Sowing operation control method and device, electronic equipment and unmanned aerial vehicle system

Abstract

The invention provides a sowing operation control method and apparatus, an electronic device and an unmanned aerial vehicle system. The method comprises the steps of obtaining an operation route corresponding to a target land parcel and a preset sowing width of an unmanned aerial vehicle; the target plot comprises a sowing forbidding area; the operation route comprises a plurality of route sections which are parallel to one another; determining a target operation section located in the broadcasting forbidding area in the route section and a related operation section of the target operation section; determining a first distance between the related operation section and an area boundary closest to the related operation section in the sowing forbidding area; based on a relationship between the first distance and a preset sowing range of the unmanned aerial vehicle, determining an asymmetric sowing range of the unmanned aerial vehicle in a related operation section; the unmanned aerial vehicle is controlled to conduct sowing operation along the operation route, and sowing is conducted in the related operation section with the asymmetric sowing width. According to the mode, the sowing operation is carried out on the related operation sections near the sowing forbidding area in an asymmetric sowing width manner, so that the sowing forbidding area can be avoided, and meanwhile, a miss-sowing area of a land parcel near the sowing forbidding area can be reduced and even avoided.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a control method, apparatus, electronic device, and UAV system for seeding operations. Background Technology

[0002] When drones are spreading materials, they will not spread materials in areas with obstacles or no crops along their path, in order to save materials and reduce pollution.

[0003] Therefore, in existing technologies, drones are usually controlled not to perform seeding operations when they fly to the flight path near the boundary of the non-seeding area. This results in some areas near the boundary of the non-seeding area being missed, affecting the quality of the operation. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method, apparatus, electronic device and drone system for controlling seeding operations, so as to avoid prohibited seeding areas and reduce the number of missed seedings in plots near prohibited seeding areas.

[0005] In a first aspect, embodiments of the present invention provide a method for controlling seeding operations, which involves obtaining a seeding route corresponding to a target plot and a preset seeding width of a drone; wherein the target plot includes a no-seeding zone; the seeding route includes multiple parallel route segments with a specified row spacing between adjacent route segments; determining a target seeding segment located within the no-seeding zone and related seeding segments within the target seeding segment; wherein the route segment containing the related seeding segment is located outside the no-seeding zone, and the related seeding segment is located near the no-seeding zone; determining a first distance between the related seeding segment and the boundary of the area within the no-seeding zone closest to the related seeding segment; determining an asymmetric seeding width of the drone in the related seeding segment based on the relationship between the first distance and the preset seeding width range of the drone; wherein the left and right seeding widths are different in the asymmetric seeding width; and controlling the drone to perform seeding operations along the seeding route and to perform seeding in the related seeding segment with an asymmetric seeding width.

[0006] Secondly, embodiments of the present invention also provide a control device for seeding operations, comprising a first acquisition module for acquiring the operation route corresponding to the target plot and the preset seeding width of the drone; wherein the target plot includes a no-seeding zone; the operation route includes multiple parallel route segments with a specified row spacing between adjacent route segments; a first determination module for determining the target operation segment located within the no-seeding zone in the route segment, and related operation segments of the target operation segment; wherein the route segment containing the related operation segment is located outside the no-seeding zone, and the related operation segment is located near the no-seeding zone; a second determination module for determining the asymmetric seeding width of the drone in the related operation segment based on the relationship between a first distance and the preset seeding width range of the drone; wherein the left seeding width and the right seeding width are different in the asymmetric seeding width; and a first control module for controlling the drone to perform seeding operations along the operation route and to perform seeding with an asymmetric seeding width in the related operation segment.

[0007] Thirdly, embodiments of the present invention provide an electronic device, including a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement the above-described control method for the seeding operation.

[0008] Fourthly, embodiments of the present invention provide an unmanned aerial vehicle (UAV) system, which includes a UAV and the aforementioned electronic equipment. The electronic equipment is communicatively connected to the UAV and is used to control the UAV's flight operations.

[0009] Fifthly, embodiments of the present invention provide a machine-readable storage medium storing machine-executable instructions. When the machine-executable instructions are invoked and executed by a processor, the machine-executable instructions cause the processor to implement the above-described control method for the seeding operation.

[0010] The embodiments of the present invention bring the following beneficial effects:

[0011] The aforementioned control method, apparatus, electronic equipment, and UAV system for seeding operations acquire the operation flight path corresponding to the target plot and the preset seeding width of the UAV; wherein, the target plot includes a prohibited seeding area; the operation flight path includes multiple parallel flight path segments with a specified row spacing between adjacent flight path segments; the system determines the target operation segment located within the prohibited seeding area and related operation segments of the target operation segment; wherein, the flight path segment containing the related operation segment is located outside the prohibited seeding area, and the related operation segment is located near the prohibited seeding area; the system determines a first distance between the related operation segment and the boundary of the area within the prohibited seeding area that is closest to the related operation segment; based on the relationship between the first distance and the preset seeding width range of the UAV, the system determines the asymmetric seeding width of the UAV in the related operation segment; wherein, the left seeding width and the right seeding width are different in the asymmetric seeding width; the system controls the UAV to perform seeding operations along the operation flight path and to perform seeding in the related operation segment with an asymmetric seeding width. In this method, target work segments located within the no-seeding zone and related work segments located near the outside of the no-seeding zone are determined from the drone's operational flight path. A first distance between the related work segment and the boundary of the no-seeding zone is determined. Based on the relationship between the first distance and the drone's preset seeding width, an asymmetric seeding width is determined for the related work segment, allowing the drone to perform seeding operations within the related work segment using this asymmetric seeding width. By using an asymmetric seeding width for related work segments near the no-seeding zone, this method can avoid the no-seeding zone while reducing or even eliminating missed seeding areas in the vicinity of the no-seeding zone.

[0012] 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.

[0013] 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

[0014] 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.

[0015] Figure 1 A schematic diagram of a drone-based seeding operation provided in an embodiment of the present invention;

[0016] Figure 2A flowchart illustrating a control method for a seeding operation provided in an embodiment of the present invention;

[0017] Figure 3 A schematic diagram of a no-broadcast zone provided in an embodiment of the present invention;

[0018] Figure 4 A schematic diagram illustrating the swing range of the swivel disc angle, provided as an embodiment of the present invention;

[0019] Figure 5 A schematic diagram illustrating an indication of a second distance, provided as an embodiment of the present invention;

[0020] Figure 6 This is a schematic diagram illustrating the operation of determining relevant work segments according to an embodiment of the present invention;

[0021] Figure 7 A schematic diagram illustrating an indication of a first distance provided in an embodiment of the present invention;

[0022] Figure 8 A schematic diagram of an asymmetric beam pattern provided in an embodiment of the present invention;

[0023] Figure 9 This is a schematic diagram of another asymmetric beam pattern provided in an embodiment of the present invention;

[0024] Figure 10 A schematic diagram illustrating an indication of a related work segment provided in an embodiment of the present invention;

[0025] Figure 11 This is a schematic diagram illustrating the determination of a mapping operation segment according to an embodiment of the present invention;

[0026] Figure 12 This is a schematic diagram of a control device for a spreading operation provided in an embodiment of the present invention;

[0027] Figure 13 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0028] 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.

