Broadcasting device control method, broadcasting device, and unmanned aerial vehicle device

Abstract

A broadcasting device control method, a broadcasting device, and an unmanned aerial vehicle device, relating to the technical field of sustainable agriculture. The method comprises: determining a flight time required for an unmanned aerial vehicle to fly from a current position to a target broadcast stopping position; determining a shutdown time required for a spiral blade to rotate from a current blade position and stop at a zero-point position; and on the basis of the flight time and the shutdown time, controlling the spiral blade to perform a shutdown operation, wherein when the spiral blade is at the zero-point position, a material can be blocked. The method allows the time for triggering shutdown to be determined in real time on the basis of a real-time flight time of the unmanned aerial vehicle and a real-time shutdown time of the spiral blade.

Description

Seeding device control method, seeding device and unmanned aerial vehicle device

[0001] The present application claims priority to the Chinese patent application No. CN202411373004.4, filed on September 29, 2024, and entitled "Seeding device control method, seeding device and unmanned aerial vehicle device", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of sustainable agricultural technology, in particular, to a seeding device control method, a seeding device and an unmanned aerial vehicle device. BACKGROUND

[0003] In the process of agricultural production, the unreasonable use of chemical inputs such as fertilizers and pesticides, a large amount of nutrients such as nitrogen, phosphorus and organic matter, and chemical substances will seep into groundwater and rivers, polluting water quality and causing pollution to the ecological environment. In order to reduce agricultural non-point source pollution, precise delivery of agricultural input products such as seeds, fertilizers, pesticides, biological agents and soil conditioners can be used. The unmanned aerial vehicle seeding device is a device specially designed for unmanned aerial vehicles to achieve precise seeding of materials such as seeds, fertilizers, grass seeds and seedlings. The spiral feeding device is a commonly used seeding device. When the unmanned aerial vehicle changes the row or enters or exits the forbidden seeding area, the spiral feeding device needs to be controlled to stop seeding. In order to prevent the spiral feeding device from leaking materials when it stops, the spiral blade of the spiral feeding device needs to be controlled to stop at the zero position to form a block to prevent materials from leaking out.

[0004] Currently, in order to make the spiral feeding device stop at the zero position when the unmanned aerial vehicle flies to the target stop position, the spiral feeding device needs to be triggered to start stopping in advance to ensure that the unmanned aerial vehicle flies to the target stop position when the spiral feeding device stops at the zero position. At present, the spiral feeding device is triggered to stop according to a fixed time in advance.

[0005] However, the above method does not consider the influence of the real-time position of the spiral blade of the spiral feeding device on the stopping time, which cannot guarantee that the spiral feeding device stops when the unmanned aerial vehicle flies to the target stop position, that is, when the spiral feeding device actually stops, the unmanned aerial vehicle may not have flown to the target stop position, or the unmanned aerial vehicle may have flown past the target stop position, which cannot achieve precise stopping at the target stop position and the spiral blade stopping at the zero position. SUMMARY

[0006] The present application aims at the deficiencies in the prior art, and provides a spreading equipment control method, a spreading equipment and a UAV device, so as to improve the accuracy of the stopping control of the spreading equipment and prevent the missing or over-spraying of the material.

[0007] To achieve the above object, the technical scheme adopted by the embodiments of the present application is as follows:

[0008] In a first aspect, the embodiments of the present application provide a spreading equipment control method, the spreading equipment is mounted on a UAV, the spreading equipment comprises a spiral feeding device, the spiral feeding device is used for conveying a material to a discharge port, the spiral feeding device comprises a spiral blade, and the method comprises:

[0009] determining a flight time required for the UAV to fly from a current aircraft position to a target stopping position;

[0010] determining a stopping time required for the spiral blade to rotate from a current blade position and stop at a zero position;

[0011] controlling the spiral blade to perform a stopping operation according to the flight time and the stopping time;

[0012] wherein the spiral blade can block the material when at the zero position.

[0013] Optionally, the controlling the spiral blade to perform a stopping operation comprises:

[0014] controlling the spiral blade to rotate from the current blade position to a braking starting point at a target stopping rotation speed, and to brake at the braking starting point so as to stop the spiral blade at the zero position.

[0015] Optionally, the braking starting point is determined by the following method:

[0016] determining a braking required angle corresponding to the target stopping rotation speed;

[0017] determining the braking starting point according to the zero position and the braking required angle.

[0018] Optionally, the target stopping rotation speed is determined by the following method:

[0019] when receiving a stopping signal, determining a current flight speed of the UAV;

[0020] determining the target stopping rotation speed according to the current flight speed of the UAV, a pre-configured amount per mu, a spreading width and a unit discharge amount of the spiral feeding device.

[0021] Optionally, the target stopping rotation speed is determined by the following method:

[0022] determining a current rotation speed of the helical blade upon receiving the shutdown signal;

[0023] determining the current rotation speed as the target shutdown rotation speed.

[0024] Optionally, the determining of the shutdown time required for the helical blade to rotate from the current blade position and stop at the zero position comprises:

[0025] determining the shutdown time according to the current blade position and the target shutdown rotation speed.

[0026] Optionally, the determining of the shutdown time according to the current blade position and the target shutdown rotation speed comprises:

[0027] inputting the current blade position and the target shutdown rotation speed into a pre-constructed multi-element nonlinear function to obtain the shutdown time.

[0028] Optionally, the controlling of the helical blade to perform the shutdown operation according to the flight time and the shutdown time comprises:

[0029] monitoring the flight time and the shutdown time, and controlling the helical blade to perform the shutdown operation when the flight time is less than or equal to the shutdown time.

