or symmetrical playback width; the left and right playback widths in the asymmetrical playback width are different; the left and right playback widths in the symmetrical playback width are the same.

7. The disc-spreading system according to claim 1, characterized in that, The angular swing range of the spinning disc includes: a first left angle and a first right angle; wherein, the first left angle is: the maximum offset angle of the spinning disc to the left relative to the swing starting position during the reciprocating swing; the first right angle is: the maximum offset angle of the spinning disc to the right relative to the swing starting position during the reciprocating swing; The larger the preset span, the larger the angle value corresponding to the first left angle and / or the first right angle.

8. The disc-spreading system according to claim 7, characterized in that, The left span in the preset span is used to determine the first left angle; the right span in the preset span is used to determine the first right angle.

9. The disc-spreading system according to claim 1, characterized in that, The drive mechanism also includes a speed reducer; The first motor is connected to the reducer; the output shaft of the reducer is directly connected to the swivel disc, and the first motor drives the swivel disc to perform the reciprocating oscillation through the reducer.

10. The disc-spreading system according to claim 1, characterized in that, The swing center is located on the central axis of the disc body; the swing disc has a zero-point reference line, which is the position of the central axis before the swing disc performs the reciprocating swing. The maximum offset angle of the spinning disc to the left relative to the starting position of the swing during the reciprocating swing is determined by the angle value of the maximum angle between the central axis and the zero-point reference line during the leftward swing of the spinning disc around the swing center. The maximum rightward offset angle of the spinning disc relative to the starting position during the reciprocating swing is determined by the angle value of the maximum angle between the central axis and the zero-point reference line during the rightward swing of the spinning disc around the swing center.

11. An unmanned mobile device, characterized in that, The unmanned mobile device includes the disc-spinning and spreading system according to any one of claims 1-10.

12. A control method for a disc-spreading system, characterized in that, The method is applied to the disc-spreading system according to any one of claims 1-10, and the method includes: Determine the preset playback width; Based on the preset broadcast width, the angular swing range of the spinning disc is determined; wherein, the larger the preset broadcast width, the larger the angular swing range of the spinning disc; The drive mechanism in the control disc spreading system drives the disc to reciprocate around the swing center within the angular swing range of the disc; during the reciprocating swing, the blades in the disc spreading system beat the material, causing the material to be spread outward to the area to be spread with the preset spreading width.

13. The method according to claim 12, characterized in that, The preset playback width includes asymmetrical playback width or symmetrical playback width; the left and right playback widths in the asymmetrical playback width are different; the left and right playback widths in the symmetrical playback width are the same.

14. The method according to claim 12, characterized in that, The area to be sown is planned with a designated sowing path, and the designated sowing path includes multiple sowing operation segments, which are associated with a designated sowing width; The specified span includes: asymmetrical span and / or symmetrical span; the left and right spans in the asymmetrical span are different; the left and right spans in the symmetrical span are the same; The step of determining the preset playback width includes: The unmanned mobile device where the seeding system is located is identified as the seeding operation segment in the area to be seeded, and the designated seeding width associated with the seeding operation segment is determined as the preset seeding width.

15. The method according to claim 12, characterized in that, The angular swing range of the spinning disc includes: a first left angle and a first right angle; wherein, the first left angle is: the maximum offset angle of the spinning disc to the left relative to the swing starting position during the reciprocating swing; the first right angle is: the maximum offset angle of the spinning disc to the right relative to the swing starting position during the reciprocating swing; The step of determining the angular swing range of the spinning disc based on the preset amplitude includes: The first left angle is determined based on the left span in the preset span; The first right angle is determined based on the right span in the preset span; The angular swing range of the spinning disc is determined based on the first left angle and the first right angle.

16. The method according to claim 15, characterized in that, The larger the preset span, the larger the angle value corresponding to the first left angle and / or the first right angle.

17. The method according to claim 12, characterized in that, The step of driving the spinning disc in the controlled spinning disc dispensing system to reciprocate around the swing center within the angular swing range of the spinning disc includes: Based on the angular swing range of the swivel disc, the rotation angle of the first motor in the drive mechanism is determined; The first motor is controlled to operate at the stated rotation angle, so that the swivel disc reciprocates around the swing center within the angular swing range of the swivel disc under the drive of the first motor.

18. The method according to claim 17, characterized in that, The step of determining the rotation angle of the first motor in the drive mechanism based on the angular swing range of the swivel disc includes: The rotation angle A and the angular swing range [x,y] of the swivel disc conform to the following relationship: Wherein, x is the maximum offset angle of the spinning disc to the left relative to the starting position of the swing during the reciprocating swing, y is the maximum offset angle of the spinning disc to the right relative to the starting position of the swing during the reciprocating swing, w is the swing frequency of the spinning disc, and t is the time parameter for the spinning disc to perform the reciprocating swing.

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