[0029] When drones are conducting material spreading operations, they will not spread materials in areas with irregular obstacles or no crops along their flight path, in order to save materials and reduce pollution. Figure 1 As shown, the bounding rectangle of the obstacle can be set as the no-splitting zone. When the drone's flight path passes over the no-splitting zone, the drone only flies directly above the zone without distributing seeds. However, since the drone's seeding area is not simply entirely within or entirely outside the no-splitting zone, but may partially cover it, as shown... Figure 1 In the process of spreading materials along the two flight lines near the left and right boundaries of the no-spreading zone, some materials will cover the no-spreading zone. Therefore, the relevant technology will control the drone to stop spreading materials along the corresponding line segments near the boundaries of the no-spreading zone. This results in some areas being missed during the spreading operation.

[0030] Based on this, embodiments of the present invention provide a control method, device, electronic device, and unmanned aerial vehicle (UAV) system for seeding operations, which can be applied to UAV seeding operation scenarios.

[0031] To facilitate understanding of this embodiment, a method for controlling a spreading operation disclosed in this invention will first be described in detail, such as... Figure 2 As shown, the control method for this seeding operation includes the following steps:

[0032] Step S202: Obtain the operation flight path and the preset broadcast width of the UAV corresponding to the target plot; wherein, the target plot includes a no-broadcast area; the operation flight path includes multiple parallel flight path segments, with a specified row spacing between adjacent flight path segments;

[0033] The aforementioned target plots include prohibited planting areas, which can be the circumscribed polygonal areas of irregular obstacle areas or irregular uncropped areas within the target plots, such as circumscribed rectangular areas or circumscribed triangles.

[0034] In some possible embodiments, surveyors can obtain the boundary and size information of the target plot and the prohibited area to obtain a map of the target plot; or, a camera device installed in a drone can take real-time pictures of the target plot to obtain an image of the target area, and after marking the prohibited area in the image of the target area, a map of the target plot can be generated.

[0035] Here, a drone's broadcast width can be pre-set within the supported broadcast width range, based on the size of the target plot. This pre-set broadcast width includes a left and a right broadcast width, which are equal. Using this pre-set broadcast width, a drone operation flight path corresponding to the target plot can be generated on the map. This operation flight path consists of multiple flight path segments, with a specified row spacing between adjacent segments. This specified row spacing is the sum of the left and right broadcast widths in the aforementioned pre-set broadcast width. On the map, some flight path segments intersect with the boundary of the prohibited broadcast area.

[0036] Step S204: Determine the target operation segment located within the no-broadcast zone in the flight segment, as well as the related operation segments of the target operation segment; wherein, the flight segment where the related operation segment is located is located outside the no-broadcast zone; and the related operation segment is located near the no-broadcast zone;

[0037] The aforementioned operational segment can be understood as a portion of a flight path segment. The target operational segment refers to a segment within the no-spreading zone that intersects with the boundary of the no-spreading zone. Related operational segments are located near the no-spreading zone; specifically, the flight path segment containing the related operational segment is located outside the no-spreading zone, and may be adjacent to or separated from the target operational segment by other flight path segments. The drone will conduct asymmetric seeding operations on these related operational segments.

[0038] In one approach, the target work segment can be determined first, and then the target work segment can be obtained on the route segment where the target work segment is located.

[0039] In one example, when the no-broadcast area is a rectangular area, the target flight line segment intersecting with the no-broadcast area is obtained in the operation flight line. The first flight line segment located outside the no-broadcast area and adjacent to the target flight line segment is found. The second distance between the first flight line segment and the boundary of the area in the no-broadcast area that is closest to the first flight line segment is determined. Based on the relationship between the second distance and the left or right broadcast range of the UAV, the flight line segment where the relevant operation segment is located is determined.

[0040] Specifically, it can be determined whether the no-spewing area is located to the left or right of the drone when it is operating on the first flight segment. If the no-spewing area is to the left of the drone, the flight segment where the relevant operation segment is located is determined based on the relationship between the second distance and the left span of the drone. If the no-spewing area is to the right of the drone, the flight segment where the relevant operation segment is located is determined based on the relationship between the second distance and the right span of the drone. For example, when the drone is operating on the first flight segment and the no-spewing area is to the left of the drone, it is necessary to determine the relationship between the second distance and the left span of the drone. If the first distance is within the left span of the drone, it means that the left span of the drone can be adjusted to the second distance, while the right span remains at the preset span. The operation segment near the no-spewing area in the first flight segment can be seeded with an asymmetrical span. In this case, the flight segment where the relevant operation segment is located is determined as the first flight segment. If the second distance is not within the left-hand spread range of the drone, it indicates that the first flight segment is too close to the boundary of the prohibited area. Even if the drone uses the smallest spread range within the left-hand spread range, it will still spread into the prohibited area. In this case, the drone needs to stop spreading the section of the first flight segment that is close to the prohibited area. Find a second flight segment adjacent to the first flight segment outside the prohibited area, and perform asymmetrical spreading on the plots of land close to the prohibited area on the second flight segment. That is, determine the relevant work section on the second flight segment.

[0041] Furthermore, after determining the flight path segment where the relevant operation segment is located, the boundary of the prohibited broadcasting area can be determined by obtaining the boundary intersection point between the target flight path segment and the boundary of the prohibited broadcasting area. The extension line of the boundary of the prohibited broadcasting area where the boundary intersection point is located is then drawn, and the intersection point of this extension line with the flight path segment where the relevant operation segment is located is obtained. Finally, the operation segment between these intersection points is determined as the relevant operation segment, thus obtaining the relevant flight path segment. The UAV will then perform asymmetric seeding operations on this relevant operation segment.

[0042] Step S206: Determine the first distance between the relevant work section and the boundary of the area closest to the relevant work section in the prohibited area; based on the relationship between the first distance and the preset broadcasting range of the UAV, determine the asymmetric broadcasting range of the UAV in the relevant work section; wherein, the left broadcasting range and the right broadcasting range are different in the asymmetric broadcasting range;

[0043] The aforementioned first distance is the distance between the relevant work section and the nearest boundary of the prohibited area within the relevant work section. The preset seeding range of the drone refers to the seeding range that the drone can reach during seeding operations. This preset seeding range includes the drone's left seeding range and right seeding range. The left and right seeding ranges can be the same or different. Each seeding range has a maximum seeding range and a minimum seeding range. In the aforementioned asymmetric seeding, the left and right seeding ranges are different.

[0044] Here, a first distance is determined, and based on the relationship between this first distance and the preset broadcasting range of the drone, the asymmetric broadcasting range of the drone in the relevant operation section is determined.

[0045] Specifically, it can be determined whether the no-spewing area is located to the left or right of the drone when it is operating in the relevant work section. Based on the relative position of the no-spewing area and the drone at this time, the left or right broadcasting range of the drone is determined from the preset broadcasting range of the drone. Then, based on the relationship between the first distance and the broadcasting range, the asymmetric broadcasting range of the drone in the relevant work section is determined.

[0046] In one example, if the no-seeding zone is to the left of the drone while it is operating on a relevant work section, the relationship between the first distance and the drone's left-side broadcasting range needs to be determined. If the first distance is within the drone's left-side broadcasting range, the drone's left-side broadcasting range can be adjusted to the first distance on the relevant work section. In this case, the drone's left-side broadcasting range can precisely cover the area between the relevant work section and the nearest boundary of the no-seeding zone, achieving precise broadcasting of plots near the no-seeding zone and completely avoiding missed areas near the no-seeding zone. In this method, the left-side broadcasting range of the drone on the relevant work section is the first distance, and the right-side broadcasting range is the right-side broadcasting range mentioned above in the preset broadcasting range. If the first distance is greater than the maximum broadcasting range within the drone's left-side broadcasting range, it indicates that the relevant work section is too far from the boundary of the no-seeding zone, and even using the maximum broadcasting range within the left-side broadcasting range cannot completely cover the area between the relevant work section and the nearest boundary of the no-seeding zone. At this point, the left span of the drone in the asymmetric span of the relevant work section can be adjusted to the maximum span within the left span range, so as to cover the plots of land close to the prohibited area as much as possible and reduce the area missed. In this method, the left span of the drone in the asymmetric span of the relevant work section is the maximum span within the left span range of the drone, and the right span is the right span among the aforementioned preset spans.