[0030] Optionally, the controlling of the helical blade to perform the shutdown operation comprises:

[0031] determining a shutdown control mode of the helical blade according to the current blade position and the target shutdown rotation speed;

[0032] controlling the helical blade to perform the shutdown operation according to the shutdown control mode.

[0033] Optionally, the determining of the shutdown control mode of the helical blade according to the current blade position and the target shutdown rotation speed comprises:

[0034] judging whether the helical blade will cross the zero position when stopping at the current turn according to the current blade position and the target shutdown rotation speed;

[0035] if the helical blade will not cross the zero position when stopping at the current turn, determining the shutdown control mode as a first shutdown mode; if the helical blade will cross the zero position when stopping at the current turn, determining the shutdown control mode as a second shutdown mode; in the first shutdown mode, controlling the helical blade to stop at the zero position at the current turn; in the second shutdown mode, controlling the helical blade to stop at the zero position at the next turn.

[0036] Optionally, the judging whether the spiral vane will cross the zero position when stopping at the current circle according to the current vane position and the target stop speed comprises:

[0037] determining a braking required angle corresponding to the target stop speed;

[0038] determining a predicted stop position of the spiral vane according to the current vane position and the braking required angle;

[0039] judging whether the spiral vane will cross the zero position when stopping at the current circle based on the predicted stop position and the zero position.

[0040] Optionally, the judging whether the spiral vane will cross the zero position when stopping at the current circle according to the current vane position and the target stop speed comprises:

[0041] determining a braking required angle corresponding to the target stop speed;

[0042] determining a braking remaining angle of the current circle according to the current vane position and the zero position;

[0043] judging whether the spiral vane will cross the zero position when stopping at the current circle based on the braking required angle and the braking remaining angle.

[0044] Optionally, the controlling the spiral vane to rotate from the current vane position to a braking start point at the target stop speed and to brake at the braking start point to make the spiral vane stop at the zero position comprises:

[0045] controlling the spiral vane based on a speed loop before a preset distance between the vane position of the spiral vane and the zero position is satisfied;

[0046] controlling the spiral vane based on a position loop after the preset distance between the vane position of the spiral vane and the zero position is satisfied.

[0047] Optionally, the controlling the spiral vane to rotate from the current vane position to a braking start point at the target stop speed comprises:

[0048] if the target stop speed is in a preset speed interval, controlling the spiral vane to rotate from the current vane position to the braking start point at the target stop speed;

[0049] if the target stop speed is not in the preset speed interval, adjusting the target stop speed to an upper limit or a lower limit of the preset speed interval and controlling the spiral vane to rotate to the braking start point at the adjusted stop speed.

[0050] In a second aspect, the embodiments of the present application further provide a spreading device, comprising: a screw feeding device configured to convey material to a discharge port, the screw feeding device comprising a screw blade; the spreading device is configured to perform the spreading device control method of any one of the first aspect.

[0051] In a third aspect, the embodiments of the present application provide a UAV device, comprising: the spreading device of the second aspect.

[0052] The present application has the following beneficial effects:

[0053] The present application provides a spreading device control method, a spreading device and a UAV device. The method comprises: determining a flight time required for a UAV to fly from a current aircraft position to a target stopping position; determining a stopping time required for a screw blade to rotate from a current blade position and stop at a zero position; controlling the screw blade to perform a stopping operation according to the flight time and the stopping time; wherein the screw blade can block the material when at the zero position. The method determines the flight time required for the UAV to fly to the target stopping position and the stopping time required for the screw blade to rotate to the zero position in real time, so that the time of triggering the stopping operation can be determined in real time according to the real-time flight time and stopping time. The flight time of the UAV and the stopping time of the screw blade are comprehensively considered, and a control mode of triggering the stopping operation in advance and non-fixed time is realized. The spreading device can stop at the zero position when the UAV flies to the target stopping position, and precise stopping is achieved, so that the omission or over-spraying of the material is avoided. Precise seed, fertilizer, pesticide, biological agent and soil conditioner are used to reduce the total amount of agricultural inputs, and effectively reduce agricultural non-point source pollution. Furthermore, the UAV can efficiently and safely drop grass seeds, tree seedlings for afforestation, soil stabilizers for preventing soil erosion, and microbial agents for bioremediation of pollutants into the specified area without exceeding the specified area, thereby reducing environmental pollution and protecting the ecological environment.

[0054] In addition, in an embodiment, the target stopping speed is calculated according to the user-set amount per mu and the related parameters of the UAV, so that the calculated target stopping speed is more matched with the amount per mu, and the uniformity of the discharge during the stopping operation according to the target stopping speed can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be considered as limiting the scope. Other related drawings can also be obtained by those skilled in the art without creative labor.

[0056] Fig. 1 is a schematic diagram of a spreading device according to an embodiment of the present application;

[0057] Fig. 2 is a flow diagram of a method of controlling a spreading device according to an embodiment of the present application;

[0058] Fig. 3 is a flow diagram of another method of controlling a spreading device according to an embodiment of the present application;

[0059] Fig. 4 is a schematic diagram of an axial direction of a spiral blade according to an embodiment of the present application;

[0060] Fig. 5 is a flow diagram of yet another method of controlling a spreading device according to an embodiment of the present application;

[0061] Fig. 6 is a flow diagram of another method of controlling a spreading device according to an embodiment of the present application;

[0062] Fig. 7 is a flow diagram of yet another method of controlling a spreading device according to an embodiment of the present application;

[0063] Fig. 8 is a flow diagram of another method of controlling a spreading device according to an embodiment of the present application;

[0064] Fig. 9 is a flow diagram of another method of controlling a spreading device according to an embodiment of the present application;

[0065] Fig. 10 is a flow diagram of yet another method of controlling a spreading device according to an embodiment of the present application;