[0047] Step S208: Control the drone to carry out seeding operations along the operation route, and seed with an asymmetrical seeding width in the relevant operation section.

[0048] Specifically, in one scenario, if the flight path of the relevant operation segment is adjacent to the flight path of the target operation segment, the UAV is controlled to perform seeding operations in the operation segment outside the relevant operation segment according to the preset seeding width, seeding is stopped in the target operation segment, and seeding is performed in the relevant operation segment with an asymmetrical seeding width.

[0049] In another scenario, if the flight path segment containing the relevant work segment is not adjacent to the flight path segment containing the target work segment, it is necessary to determine a mapping work segment for the relevant work segment. The drone should then cease seeding in both the target and mapping work segments, and perform seeding operations according to a preset spread in work segments other than the relevant, target, and first work segments, with asymmetrical seeding in the relevant work segment. Here, the mapping work segment is the work segment on the flight path segment between the relevant and target work segments where seeding is not performed. Because this mapping work segment is too close to the boundary of the no-seeding zone, the drone will not perform seeding operations in this work segment. The position of this mapping work segment on the flight path segment is the same as the position of the relevant work segment on the flight path segment of the relevant work segment.

[0050] Here, drones are controlled to carry out seeding operations along the operational route. By using asymmetrical seeding widths on relevant operational sections located near the prohibited seeding area, the goal is to avoid the prohibited seeding area while reducing or even eliminating the possibility of missed seeding in plots near the prohibited seeding area.

[0051] The above-mentioned seeding operation control method obtains the operation flight path corresponding to the target plot and the preset seeding width of the UAV; wherein, the target plot includes a no-seeding area; the operation flight path includes multiple parallel flight path segments with a specified row spacing between adjacent flight path segments; determines the target operation segment located inside the no-seeding area within the flight path segment, and the related operation segments of the target operation segment; wherein, the flight path segment where the related operation segment is located is located outside the no-seeding area, and the related operation segment is located near the no-seeding area; determines the first distance between the related operation segment and the boundary of the area closest to the related operation segment in the no-seeding area; based on the relationship between the first distance and the preset seeding width range of the UAV, determines the asymmetric seeding width of the UAV in the related operation segment; wherein, the left seeding width and the right seeding width are different in the asymmetric seeding width; controls the UAV to carry out seeding operations along the operation flight path, and seeds in the related operation segment with an asymmetric seeding width. In this method, target work segments located within the no-seeding zone and related work segments located near the outside of the no-seeding zone are determined from the drone's operational flight path. A first distance between the related work segment and the boundary of the no-seeding zone is determined. Based on the relationship between the first distance and the drone's preset seeding width, an asymmetric seeding width is determined for the related work segment, allowing the drone to perform seeding operations within the related work segment using this asymmetric seeding width. By using an asymmetric seeding width for related work segments near the no-seeding zone, this method can avoid the no-seeding zone while reducing or even eliminating missed seeding areas in the vicinity of the no-seeding zone.

[0052] In one approach, the no-planting zone is the circumscribed polygonal region of the obstacle area or crop-free area in the target plot. This circumscribed polygonal region can be a circumscribed triangular region or a circumscribed rectangular region.

[0053] In one implementation, such as Figure 3 As shown, the obstacle area or crop-free area can be some irregular area, and the no-planting area is the bounding rectangle of these areas.

[0054] In one approach, the larger the spread of the drone, the greater the range of angle swing of the spraying disc in the drone's spraying system.

[0055] The aforementioned drone's dispersing system requires a spinning disc to reciprocate left and right to disperse materials. The angular swing range of this disc can be defined as the angle range formed by the first maximum angle between the central axis and the zero-point baseline when the disc swings to the left, and the second maximum angle when it swings to the right. The zero-point baseline is the initial position of the central axis before the disc begins to swing. This angular swing range is correlated with the dispersing amplitude; the larger the drone's dispersing amplitude, the larger the angular swing range of the disc.

[0056] For example, such as Figure 4 As shown, the swing center is located on the central axis of the spinning disc. During the spinning disc's reciprocating swing around the swing center, there will be an angle between the central axis and the zero-point reference line. The angle range formed by the opposite of the maximum angle between the central axis and the zero-point reference line when the disc swings to the left and the maximum angle between the central axis and the zero-point reference line when the disc swings to the right is the swing angle range of the spinning disc.

[0057] The angular swing range of the spinning disc is mapped to the drone's span. For example, when the drone's span is 4m on the left and 2.5m on the right, the angular swing range of the spinning disc can be [-50°, 15°]. Here, -50° means that when the drone's left span is set to 4m, the spinning disc needs to swing to the left around the spinning disc's swing center so that the maximum angle between the central axis and the zero-point reference line is 50°. 15° means that when the drone's right span is set to 2.5m, the spinning disc needs to swing to the right around the spinning disc's swing center so that the maximum angle between the central axis and the zero-point reference line is 15°.

[0058] In one approach, the slinger is connected to a drive mechanism in the seeding system. The drive mechanism includes a motor and a reducer. The angular swing range of the slinger is determined based on the asymmetric seeding width. The rotation angle of the motor is determined based on the angular swing range of the slinger. The motor is controlled to operate based on the rotation angle of the motor, so as to control the slinger to swing back and forth left and right within the angular swing range, so that the UAV can seed with an asymmetric seeding width in the relevant work section.

[0059] The drive mechanism in the above-mentioned spreading system is used to drive the swivel disc to reciprocate around the swing center. The drive mechanism includes a motor and a reducer.

[0060] In the seeding system, the seeding disc is connected to the drive mechanism of the seeding system. After determining the asymmetric seeding width of the UAV in the relevant work section, the angular swing range of the seeding disc is determined according to the left and right seeding widths in the asymmetric seeding width. The seeding width requirement is converted into the control requirement of the angular swing range of the seeding disc. Then, the rotation angle of the motor is determined according to the angular swing range of the seeding disc. The motor is controlled to run according to the rotation angle. When the motor rotates according to the rotation angle, the seeding disc is controlled to swing back and forth left and right within the angular swing range, so that the UAV can seed in the relevant work section with the asymmetric seeding width.

[0061] In related technologies, drone seeding systems consist of three parts: a storage bin, an auger feeding section, and a dispensing disc. The auger feeding section delivers seed material to the dispensing disc, which then falls onto the disc and performs the seeding operation through a reciprocating horizontal swing. The drive mechanism of the dispensing disc system is connected to the 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 swing motion of the disc, thus completing the seeding operation. However, this structure of the seeding system is limited by the crank-rocker mechanism, restricting the disc's swing amplitude to a fixed range. This makes it unsuitable for scenarios requiring varying the spreading amplitude during flight.

[0062] In this embodiment of the invention, the drive mechanism of the spinning disc seeding system includes a motor and a reducer. The motor drives the reducer, and the output shaft of the reducer is directly connected to the spinning disc. By controlling the motor to perform forward and reverse rotation, the spinning disc is driven to perform a back-and-forth sweeping oscillation. Since the motor directly drives the spinning disc, the angular oscillation range of the spinning disc can be changed at any time by controlling the rotation angle of the motor. This method gives the 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 to improving the efficiency of seeding operations in seeding scenarios that require different seeding widths.

[0063] In one embodiment, after determining the left and right broadcast widths of the drone, the angular swing range of the spinning disc can be determined based on the left and right broadcast widths, and the rotation angle of the motor can be determined based on the angular swing range of the spinning disc. When the motor rotates according to the rotation angle, the spinning disc is controlled to swing back and forth left and right within the angular swing range to obtain the left and right broadcast widths and perform the sowing operation.

[0064] In one specific implementation, the angular swing range of the swivel disc and the rotation angle of the motor conform to the following relationship:

[0065]

[0066] The angular swing range of the spinning disc is [x, y]. The rotation angle of the first motor is A,x is the opposite of the maximum angle between the central axis and the zero reference line when the spinning disc swings to the left; y is the maximum angle between the central axis and the zero reference line when the spinning disc swings to the right; w is the oscillation frequency of the spinning disc in rad / s; and t is the time parameter for the spinning disc to reciprocate in seconds.

[0067] 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.

[0068] The following embodiments provide specific implementation methods for determining the target work segment and related work segments of the target work segment.

[0069] In one approach, the no-broadcast area is a rectangular area; a target flight path segment intersecting the no-broadcast area is determined, and a target operational segment is determined from the target flight path segment; a first flight path segment located outside the no-broadcast area and adjacent to the target flight path segment is determined; a second distance is obtained between the first flight path segment and the boundary of the area in the no-broadcast area closest to the first flight path segment; based on the relationship between the second distance and the preset broadcast range of the UAV, the flight path segment where the relevant operational segment is located is determined, and the relevant operational segment is determined from the flight path segment where the relevant operational segment is located.

[0070] The aforementioned target flight path segment is the flight path segment that intersects with the prohibited broadcasting area. The aforementioned first flight path segment is the flight path segment located outside the prohibited broadcasting area and adjacent to the target flight path segment. The aforementioned second distance is the distance between the first flight path segment and the nearest boundary of the prohibited broadcasting area. The aforementioned preset broadcasting range of the UAV refers to the broadcasting range that the UAV can reach during the broadcasting operation, which includes the left broadcasting range and the right broadcasting range of the UAV.

[0071] In other words, we can first determine the target flight path segments that intersect with the no-broadcast area in the operation flight path, and then determine the target operation segment from the target flight path segments. For example, we can determine the boundary intersection points between the target flight path segments and the area boundaries of the no-broadcast area. Here, each target flight path segment will intersect with the two area boundaries of the rectangular no-broadcast area, thus obtaining two boundary intersection points. The operation segment between the boundary intersection points in the target flight path segment is determined as the target operation segment.

[0072] Furthermore, a first flight segment located outside the no-broadcast area and adjacent to the target flight segment is determined. A second distance is obtained between the first flight segment and the boundary of the area closest to the first flight segment in the no-broadcast area. Based on the relationship between the second distance and the preset broadcast range of the UAV, the flight segment where the relevant operation segment is located is determined. The relevant operation segment is then determined from the flight segment where the relevant operation segment is located.

[0073] Specifically, such as Figure 5 As shown, outside the no-broadcast zone, a first flight segment adjacent to the target flight segment is determined, and a second distance is obtained between the first flight segment and the boundary of the nearest area within the no-broadcast zone to that first flight segment. Figure 5 Based on the relationship between the second distance L and the preset broadcast range of the UAV, the relevant operation segment is determined from the flight path segment where the relevant operation segment is located.

[0074] Specifically, the first relative position of the UAV to the prohibited broadcasting area when operating on the first flight segment is determined; based on the first relative position, the first broadcasting range is determined from the preset broadcasting range of the UAV; wherein, the first broadcasting range includes: the left broadcasting range or the right broadcasting range of the UAV; based on the relationship between the second distance and the first broadcasting range, the flight segment where the relevant operation segment is located is determined.

[0075] The aforementioned first relative position refers to the position of the no-broadcast area relative to the drone when the drone is operating on the first flight segment. The first relative position includes: the no-broadcast area is to the left of the drone, or the no-broadcast area is to the right of the drone.

[0076] In other words, when the drone is operating on the first flight segment, it is determined whether the no-broadcast area is located to the left or right of the drone. Based on the first relative position between the no-broadcast area and the drone, the first broadcast range is determined from the drone's preset broadcast range to be either the left or right broadcast range of the drone. Then, based on the relationship between the second distance and the first broadcast range, the flight segment where the relevant operation segment is located is determined.

[0077] Specifically, the first broadcast width is determined as follows:

[0078] If the no-seepage zone is located to the right of the drone while it is operating on the first flight segment, the first broadcast range is determined to be the drone's right broadcast range; or, if the no-seepage zone is located to the left of the drone while it is operating on the first flight segment, the first broadcast range is determined to be the drone's left broadcast range. This method can be used to determine whether the first broadcast range is the drone's left or right broadcast range. Figure 5 In the process, when the drone is operating on the first flight segment, the no-broadcast area is located to the right of the drone, and the first broadcast range can be determined as the right broadcast range of the drone.

[0079] Furthermore, based on the relationship between the second distance and the first broadcast width range, the flight line segment where the relevant operation segment is located is determined: if the second distance is within the first broadcast width range, the flight line segment where the relevant operation segment is located is determined to be the first flight line segment; or, if the second distance is not within the first broadcast width range, the flight line segment where the relevant operation segment is located is determined to be the second flight line segment; wherein, the second flight line segment is located outside the prohibited broadcast area and adjacent to the first flight line segment.

[0080] Continue reading Figure 5 , Figure 5 The second distance shown is L, and the first broadcast range is the right broadcast range of the UAV. The relationship between the second distance L and the right broadcast range of the UAV is determined. If L is between the maximum and minimum broadcast range of the right broadcast range, the flight segment containing the relevant operation segment is identified as the first flight segment. If L is not between the maximum and minimum broadcast range of the right broadcast range, the flight segment containing the relevant operation segment is identified as the second flight segment, located outside the no-broadcast area and adjacent to the first flight segment.

[0081] Understandably, if the second distance L is between the maximum and minimum broadcast widths within the right broadcast width range, it means that by adjusting the drone's right broadcast width to L while maintaining the left broadcast width within the preset range, asymmetrical broadcasting can be used on the work sections near the no-broadcast area in the first flight segment. This achieves the goal of broadcasting on plots near the no-broadcast area while avoiding it, meaning that the relevant work sections can be identified on the first flight segment in this case. If the second distance L is not within the right broadcast width range, it means that the first flight segment is too close to the boundary of the no-broadcast area. Even if the drone broadcasts with the minimum broadcast width within the right broadcast width range, it will still broadcast into the no-broadcast area. In this case, the drone needs to stop broadcasting on the work sections near the no-broadcast area in the first flight segment and perform asymmetrical broadcasting on the plots near the no-broadcast area on the second flight segment, thus identifying the relevant work sections on the second flight segment.

[0082] Furthermore, after determining the route segment where the relevant work segment is located, the relevant work segment is further determined from the route segment where the relevant work segment is located.