[0066] Fig. 11 is a schematic diagram of another axial direction of a spiral blade according to an embodiment of the present application;

[0067] Fig. 12 is a schematic diagram of yet another axial direction of a spiral blade according to an embodiment of the present application;

[0068] Fig. 13 is a flow diagram of yet another method of controlling a spreading device according to an embodiment of the present application;

[0069] Fig. 14 is a schematic diagram of yet another axial direction of a spiral blade according to an embodiment of the present application;

[0070] Fig. 15 is a flow diagram of another method of controlling a spreading device according to an embodiment of the present application;

[0071] Fig. 16 is a schematic diagram of a processing device according to an embodiment of the present application. DETAILED DESCRIPTION

[0072] To make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the drawings in the present application serve only the purpose of description and illustration, and do not serve to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in the present application show the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented in no particular order, and the steps that have no logical context relationship can be reversed in order or implemented simultaneously. In addition, one or more other operations can be added to the flowcharts or one or more operations can be removed from the flowcharts under the guidance of the content of the present application.

[0073] In addition, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0074] It should be noted that the term “comprise” will be used in the embodiments of the present application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0075] The spreading device is a mechanical device widely used in agricultural production, and its main function is to uniformly spread seeds, fertilizers or other agricultural materials to the ground. The spreading device uniformly and continuously spreads the materials (such as seeds, fertilizers) stored in the material box to the field by specific mechanical devices, such as centrifugal spreaders, airflow spreading mechanisms, or screw conveyors (such as screw feeding devices). The working principles of these devices are different, but they all have the common requirement of precise control and uniform spreading of the materials.

[0076] The spreading method of the unmanned aerial vehicle carrying the spreading device is one of the important achievements of the development of modern agricultural mechanization, and is gradually becoming an indispensable part of agricultural production. The spreading effect by the spreading device carried on the unmanned aerial vehicle can greatly improve the efficiency of the spreading operation, especially in large-area farmland or special terrain areas. The spreading operation is not limited by ground conditions and can be flexibly operated in various terrain environments.

[0077] The spiral feeding device is a spreading device commonly used in the field of agriculture, which realizes uniform spreading of materials mainly through the working principle of the auger (screw conveyor). Figure 1 is a schematic diagram of a spreading device provided by an embodiment of the present application; the spreading device shown in Figure 1 can include a spiral feeding device, which is used to convey materials to a discharge port, and the spiral feeding device includes a spiral blade.

[0078] In the sowing scene, when the unmanned aerial vehicle is in the row changing stage or enters and exits the forbidden sowing area, the spiral feeding device needs to be controlled to stop rotating to prevent the materials from being sown in places where they should not be sown. In order to prevent the spiral feeding device from leaking materials after stopping, the spiral blade of the spiral feeding device usually needs to be controlled to stop at the zero position. The zero position can refer to the rotating reference point or reference point of the spiral blade of the spiral feeding device, and the zero position is used to ensure that there is no leakage of materials when the spiral feeding device stops at the zero position, that is, when the spiral blade stops at the zero position, the spiral blade will form a block below the materials to prevent the materials from leaking out. The spiral feeding device can have one zero position or multiple zero positions, as long as the spiral blade can block the discharge port when it is turned to this position, then this position can be determined as the zero position. The process of how to determine the zero position in the present scheme is not described in detail. The zero position can be regarded as a known position.

[0079] In the related art, when the spiral feeding device is controlled to stop at the zero position, the spiral feeding device is usually triggered to perform a stop operation with a fixed time in advance, without considering the real-time distance between the spiral blade of the spiral feeding device and the zero position. Therefore, when the spiral blade is far away from the zero position, the required stop time is long, and when the unmanned aerial vehicle flies to the target stop sowing position, the spreading device has not completed the stop, and in the process of the unmanned aerial vehicle continuing to fly from the target stop sowing position, the spreading device will continue to sow the materials, causing the problem of oversowing; when the spiral blade is close to the zero position, the required stop time is short, and when the unmanned aerial vehicle has not flown to the target stop sowing position, the spreading device has already completed the stop, so that in the process of the unmanned aerial vehicle continuing to fly to the target stop sowing position, the spreading device will not sow the materials, causing the problem of missed sowing.

[0080] Therefore, based on this, the present scheme provides a spreading device control method, in the process of the unmanned aerial vehicle flying, the flight time required for the unmanned aerial vehicle to fly from the current position to the target stop sowing position and the stop time required for the spiral blade to stop from the current position to the zero position are calculated in real time, so that the time of triggering the stop can be determined in real time according to the real-time flight time and stop time, the flight time of the unmanned aerial vehicle and the stop time of the spiral blade are comprehensively considered, the control mode of triggering the stop in advance with a non-fixed time is realized, so that the spreading device can stop exactly at the zero position when the unmanned aerial vehicle flies to the target stop sowing position, the precise stop is completed, and the problems of missed sowing or oversowing of materials are avoided.

[0081] Fig. 2 is a flowchart of a method for controlling a spreading device according to an embodiment of the present application. The method can be executed by a controller on the spreading device, or by a controller on a UAV carrying the spreading device, or by a third-party control device. As shown in Fig. 2, the method can include:

[0082] S101, determining a flight time required for the UAV to fly from a current aircraft position to a target stopping position.

[0083] Optionally, the target stopping position can be determined according to a pre-planned UAV operation trajectory. The UAV can collect the current aircraft position in real time during operation, so that the flight time required for the UAV at the current time can be determined in real time according to the target stopping position.

[0084] The current aircraft position of the UAV can be obtained by a global positioning system receiver integrated on the UAV.

[0085] S102, determining a stopping time required for the helical blade to rotate from a current blade position to a zero position.