[0083] Specifically, obtain the boundary intersection point between the target flight segment and the restricted broadcast area; determine the area boundary where the boundary intersection point is located in the restricted broadcast area, and draw the extension line of the area boundary where the boundary intersection point is located; determine the intersection point of the extension line with the flight segment where the relevant operation segment is located, and determine the operation segment between the intersection points as the relevant operation segment.

[0084] like Figure 6As shown in (a), obtain the boundary intersection point between the target flight line segment and the rectangular no-broadcast area boundary, determine the area boundary where the boundary intersection point of the no-broadcast area is located, namely area boundary 1 and area boundary 2 in the figure, draw the extension line of the area boundary where the boundary intersection point is located, determine the intersection point of the extension line with the flight line segment where the relevant operation segment is located, and determine the operation segment between the intersection points as the relevant operation segment. Figure 6 (a) shows the relevant operation segment obtained when the relevant operation segment is the first route segment. Figure 6 (b) shows the relevant work segment obtained when the relevant work segment is located in the second line segment.

[0085] The following embodiments provide a method for determining the asymmetric spread of a UAV in a relevant work segment.

[0086] Determine the second relative position of the drone to the prohibited broadcasting area when it is operating in the relevant work section; based on the second relative position, determine the second broadcasting range from the drone's preset broadcasting range; wherein, the second broadcasting range includes: the drone's left broadcasting range or right broadcasting range; based on the relationship between the first distance and the second broadcasting range, determine the drone's asymmetric broadcasting range in the relevant work section.

[0087] The aforementioned second relative position refers to the orientation of the prohibited broadcasting area relative to the drone when the drone is operating in the relevant work section. The second relative position includes either the prohibited broadcasting area being to the left of the drone or to the right of the drone. The aforementioned first distance is the distance between the relevant work section and the nearest boundary of the prohibited broadcasting area within the relevant work section.

[0088] In other words, when the drone is operating in the relevant work section, it is determined whether the no-spewing area is located to the left or right of the drone. Based on the second relative position between the no-spewing area and the drone, the second broadcasting range is determined from the drone's preset broadcasting range to be either the left or right broadcasting range of the drone. Then, based on the relationship between the first distance and the second broadcasting range, the asymmetric broadcasting range of the drone in the relevant work section is determined.

[0089] Specifically, the second broadcast width range can be determined as follows:

[0090] If the no-seepage zone is located to the right of the drone while it is operating in the relevant work area, the second broadcast range is determined to be the drone's right broadcast range; or, if the no-seepage zone is located to the left of the drone while it is operating in the relevant work area, the second broadcast range is determined to be the drone's left broadcast range. This method can be used to determine whether the second broadcast range is the drone's left or right broadcast range.

[0091] Furthermore, after determining the first distance and the second seeding range, the asymmetric seeding range of the UAV in the relevant operation section is determined based on the relationship between the first distance and the second seeding range:

[0092] Specifically, if the second playback range is the left playback range, and the first distance is greater than the maximum playback range within the left playback range, the maximum playback range within the left playback range is determined as the left playback range within the asymmetrical playback range, and the right playback range within the preset playback range is determined as the right playback range within the asymmetrical playback range; or, if the second playback range is the left playback range, and the first distance is within the left playback range, the first distance is determined as the left playback range within the asymmetrical playback range, and the right playback range within the preset playback range is determined as the right playback range within the asymmetrical playback range; or, if the second playback range is the right playback range, and the first distance is greater than the maximum playback range within the right playback range, the maximum playback range within the right playback range is determined as the right playback range within the asymmetrical playback range, and the left playback range within the preset playback range is determined as the left playback range within the asymmetrical playback range; or, if the second playback range is the right playback range, and the first distance is within the right playback range, the first distance is determined as the right playback range within the asymmetrical playback range, and the left playback range within the preset playback range is determined as the left playback range within the asymmetrical playback range.

[0093] Here, we will use the route segment where the relevant work section is located as an example of the second route segment for explanation.

[0094] In one scenario, if the second playback range is the left playback range, and the first distance is greater than the maximum playback range within the left playback range, the maximum playback range within the left playback range is determined as the left playback range in the asymmetric playback range, and the right playback range in the preset playback range is determined as the right playback range in the asymmetric playback range. For example... Figure 7 As shown, Figure 7 The first distance is d. When the drone operates in the relevant work section, the no-seeding area is located to the left of the drone. The second seeding range is determined as the drone's left seeding range. The first distance d is compared with the maximum seeding range W within the left seeding range. If the first distance d is greater than the maximum seeding range W within the left seeding range, the maximum seeding range W is determined as the left seeding range in the asymmetric seeding, and the right seeding range in the drone's preset seeding range is determined as the right seeding range in the asymmetric seeding. At this time, the drone performs asymmetric seeding operation in the relevant work section with a left seeding range of W and a right seeding range of the preset right seeding range. The seeding area of ​​the drone in the relevant work section is... Figure 8 In the shaded area, this method adjusts the left seeding width of the drone to the maximum within the left seeding width range in the asymmetric seeding width of the relevant operation section, so as to cover the plots close to the prohibited seeding area as much as possible and reduce the area missed by seeding.

[0095] In another scenario, if the second span is the left span and the first distance is within the left span, the first distance is defined as the left span in the asymmetric span, and the right span in the preset span is defined as the right span in the asymmetric span. That is to say, Figure 7 In the process, if the first distance d is compared with the left span of the drone and determined to be within the left span, i.e., d is not less than the minimum span and not greater than the maximum span within the left span, then the first distance is determined as the left span in the asymmetric span, and the right span in the preset span is determined as the right span in the asymmetric span. At this time, the drone performs an asymmetric spreading operation in the relevant work section with a left span of d and a right span of the preset right span. The spreading area of ​​the drone in the relevant work section is... Figure 9 The shaded area in the image. In this method, the drone's left-hand spread can precisely cover the area between the relevant work section and the nearest boundary of the prohibited area, achieving accurate seeding of plots near the prohibited area and completely avoiding missed seeding areas near the prohibited area.

[0096] Similarly, if the second broadcast range is the right broadcast range, and the first distance is greater than the maximum broadcast range within the right broadcast range, the maximum broadcast range within the right broadcast range is determined as the right broadcast range within the asymmetric broadcast range, and the left broadcast range within the preset broadcast range is determined as the left broadcast range within the asymmetric broadcast range. In other words, when the second broadcast range is the right broadcast range, the first distance needs to be compared with the drone's right broadcast range. If the first distance is greater than the maximum broadcast range within the right broadcast range, the maximum broadcast range within the right broadcast range is determined as the right broadcast range within the asymmetric broadcast range, and the left broadcast range within the preset broadcast range is determined as the left broadcast range within the asymmetric broadcast range. This method corresponds to the drone's broadcasting area in the relevant operation segment and... Figure 8 The sowing area corresponding to the second sowing range is similar to that of the left sowing range, so it will not be described again.

[0097] If the second seeding range is the right seeding range, and the first distance is within the right seeding range, the first distance is determined as the right seeding range in the asymmetric seeding, and the left seeding range in the preset seeding range is determined as the left seeding range in the asymmetric seeding. In other words, when the second seeding range is the right seeding range, the first distance needs to be compared with the drone's right seeding range. If the first distance is within the right seeding range, it is determined as the right seeding range in the asymmetric seeding, and the left seeding range in the preset seeding range is determined as the left seeding range in the asymmetric seeding. In this method, the drone's right seeding range can precisely cover the area between the nearest boundary between the relevant work section and the prohibited seeding area, achieving precise seeding of plots near the prohibited seeding area and completely avoiding missed seeding areas near the prohibited seeding area. The seeding area of ​​the drone in the relevant work section corresponding to this method is... Figure 9The sowing area corresponding to the second sowing range is similar to that of the left sowing range, so it will not be described again.