[0086] During operation, the helical blade of the helical feeding device carried by the UAV is also rotating in real time, so as to achieve spreading of the material. The material includes but is not limited to seeds, fertilizers, pesticides, biological agents, soil conditioners, grass seeds, tree seedlings for afforestation, soil solidifying agents for preventing soil erosion, and microbial agents for bioremediation of pollutants.

[0087] Optionally, the current blade position of the helical blade can be collected in real time, and the zero position is a fixed position set in advance, so that the stopping time required for the helical blade at the current time can be determined in real time according to the current blade position and the zero position.

[0088] S103, controlling the helical blade to perform a stopping operation according to the flight time and the stopping time.

[0089] Optionally, by comprehensively analyzing and comparing the flight time of the UAV and the stopping time of the spreading device, the helical blade can be controlled to perform a stopping operation at a reasonable time, so as to achieve precise control of the stopping of the spreading device.

[0090] The real-time stop time required for rotating the spiral blade from the current blade position and stopping at the zero position is taken as a reference, the influence of the real-time position of the spreading device on the stop time is fully considered, the fixed time for triggering the stop is no longer strictly followed, the accurate stop control of the spreading device is realized, the spreading device can be stopped at the zero position when the unmanned aerial vehicle flies to the target stop position, the accurate stop is realized, and the missed spreading or over-spreading of the material is avoided.

[0091] The spiral blade can block the material when the spiral blade is at the zero position.

[0092] In some embodiments, the spiral blade performs the stop operation and stops rotating at the zero position. When the spiral blade is at the zero position, the spiral blade can block the material to prevent the material from leaking.

[0093] In summary, the spreading device control method provided in the embodiment includes: determining the flight time required for the unmanned aerial vehicle to fly from the current aircraft position to the target stop position; determining the stop time required for the spiral blade to rotate from the current blade position and stop at the zero position; controlling the spiral blade to perform the stop operation according to the flight time and the stop time; and the spiral blade can block the material when the spiral blade is at the zero position. The method determines the flight time required for the unmanned aerial vehicle to fly to the target stop position and the stop time required for the spiral blade to rotate to the zero position in real time, so that the time for triggering the stop can be determined in real time according to the real-time flight time and the stop time. The flight time of the unmanned aerial vehicle and the stop time of the spiral blade are comprehensively considered, the control mode of triggering the stop in advance for a non-fixed time is realized, the spreading device can be stopped at the zero position when the unmanned aerial vehicle flies to the target stop position, the accurate stop is completed, and the missed spreading or over-spreading of the material is avoided. The use of total agricultural inputs is reduced by accurately dispensing seeds, fertilizers, pesticides, biological agents, and soil conditioners, effectively reducing agricultural non-point source pollution. Further, the unmanned aerial vehicle is accurately controlled to stop and spread, the grass seeds, tree seedlings for afforestation, soil stabilizers for preventing water and soil loss, and microbial agents for bioremediation of pollutants can be efficiently and safely dispensed to the specified area without exceeding the specified area, thereby reducing environmental pollution and protecting the ecological environment.

[0094] Optionally, in step S103, controlling the spiral blade to perform the stop operation can include: controlling the spiral blade to rotate from the current blade position to the braking starting point at the target stop rotating speed, and starting braking at the braking starting point to stop the spiral blade at the zero position.

[0095] It should be noted that the spreading device in the scheme is a one-way motion device, that is, the spiral blade can only rotate in one direction for material conveying. The stop operation of the spiral blade is not to control the spiral blade to immediately decelerate and brake. The stop operation in the scheme can be divided into two stages. The spiral blade can be first controlled to rotate from the current blade position to the brake starting point at the target stop speed, and then decelerate from the brake starting point to finally stop at the zero position.

[0096] The target stop speed is calculated in real time according to the current speed of the spiral blade or the related flight parameters of the unmanned aerial vehicle. The target stop speed of the spiral blade calculated at different times is different. Once the stop operation is started, the spiral blade rotates to the brake starting point at the target stop speed at the triggering time. During this period, the target stop speed does not change with time.

[0097] FIG. 3 is a flowchart of another spreading device control method provided by the embodiment of the application. Optionally, the brake starting point mentioned in the above embodiment can be determined by the following method:

[0098] S201, determining a brake required angle corresponding to the target stop speed.

[0099] Optionally, the brake required angle corresponding to different speeds of the spreading device can be obtained through a pre-test experiment. The brake required angle refers to the angle that the spiral blade needs to rotate from the current position to completely stop.

[0100] The brake required angle of the spiral blade at different speeds can be different. Therefore, according to the test data, the brake required angle corresponding to the target stop speed can be determined.

[0101] S202, determining the brake starting point according to the zero position and the brake required angle.

[0102] Optionally, since the stop operation is divided into two stages, in the first stage, the spiral blade rotates to the brake starting point at the target stop speed, and in the second stage, the spiral blade starts to decelerate and brake from the brake starting point and finally stops at the zero position. Therefore, the brake starting point can be used as a critical point.

[0103] According to the above explanation of the brake required angle, the spiral blade needs to rotate the brake required angle from the brake starting point to stop at the zero position. Therefore, when the zero position is known, the position of the brake starting point can be determined by reversing the brake required angle from the zero position.

[0104] FIG. 4 is a schematic view of the spiral blade in the axial direction, taking the clockwise rotation of the spiral blade as an example, wherein the angle a in the figure indicates the required angle of braking, and the braking starting point can be determined according to the zero position and the angle a.

[0105] It can also be understood that, taking the clockwise angle of the circumference as an example, assuming that the zero position corresponds to 180 degrees and the required angle of braking is 60 degrees, then the braking starting point corresponds to the position at 120 degrees.

[0106] FIG. 5 is a flowchart of another method for controlling the spreading device according to an embodiment of the present application; optionally, the target stopping speed mentioned in the above steps can be determined in the following manner:

[0107] S301, upon receiving the stopping signal, determining the current flight speed of the unmanned aerial vehicle.

[0108] In an implementable manner, the current flight speed of the unmanned aerial vehicle upon receiving the stopping signal can be acquired.

[0109] It is worth noting that the time of receiving the stopping signal is determined according to the real-time flight time of the unmanned aerial vehicle and the real-time stopping time of the spreading device.

[0110] S302, determining the target stopping speed according to the current flight speed of the unmanned aerial vehicle, the pre-configured amount per mu, the spreading width, and the unit discharge amount of the spiral feeding device.

[0111] According to the current flight speed of the unmanned aerial vehicle, the pre-configured amount per mu, the spreading width, and the unit discharge amount of the spiral feeding device, the target stopping speed can be calculated by using the following formula

[0112] S=D*V*W / C

[0113] wherein S represents the target stopping speed of the spiral blade, D represents the pre-configured amount per mu, V represents the current flight speed of the unmanned aerial vehicle, W represents the spreading width of the spreading device, and C represents the unit discharge amount of the spiral feeding device, i.e., the discharge amount of the spiral blade per rotation.

[0114] FIG. 6 is a flowchart of another method for controlling the spreading device according to an embodiment of the present application; optionally, the target stopping speed can also be determined in the following manner:

[0115] S401, upon receiving the stopping signal, determining the current rotation speed of the spiral blade.

[0116] In another implementable scheme, the current rotation speed of the spiral blade at the moment of receiving the stopping signal can be acquired.

[0117] Optionally, the rotation speed of the spiral blade can be detected by a sensor installed on the spiral feeding device. The sensor can be a Hall sensor, an encoder, a photoelectric sensor, etc. In an implementation, the sensor can be installed on the driving motor of the spiral feeding device.

[0118] S402, determine the current rotation speed as the target stop rotation speed.

[0119] Optionally, the current rotation speed of the spiral blade can be determined as the target stop rotation speed, because the rotation speed of the spiral blade when receiving the stop signal is the rotation speed matched with the user-settled amount per mu. Thus, the current rotation speed of the spiral blade when receiving the stop signal is determined as the target stop rotation speed, which can be consistent with the user-settled amount per mu, so that the stop can be controlled according to the target stop rotation speed, and the uniformity of discharging during the stop of the spreading equipment can be improved.

[0120] No matter which way is used to calculate the target stop rotation speed, the user-settled amount per mu is fully considered, so that the target stop rotation speed calculated can be matched with the required amount per mu, and the uniformity of material spreading during the stop of the spreading equipment is improved.

[0121] Optionally, in step S102, determining the stop time required for the spiral blade to rotate from the current blade position and stop at the zero position can include: determining the stop time according to the current blade position and the target stop rotation speed.

[0122] In some embodiments, the stop time of the spiral blade is related to the real-time position of the blade of the spiral blade and the target stop rotation speed of the spiral blade. The stop time corresponding to different blade positions and target stop rotation speeds of the spiral blade is different. Therefore, based on the corresponding relationship among the blade position of the spiral blade, the target stop rotation speed, and the stop time, the stop time can be calculated when the blade position and the target stop rotation speed are known.

[0123] It is worth noting that at any current time, the stop time at the current time can be determined according to the current blade position at the current time and the target stop rotation speed at the current time. Therefore, the stop times calculated at different times are different.

[0124] Optionally, in the above step, the stop time can be determined according to the current blade position and the target stop rotation speed, which can include: inputting the current blade position and the target stop rotation speed into a pre-constructed multivariate nonlinear function to obtain the stop time.

[0125] In an implementable manner, a multi-variable nonlinear function can be constructed according to the relationship among the blade position, the blade rotating speed and the downtime, that is, F (blade position, blade rotating speed) = downtime. It should be noted that in actual application, the blade rotating speed herein can refer to the target downtime rotating speed rather than the rotating speed of the blade itself.

[0126] Optionally, the current blade position and the target downtime rotating speed are known, and the current blade position and the target downtime rotating speed are input into the pre-constructed multi-variable nonlinear function as input data, and then the downtime can be calculated.

[0127] FIG. 7 is a flowchart of another method for controlling the spreading device according to an embodiment of the present application. Optionally, the multi-variable nonlinear function in the above steps can be constructed in the following manner:

[0128] S501, establishing a function structure of a multi-variable nonlinear function according to a physical structure relationship among the downtime, the blade position and the blade rotating speed.

[0129] It can be found through observation that the physical structure relationship among the downtime, the blade position and the blade rotating speed of the spiral blade is relatively complex, and they are not in a simple linear relationship, but are influenced by multiple factors, including the design of the device, the properties of the material, the operating conditions and the like.

[0130] Therefore, according to the physical structure relationship among the downtime, the blade position and the blade rotating speed of the spiral blade of the spiral feeding device, a function structure of a multi-variable nonlinear function can be established, and the function structure can also be understood as a function framework, that is, a basic function.

[0131] S502, fitting coefficients of the multi-variable nonlinear function based on test data of the spreading device.

[0132] The test data includes the downtime of the spiral blade corresponding to different blade positions and different blade rotating speeds.

[0133] The test data can be obtained through a pre-test experiment. Here, the downtime of the spiral blade corresponding to different blade positions and different blade rotating speeds can be obtained through a test experiment, that is, the test data can include multiple groups, and each group of test data contains the downtime corresponding to a blade position and a blade rotating speed.

[0134] Optionally, the coefficients of the multi-variable nonlinear function can be fitted by substituting each group of test data into the function structure of the multi-variable nonlinear function and solving the function.