[0098] The following embodiments provide a method for controlling a drone to perform seeding operations along a working route.

[0099] Specifically, if the flight line segment of the relevant operation segment is adjacent to the flight line segment of the target operation segment, the UAV is controlled to perform seeding operations in the operation segment outside the relevant operation segment according to the preset seeding width, and seeding stops in the target operation segment, while seeding is performed in the relevant operation segment with an asymmetric seeding width; or, if the flight line segment of the relevant operation segment is not adjacent to the flight line segment of the target operation segment, a mapping operation segment of the relevant operation segment is determined, and the UAV is controlled to stop seeding in the target operation segment and the mapping operation segment, and seeding operations in the operation segment outside the relevant operation segment, the target operation segment, and the first operation segment according to the preset seeding width, while seeding is performed in the relevant operation segment with an asymmetric seeding width.

[0100] In other words, in one scenario, if the flight path of the relevant work segment is adjacent to the flight path of the target work segment, the drone is controlled to perform seeding operations in the work segment outside the relevant work segment according to a preset seeding width, seeding stops in the target work segment, and seeding is performed in the relevant work segment with an asymmetrical seeding width; for example... Figure 10 As shown, the flight path segment where the relevant operation segment is located is adjacent to the flight path segment where the target operation segment is located. The UAV is controlled to carry out seeding operations in the operation segment outside the relevant operation segment according to the preset seeding width, and seeding stops in the target operation segment. Seeding is carried out in the relevant operation segment with an asymmetrical seeding width.

[0101] In another scenario, if the flight path segment of the relevant operation segment is not adjacent to the flight path segment of the target operation segment, the mapping operation segment of the relevant operation segment is determined, and the UAV is controlled to stop seeding in the target operation segment and the mapping operation segment. Seeding operations are carried out in operation segments other than the relevant operation segment, the target operation segment, and the first operation segment according to the preset seeding width, and seeding is carried out in the relevant operation segment with an asymmetric seeding width.

[0102] Here, the mapped work segment is the work segment on the flight path between the relevant work segment and the target work segment where no seeding operation is performed. Because this mapped work segment is too close to the boundary of the no-seeding zone, the drone will not perform seeding operations on this work segment. The position of this mapped work segment on the flight path is the same as the position of the relevant work segment on the flight path.

[0103] In other words, if the flight path of the relevant operation segment is not adjacent to the flight path of the target operation segment, it is necessary to determine the mapping operation segment of the relevant operation segment, control the drone to stop seeding in the target operation segment and the mapping operation segment, and carry out seeding operations in operation segments other than the relevant operation segment, the target operation segment, and the first operation segment according to the preset seeding width, and seeding in the relevant operation segment with an asymmetric seeding width.

[0104] In one implementation, a route segment is obtained between the route segment where the relevant operation segment is located and the route segment where the target operation segment is located, to obtain a mapped route segment; the first position of the relevant operation segment on the route segment where the relevant operation segment is located is determined; based on the first position, a mapped operation segment is determined in the mapped route segment; wherein, the position of the mapped operation segment on the mapped route segment is the same as the first position.

[0105] For example, such as Figure 11 As shown, the relevant operation segment is located on the second flight line segment. There is a flight line segment between this segment and the target operation segment. This second flight line segment is designated as the mapping flight line segment. The first position of the relevant operation segment on this second flight line segment is determined. A mapping operation segment is then determined within this mapping flight line segment, with its position matching the first position. After determining the mapping operation segment, the drone can be controlled to stop seeding in both the target and mapping operation segments. Seeding operations will then be performed in operation segments other than the relevant, target, and first operation segments according to a preset seeding width. Furthermore, asymmetrical seeding widths will be used in the relevant operation segment, thereby avoiding prohibited seeding areas and reducing or even eliminating missed seeding areas near prohibited seeding zones.

[0106] For the corresponding method embodiments described above, see [link to relevant documentation]. Figure 12 The diagram shows a control device for a seeding operation, the device comprising:

[0107] The first acquisition module 1202 is used to acquire the operation route corresponding to the target plot and the preset broadcast width of the UAV; wherein, the target plot includes a no-broadcast area; the operation route includes multiple parallel route segments, and there is a specified row spacing between adjacent route segments;

[0108] The first determining module 1204 is used to determine the target operation segment located inside the no-broadcast zone in the flight segment, as well as the related operation segments of the target operation segment; wherein, the flight segment where the related operation segment is located is located outside the no-broadcast zone, and the related operation segment is located near the no-broadcast zone;

[0109] The second determining module 1206 is used to determine the first distance between the relevant operation section and the boundary of the area closest to the relevant operation section in the prohibited broadcast area; and to determine the asymmetric broadcast width of the UAV in the relevant operation section based on the relationship between the first distance and the preset broadcast width range of the UAV; wherein the left broadcast width and the right broadcast width are different in the asymmetric broadcast width.

[0110] The first control module 1208 is used to control the UAV to carry out seeding operations along the operation route and to carry out seeding with an asymmetrical seeding width in the relevant operation section.

[0111] In this method, target work segments located within the no-seeding zone and related work segments located near the outside of the no-seeding zone are determined from the drone's operational flight path. A first distance between the related work segment and the boundary of the no-seeding zone is determined. Based on the relationship between the first distance and the drone's preset seeding width, an asymmetric seeding width is determined for the related work segment, allowing the drone to perform seeding operations within the related work segment using this asymmetric seeding width. By using an asymmetric seeding width for related work segments near the no-seeding zone, this method can avoid the no-seeding zone while reducing or even eliminating missed seeding areas in the vicinity of the no-seeding zone.

[0112] The aforementioned prohibited planting areas are the bounded polygonal regions of the target plot's obstacle areas or crop-free areas. These bounded polygonal regions include the bounded rectangular regions.

[0113] The larger the spread of the drone, the greater the range of angle swing of the spraying disc in the drone's spraying system.

[0114] The aforementioned spinning disc is connected to the drive mechanism in the seeding system. The drive mechanism includes a motor and a reducer. The aforementioned device includes: a seeding width control module, used to determine the angular swing range of the spinning disc based on the asymmetric seeding width; to determine the rotation angle of the motor based on the angular swing range of the spinning disc; and to control the operation of the motor based on the rotation angle of the motor, so as to control the spinning disc to swing back and forth left and right within the angular swing range, so that the UAV can seed with an asymmetric seeding width in the relevant operation section.

[0115] The aforementioned no-broadcast area is a rectangular area; the aforementioned first determining module is used to determine the target flight line segment that intersects with the no-broadcast area in the operation flight line, and determine the target operation segment from the target flight line segment; determine the first flight line segment located outside the no-broadcast area and adjacent to the target flight line segment; obtain the second distance between the first flight line segment and the boundary of the area in the no-broadcast area that is closest to the first flight line segment, and determine the flight line segment where the relevant operation segment is located based on the relationship between the second distance and the preset broadcast range of the UAV, and determine the relevant operation segment from the flight line segment where the relevant operation segment is located.