[0135] S503, substituting the coefficients into the function structure to obtain the multi-variable nonlinear function.

[0136] According to the coefficients of the multivariate nonlinear function and the function structure, the multivariate nonlinear function can be obtained.

[0137] Optionally, in step S103, the control of the propeller blade to perform the shutdown operation according to the flight time and the shutdown time can include: monitoring the flight time and the shutdown time, and when the flight time is less than or equal to the shutdown time, controlling the propeller blade to perform the shutdown operation.

[0138] In the above embodiments, the calculation process of the flight time of the unmanned aerial vehicle and the shutdown time of the spreading device at any moment is described. In an actual operation scenario, the unmanned aerial vehicle is always in real-time flight, and the propeller blade of the spreading device carried on the unmanned aerial vehicle is also in real-time rotation. Therefore, the flight time of the unmanned aerial vehicle and the shutdown time of the spreading device can be monitored in real time during the flight of the unmanned aerial vehicle. When the flight time of the unmanned aerial vehicle is less than or equal to the shutdown time of the spreading device at a certain moment, a shutdown signal is triggered at the moment to control the propeller blade to perform the shutdown operation from the moment.

[0139] In some embodiments, when the flight time of the unmanned aerial vehicle is less than or equal to the shutdown time of the propeller blade, it indicates that the propeller blade can stop at the zero position when the unmanned aerial vehicle flies to the target shutdown position. At this time, the shutdown is triggered, and the spreading device completes the shutdown when the unmanned aerial vehicle flies to the target shutdown position.

[0140] FIG. 8 is a flowchart of another spreading device control method provided by an embodiment of the present application. Optionally, in step S103, the control of the propeller blade to perform the shutdown operation can include:

[0141] S601, determining a shutdown control mode of the propeller blade according to a current blade position and a target shutdown speed.

[0142] Optionally, the target shutdown speed can be used to determine a required braking angle corresponding to the target shutdown speed, and the current blade position and the zero position of the propeller blade can be used to determine a remaining braking angle. Thus, the shutdown control mode can be determined according to the required braking angle and the remaining braking angle.

[0143] The required braking angle and the remaining braking angle can be used to determine whether the propeller blade will cross the zero point when performing the shutdown according to the target shutdown speed, that is, whether the propeller blade can stop at the zero position in the current circle.

[0144] S602, controlling the propeller blade to perform the shutdown operation according to the shutdown control mode.

[0145] The stop control mode includes a first stop control mode and a second stop control mode. In the first stop control mode, the spiral vane is controlled to stop at the zero point position in the current circle. In the second stop control mode, the spiral vane is controlled to stop at the zero point position in the next circle.

[0146] It should be noted that the spreading device in the present scheme is a one-way motion device, that is, the spiral vane can only rotate in one direction for material conveying. The stop control of the spiral vane is not to control the spiral vane to immediately decelerate and brake. The stop control in the present scheme can be divided into two stages. The spiral vane can be first controlled to rotate to a brake starting point at the target stop speed, and then decelerate from the brake starting point until it finally stops at the zero point position.

[0147] In some embodiments, based on the determined stop control mode, the spiral vane can be controlled to perform a stop control operation according to the stop control mode. It should be noted that the time when the stop instruction is received is different, and the current position and the target stop speed of the spiral vane determined are also different, so the determined stop control mode is also different. Therefore, when the stop instruction is received at different times, the corresponding determined stop control mode can be different.

[0148] The stop control mode in the present embodiment can include two modes. The first stop control mode is used to control the spiral vane to stop at the zero point position in the current circle, and the second stop control mode is used to control the spiral vane to stop at the zero point position in the next circle.

[0149] The circle in the current circle and the next circle can refer to a circle with the zero point position as the starting point and the ending point.

[0150] In the first stop control mode, the spiral vane rotates from the current position and stops when it reaches the zero point position in the current circle. In the second stop control mode, the spiral vane rotates from the current position and stops when it reaches the zero point position in the next circle.

[0151] Whether the stop control is controlled according to the first stop control mode or the second stop control mode, the spiral vane needs to be controlled to rotate to the brake starting point at the target stop speed and then start braking to stop at the zero point position.

[0152] In the first stop control mode, the spiral vane needs to be controlled to rotate to the brake starting point at the target stop speed and then start deceleration and braking from the brake starting point to stop at the zero point position in the current circle. In the second stop control mode, the spiral vane needs to be controlled to rotate to the brake starting point at the target stop speed and then start deceleration and braking from the brake starting point to stop at the zero point position in the next circle.

[0153] In the first stop mode, the spiral vane rotates to the braking start point of the current circle at the target stop speed, and brakes from the braking start point, and stops rotating when the current circle reaches the zero position; in the second stop mode, the spiral vane rotates to the braking start point of the next circle at the target stop speed, and brakes from the braking start point of the next circle, and stops rotating when the next circle reaches the zero position. In the process of executing the stop in the second stop mode, the spiral vane will pass through the zero position of the current circle in the process of rotating from the current position to the braking start point, and continue to rotate from the zero position of the current circle to the braking start point of the next circle, and then start braking.

[0154] The spiral vane can block the material at the zero position.

[0155] In some embodiments, the spiral vane executes the stop operation and stops rotating at the zero position, and the spiral vane can block the material at the zero position to prevent material leakage.

[0156] FIG. 9 is a flowchart of another method for controlling the spreading device according to an embodiment of the present application. Optionally, in step S601, the stop control mode of the spiral vane is determined according to the current vane position and the target stop speed, which can include:

[0157] S701, determining whether the spiral vane will pass through the zero position when stopping at the current circle according to the current vane position and the target stop speed.