[0116] The aforementioned device includes a third determining module, used to determine the first relative position of the UAV and the prohibited broadcasting area when the UAV is operating on the first flight segment; based on the first relative position, to determine the first broadcasting range from the preset broadcasting range of the UAV; wherein the first broadcasting range includes: the left broadcasting range or the right broadcasting range of the UAV; and based on the relationship between the second distance and the first broadcasting range, to determine the flight segment where the relevant operation segment is located.

[0117] The aforementioned device includes a fourth determining module, which is further configured to determine the first broadcast range as the right broadcast range of the drone if the no-broadcast area is located to the right of the drone when the drone is operating on the first flight segment; or, if the no-broadcast area is located to the left of the drone when the drone is operating on the first flight segment, determine the first broadcast range as the left broadcast range of the drone.

[0118] The aforementioned device includes a fifth determining module, configured to determine the route segment where the relevant operation segment is located as the first route segment if the second distance is within the first broadcast width range; or, if the second distance is not within the first broadcast width range, determine the route segment where the relevant operation segment is located as the second route segment; wherein the second route segment is located outside the prohibited broadcast area and adjacent to the first route segment.

[0119] The aforementioned device includes a sixth determining module, used to obtain the boundary intersection point between the target flight segment and the area boundary of the prohibited broadcasting area; determine the area boundary where the boundary intersection point is located in the prohibited broadcasting area, and draw the extension line of the area boundary where the boundary intersection point is located; determine the intersection point of the extension line and the flight segment where the relevant operation segment is located, and determine the operation segment between the intersection points as the relevant operation segment.

[0120] The aforementioned second determining module is further configured to determine the second relative position of the UAV and the prohibited broadcasting area when the UAV is operating in the relevant work section; based on the second relative position, determine the second broadcasting range from the preset broadcasting range of the UAV; wherein the second broadcasting range includes: the left broadcasting range or the right broadcasting range of the UAV; and based on the relationship between the first distance and the second broadcasting range, determine the asymmetric broadcasting range of the UAV in the relevant work section.

[0121] The aforementioned device further includes: a seventh determining module, used to determine the second broadcast range as the right broadcast range of the drone if the no-broadcast area is located to the right of the drone when the drone is operating in the relevant work section; or, if the no-broadcast area is located to the left of the drone when the drone is operating in the relevant work section, to determine the second broadcast range as the left broadcast range of the drone.

[0122] The aforementioned device further includes an eighth determining module, configured to: if the second playback range is a left playback range and the first distance is greater than the maximum playback range within the left playback range, determine the maximum playback range within the left playback range as the left playback range and determine the right playback range within the preset playback range as the right playback range within the asymmetrical playback range; or, if the second playback range is a left playback range and the first distance is within the left playback range, determine the first distance as the left playback range within the asymmetrical playback range and determine the right playback range within the preset playback range as the right playback range within the asymmetrical playback range. The right span of the preset span; or, if the second span range is the right span range and the first distance is greater than the maximum span in the right span range, the maximum span in the right span range is determined as the right span in the asymmetric span, and the left span in the preset span is determined as the left span in the asymmetric span; or, if the second span range is the right span range and the first distance is within the right span range, the first distance is determined as the right span in the asymmetric span, and the left span in the preset span is determined as the left span in the asymmetric span.

[0123] The aforementioned first control module is further configured to, if the flight path segment where the relevant operation segment is located is adjacent to the flight path segment where the target operation segment is located, control the UAV to perform seeding operations in operation segments other than the relevant operation segment according to a preset seeding width, stop seeding in the target operation segment, and perform seeding in the relevant operation segment with an asymmetrical seeding width; or, if the flight path segment where the relevant operation segment is located is not adjacent to the flight path segment where the target operation segment is located, determine the mapping operation segment of the relevant operation segment, control the UAV to stop seeding in the target operation segment and the mapping operation segment, and perform seeding operations in operation segments other than the relevant operation segment, the target operation segment, and the first operation segment according to a preset seeding width, and perform seeding in the relevant operation segment with an asymmetrical seeding width.

[0124] The aforementioned device further includes a ninth determining module, used to obtain a route segment located between the route segment where the relevant operation segment is located and the route segment where the target operation segment is located, to obtain a mapped route segment; determine the first position of the relevant operation segment on the route segment where the relevant operation segment is located; and determine the mapped operation segment in the mapped route segment based on the first position; wherein the position of the mapped operation segment on the mapped route segment is the same as the first position.

[0125] This embodiment also provides an electronic device, including a processor and a memory. The memory stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement the above-described control method for the seeding operation.

[0126] See Figure 13 As shown, the electronic device includes a processor 100 and a memory 101. The memory 101 stores machine-executable instructions that can be executed by the processor 100. The processor 100 executes the machine-executable instructions to implement the control method for the above-described seeding operation.

[0127] Furthermore, Figure 13 The electronic device shown also includes a bus 102 and a communication interface 103, with the processor 100, the communication interface 103 and the memory 101 connected via the bus 102.

[0128] The memory 101 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 103 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network. The bus 102 may be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 13 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0129] Processor 100 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 100 or by instructions in software form. Processor 100 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a readily available storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 101, and the processor 100 reads the information from memory 101 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0130] This embodiment also provides an unmanned aerial vehicle (UAV) system, which includes a UAV and the aforementioned electronic equipment. The electronic equipment is communicatively connected to the UAV and is used to control the UAV's flight operations.

[0131] This embodiment also provides a machine-readable storage medium storing machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions cause the processor to implement the above-described control method for the seeding operation.

[0132] The computer program products of the control method, apparatus, electronic device and UAV system for seeding operations provided in the embodiments of the present invention include 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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 method for controlling a seeding operation, characterized in that, The method includes: Obtain the operation flight path and the preset broadcast width of the drone corresponding to the target plot; wherein, the target plot includes a no-broadcast area; the operation flight path includes multiple parallel flight path segments, with a specified row spacing between adjacent flight path segments; Identify the target work segment located within the no-broadcast zone in the flight segment, and the related work segments of the target work segment; wherein the flight segment containing the related work segment is located outside the no-broadcast zone, and the related work segment is located near the no-broadcast zone; Determine a first distance between the relevant work segment and the boundary of the area closest to the relevant work segment in the prohibited broadcast area; based on the relationship between the first distance and the preset broadcast range of the UAV, determine the asymmetric broadcast range of the UAV in the relevant work segment; wherein, the left and right broadcast ranges are different in the asymmetric broadcast range; The drone is controlled to perform seeding operations along the operation route, and seeding is carried out in the relevant operation section with the asymmetric seeding width.

2. The method according to claim 1, characterized in that, The prohibited planting area is the outer polygonal region of the obstacle area or the crop-free area in the target plot.

3. The method according to claim 2, characterized in that, The circumscribed polygonal region includes the circumscribed rectangular region.

4. The method according to claim 1, characterized in that, The larger the spread of the drone, the greater the range of angle swing of the spraying disc in the drone's spraying system.

5. The method according to claim 4, characterized in that, The slinger is connected to the drive mechanism of the spreading system, and the drive mechanism includes a motor and a reducer; The step of seeding with the asymmetric seeding width in the relevant work section includes: Based on the asymmetric broadcast amplitude, the angular swing range of the spinning disc is determined; The rotation angle of the motor is determined by the angular swing range of the swing disc; The motor is controlled to operate based on its rotation angle, thereby controlling the spinning disc to swing back and forth within the angular swing range, so that the UAV can spread seeds in the relevant work section with the asymmetrical spreading width.