[0158] In some embodiments, the spiral vane can be calculated whether it will pass through the zero position in the current circle when stopping at the current vane position according to the current vane position and the target stop speed.

[0159] S702, if the spiral vane will not pass through the zero position when stopping at the current circle, the stop control mode is determined as the first stop mode; if the spiral vane will pass through the zero position when stopping at the current circle, the stop control mode is determined as the second stop mode.

[0160] In the first stop mode, the spiral vane is controlled to stop at the zero position of the current circle; in the second stop mode, the spiral vane is controlled to stop at the zero position of the next circle.

[0161] If the spiral vane will not pass through the zero position when stopping at the current circle, it can be explained that the remaining braking angle is sufficient to stop the spiral vane when rotating to the zero position of the current circle, and the spiral vane can stop at the zero position when stopping at the current circle. In this case, the stop control mode can be determined as the first stop mode, that is, the spiral vane can be controlled to stop at the zero position of the current circle.

[0162] If the spiral vane will cross the zero position when stopping at the current circle, it indicates that the current braking residual angle is not enough for the spiral vane to stop rotating when rotating to the zero position of the current circle, and the position at which the spiral vane completely stops will exceed the zero position, which is also called overshoot. In this case, the shutdown control mode can be determined as the second shutdown mode, that is, the spiral vane is controlled to stop at the zero position of the next circle, and the spiral vane needs to rotate one more circle.

[0163] It should be noted that, since the zero position is a fixed position, which can be understood as a point, and the control accuracy is difficult to accurately control, the control can be regulated within a certain accuracy range, so the above-mentioned crossing of the zero position does not mean crossing the point at which the zero position is located. Rather, a position range can be determined based on the zero position, and the crossing of the zero position is determined only when the position exceeds the position range. That is, the crossing of the zero position is determined only when the position exceeds the zero position by a certain angle.

[0164] For example, it is assumed that the zero position is at a position of 30 degrees in the circle, and it is set that the crossing of the zero position is not determined within 5 degrees of the zero position. Then, it can be considered that the spiral vane does not cross the zero position when the spiral vane is less than 35 degrees. If the spiral vane exceeds 35 degrees, it is considered that the spiral vane will cross the zero position.

[0165] FIG. 10 is a flowchart of another method for controlling the spreading device according to an embodiment of the present application. Optionally, in step S701, determining whether the spiral vane will cross the zero position when stopping at the current circle according to the current vane position and the target shutdown speed can include the following steps.

[0166] S801, determining the braking required angle corresponding to the target shutdown speed.

[0167] Optionally, the braking required angle corresponding to different speeds of the spreading device can be obtained through a pre-test experiment. The braking required angle refers to the angle at which the spiral vane needs to rotate from the current position to completely stop.

[0168] The braking required angle of the spiral vane at different speeds can be different. Therefore, according to the test data, the braking required angle corresponding to the target shutdown speed can be determined.

[0169] S802, determining the predicted stop position of the spiral vane according to the current vane position and the braking required angle.

[0170] Optionally, the angle at which the current vane position is located can be the current angle, and a new angle can be calculated by adding the braking required angle to the current angle, and the position at which the new angle is located is determined as the predicted stop position of the spiral vane.

[0171] FIG. 11 is another axial view of the spiral vane provided by the embodiment of the present application. Taking the clockwise rotation of the spiral vane as an example, assuming that the required angle for braking is angle b, then the position reached after rotating the current vane position by angle b is the predicted stop position.

[0172] S803, judging whether the spiral vane will cross the zero position when stopping in the current circle based on the predicted stop position and the zero position.

[0173] In an implementable manner, if the predicted stop position exceeds the zero position, it can be considered that the current position of the spiral vane is relatively close to the zero position, the remaining angle for braking of the spiral vane to the zero position is smaller than the required angle for braking of the spiral vane to stop, the current remaining angle for braking is insufficient for the spiral vane to stop rotating at the zero position, and thus the spiral vane will cross the zero position when stopping in the current circle.

[0174] If the predicted stop position does not exceed the zero position, it can be considered that the current position of the spiral vane is relatively far from the zero position, the remaining angle for braking of the spiral vane to the zero position is greater than the required angle for braking of the spiral vane to stop, the current remaining angle for braking is sufficient for the spiral vane to stop rotating at the zero position, and thus the spiral vane will not cross the zero position when stopping in the current circle.

[0175] It is worth noting that the predicted stop position exceeding the zero position means that the predicted stop position passes the zero position along the predefined rotation direction (clockwise or counterclockwise) with the specified reference point as the origin.

[0176] FIG. 12 is another axial view of the spiral vane provided by the embodiment of the present application, taking the clockwise rotation as an example, and the origin marked in the figure is taken as an example. As shown in FIG. 12a, it is a schematic diagram in which the predicted stop position exceeds the zero position; as shown in FIG. 12b, it is a schematic diagram in which the predicted stop position does not exceed the zero position.

[0177] FIG. 13 is a flowchart of another method for controlling the spreading device provided by the embodiment of the present application; optionally, in step S701, judging whether the spiral vane will cross the zero position when stopping in the current circle according to the current vane position and the target stop rotation speed can include:

[0178] S901, determining the required angle for braking corresponding to the target stop rotation speed.

[0179] The implementation manner of step S901 is the same as that of step S801, and thus will not be described in detail here.

[0180] S902, determining the remaining angle for braking of the current circle according to the current vane position and the zero position.

[0181] In another implementable manner, the braking residual angle of the current circle can be determined according to the current vane position and the zero position. That is, the angle formed between the current vane position and the zero position can be determined as the braking residual angle of the current circle.