6. The method according to claim 1, characterized in that, The no-broadcast area is a rectangular area; The step of determining the target work segment located within the no-broadcast zone in the flight route segment, and the related work segments of the target work segment, includes: Identify the target route segment in the operation route that intersects with the no-broadcast area, and determine the target operation segment from the target route segment; Determine a first flight segment located outside the no-broadcast zone and adjacent to the target flight segment; Obtain the second distance between the first flight path segment and the boundary of the area closest to the first flight path segment in the prohibited broadcast area. Based on the relationship between the second distance and the preset broadcast range of the UAV, determine the flight path segment where the relevant operation segment is located, and determine the relevant operation segment from the flight path segment where the relevant operation segment is located.

7. The method according to claim 6, characterized in that, The step of determining the flight path segment where the relevant operation segment is located based on the relationship between the second distance and the preset broadcast range of the UAV includes: Determine the first relative position of the drone to the no-broadcast area when it is operating on the first flight segment; Based on the first relative position, a first broadcast range is determined from the preset broadcast range of the drone; wherein, the first broadcast range includes: the left broadcast range or the right broadcast range of the drone; Based on the relationship between the second distance and the first broadcast range, the flight path segment where the relevant operation segment is located is determined.

8. The method according to claim 7, characterized in that, The step of determining the first broadcast range from the preset broadcast range of the drone based on the first relative position includes: If the no-broadcast area is located to the right of the drone when the drone is operating on the first flight path segment, the first broadcast range is determined to be the right broadcast range of the drone; or, If the no-broadcast area is located to the left of the drone when the drone is operating on the first flight path segment, the first broadcast range is determined to be the left broadcast range of the drone.

9. The method according to claim 7, characterized in that, The step of determining the flight path segment where the relevant operation segment is located based on the relationship between the second distance and the first broadcast range includes: If the second distance is within the range of the first broadcast width, the flight segment where the relevant work section is located is determined to be the first flight segment; or... If the second distance is not within the first broadcast range, the flight path segment where the relevant operation segment is located is determined to be the second flight path segment; wherein, the second flight path segment is located outside the prohibited broadcast area and adjacent to the first flight path segment.

10. The method according to claim 6, characterized in that, The step of determining the relevant work segment from the route segment where the relevant work segment is located includes: Obtain the boundary intersection point between the target flight segment and the regional boundary of the no-broadcast area; Determine the boundary of the area where the boundary intersection point is located in the prohibited broadcast area, and draw the extension line of the boundary of the area where the boundary intersection point is located; Determine the intersection point of the extension line and the route segment where the relevant work segment is located, and determine the work segment between the intersection points as the relevant work segment.

11. The method according to claim 1, characterized in that, The step of determining the asymmetric broadcasting width of the UAV in the relevant work segment based on the relationship between the first distance and the preset broadcasting width range of the UAV includes: Determine the second relative position of the drone to the no-broadcast area when it is operating in the relevant work section; Based on the second relative position, a second broadcast range is determined from the preset broadcast range of the drone; wherein, the second broadcast range includes: the left broadcast range or the right broadcast range of the drone; Based on the relationship between the first distance and the second broadcast range, the asymmetric broadcast range of the UAV in the relevant operation section is determined.

12. The method according to claim 11, characterized in that, The step of determining the second broadcast range from the preset broadcast range of the drone based on the second relative position includes: If the no-spread zone is located to the right of the drone when the drone is operating in the relevant work section, the second broadcast range is determined to be the right broadcast range of the drone; or, If the no-broadcast area is located to the left of the drone when the drone is operating in the relevant work section, the second broadcast range is determined to be the left broadcast range of the drone.

13. The method according to claim 11, characterized in that, The step of determining the asymmetric seeding width of the UAV in the relevant work section based on the relationship between the first distance and the second seeding width range includes: If the second playback width range is the left playback width range, and the first distance is greater than the maximum playback width in the left playback width range, then the maximum playback width in the left playback width range is determined as the left playback width in the asymmetric playback width, and the right playback width in the preset playback width is determined as the right playback width in the asymmetric playback width; or... If the second playback width range is the left playback width range, and the first distance is within the left playback width range, then the first distance is determined as the left playback width in the asymmetric playback width, and the right playback width in the preset playback width is determined as the right playback width in the asymmetric playback width; or... If the second playback width range is the right playback width range, and the first distance is greater than the maximum playback width in the right playback width range, then the maximum playback width in the right playback width range is determined as the right playback width in the asymmetric playback width, and the left playback width in the preset playback width is determined as the left playback width in the asymmetric playback width; or... If the second playback range is the right playback range, and the first distance is within the right playback range, the first distance is determined as the right playback range in the asymmetric playback range, and the left playback range in the preset playback range is determined as the left playback range in the asymmetric playback range.

14. The method according to claim 1, characterized in that, The step of controlling the drone to perform seeding operations along the operational route and seeding with the asymmetric seeding width in the relevant operational segment includes: If the flight path segment containing the relevant operation segment is adjacent to the flight path segment containing the target operation segment, the UAV is controlled to perform seeding operations in the operation segment outside the relevant operation segment according to the preset seeding width, seeding is stopped in the target operation segment, and seeding is performed in the relevant operation segment with the asymmetric seeding width; or... If the relevant operation segment is not adjacent to the target operation segment, the mapping operation segment of the relevant operation segment is determined, and the UAV is controlled to stop seeding in the target operation segment and the mapping operation segment. Seeding is carried out in the relevant operation segment, the target operation segment, and operation segments other than the first operation segment according to the preset seeding width, and seeding is carried out in the relevant operation segment with the asymmetric seeding width.

15. The method according to claim 1, characterized in that, The step of determining the mapping job segment of the relevant job segment includes: Obtain the route segment located between the route segment where the relevant work segment is located and the route segment where the target work segment is located, and obtain the mapped route segment; Determine the first position of the relevant work segment on the flight segment where the relevant work segment is located; Based on the first position, a mapping operation segment is determined in the mapping line segment; wherein the position of the mapping operation segment on the mapping line segment is the same as the first position.

16. A control device for a seeding operation, characterized in that, The device includes: The first acquisition module is used to acquire the operation flight path corresponding to the target plot and the preset broadcast width of the drone; wherein, the target plot includes a no-broadcast area; the operation flight path includes multiple parallel flight path segments, and there is a specified row spacing between adjacent flight path segments; The first determining module is used to determine the target operation segment located within the no-broadcast zone in the flight segment, and the related operation segments of the target operation segment; wherein the flight segment where the related operation segment is located is located outside the no-broadcast zone, and the related operation segment is located near the no-broadcast zone; The second determining module is used to determine a first distance between the relevant work segment and the boundary of the area closest to the relevant work segment in the prohibited broadcast area; and to determine the asymmetric broadcast width of the UAV in the relevant work segment based on the relationship between the first distance and the preset broadcast width range of the UAV; wherein the left broadcast width and the right broadcast width are different in the asymmetric broadcast width; The first control module is used to control the UAV to carry out seeding operations along the operation route and to carry out seeding with the asymmetric seeding width in the relevant operation section.

17. An electronic device, characterized in that, The method includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor, the processor executing the machine-executable instructions to implement the control method for the spreading operation according to any one of claims 1-15.

18. An unmanned aerial vehicle (UAV) system, characterized in that, The system includes a drone and the electronic device of claim 17, the electronic device being communicatively connected to the drone for controlling the drone's flight operations.

19. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores machine-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the control method for the sowing operation as described in any one of claims 1-15.

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