[0182] FIG. 14 is another axial view of the spiral vane provided by the embodiment of the present application, taking the clockwise rotation of the spiral vane as an example. According to the current vane position and the zero position, the angle c can be uniquely determined, and thus the angle c is determined as the braking residual angle of the current circle.

[0183] S903, determining whether the spiral vane will pass the zero position when stopping at the current circle based on the required braking angle and the braking residual angle.

[0184] Similar to the determination logic of step S803, when the required braking angle is greater than the braking residual angle, it can be considered that the current braking residual angle is insufficient to stop the spiral vane at the zero position, and the spiral vane will pass the zero position when stopping at the current circle; and when the required braking angle is less than the braking residual angle, it can be considered that the current braking residual angle is sufficient to stop the spiral vane at the zero position, and the spiral vane will not pass the zero position when stopping at the current circle.

[0185] FIG. 15 is a flowchart of another method for controlling the spreading device provided by the embodiment of the present application. Optionally, in the above step of controlling the spiral vane to rotate from the current vane position to the braking starting point at the target stop rotation speed and starting braking at the braking starting point to stop the spiral vane at the zero position, the method can comprise:

[0186] S1001, controlling the spiral vane based on the speed loop before the vane position of the spiral vane and the zero position satisfy the preset distance.

[0187] In some embodiments, during the process of controlling the spiral vane to start braking from the braking starting point, the spiral vane can be first controlled to decelerate based on the speed loop, and then controlled to decelerate based on the position loop when the spiral vane rotates to a suitable position, so as to accurately stop the spiral vane at the zero position.

[0188] Optionally, the real-time position of the spiral vane can be collected in real time during the braking process, and the speed loop and the position loop are controlled according to the distance between the real-time position and the zero position.

[0189] When the distance between the real-time position and the zero position satisfies the preset distance, the spiral vane can be controlled based on the position loop.

[0190] S1002, controlling the spiral vane based on the position loop after the vane position of the spiral vane and the zero position satisfy the preset distance.

[0191] When the preset distance between the position of the spiral blade and the zero position is met, that is, when the spiral blade rotates to the appropriate position, the spiral blade enters the position loop, and the spiral blade is controlled based on the position loop.

[0192] It should be noted that the position loop and the speed loop are both closed-loop feedback control links in the control system. The speed loop measures the difference between the current speed and the set speed, and adjusts the current speed according to the difference to achieve the required movement speed.

[0193] The position loop compares the difference between the current position and the desired position in real time, and adjusts the current speed in real time to control the accurate movement of the current position to the desired position.

[0194] In an implementable manner, before the preset distance between the real-time position of the spiral blade and the zero position is met, the current real-time speed of the spiral blade can be adjusted in real time according to the difference between the current real-time speed and the preset speed to control the deceleration braking of the spiral blade.

[0195] When the real-time position of the spiral blade and the zero position meet the preset distance, the current real-time speed of the spiral blade can be adjusted in real time according to the difference between the current real-time position of the spiral blade and the zero position to control the spiral blade to continuously approach the zero position and stop rotating at the zero position.

[0196] Wherein, the spiral blade stopping rotating at the zero position does not mean that it must stop exactly at the zero position, but it is considered to stop at the zero position within a preset error range of the zero position.

[0197] Optionally, in the above step, controlling the spiral blade to rotate from the current blade position to the braking start point at the target stop speed can include: if the target stop speed is within the preset speed interval, controlling the spiral blade to rotate from the current blade position to the braking start point at the target stop speed.

[0198] In order to balance the stop time and the discharge effect, the target stop speed usually needs to be controlled within a preset speed interval. In this embodiment, the preset speed interval can be 500 rpm-10000 rpm. In actual application, it can also be adjusted flexibly.

[0199] When the target stop speed is within the preset speed interval, the spiral blade can be controlled to maintain the target stop speed and start braking after rotating to the braking start point. The specific braking process can refer to the foregoing embodiments.

[0200] If the target stop rotation speed is not located in the preset rotation speed interval, the target stop rotation speed is adjusted to the upper limit or the lower limit of the preset rotation speed interval, and the helical blade is controlled to rotate to the braking start point at the adjusted stop rotation speed and then starts braking.

[0201] When the target stop rotation speed is not located in the preset rotation speed interval, the target stop rotation speed needs to be adjusted. In one case, if the target stop rotation speed is less than the lower limit of the preset rotation speed interval, the target stop rotation speed can be adjusted to the lower limit of the rotation speed interval, and if the target stop rotation speed is greater than the upper limit of the preset rotation speed interval, the target stop rotation speed can be adjusted to the upper limit of the preset rotation speed interval, so as to obtain the adjusted stop rotation speed, and the helical blade can be controlled to rotate to the braking start point according to the adjusted stop rotation speed.

[0202] Exemplarily, the preset rotation speed interval can be 500 rpm-10000 rpm, if the target stop rotation speed is less than 500 rpm, the target stop rotation speed can be adjusted to 500 rpm, and if the target stop rotation speed is greater than 10000 rpm, the target stop rotation speed can be adjusted to 10000 rpm.

[0203] Of course, in actual adjustment, when the target stop rotation speed is less than 500 rpm, it is not necessarily adjusted to only 500 rpm, and it is also possible to exceed 500 rpm by a certain size, and similarly, when the target stop rotation speed is greater than 10000 rpm, it is not necessarily adjusted to only 10000 rpm, and it is also possible to be less than 10000 rpm by a certain size.

[0204] In summary, the control method of the spreading device provided in the embodiment includes: determining the flight time required for the unmanned aerial vehicle to fly from the current aircraft position to the target stop position; determining the stop time required for the helical blade to rotate from the current blade position and stop at the zero position; controlling the helical blade to perform the stop operation according to the flight time and the stop time; wherein the helical blade can block the material when it is at the zero position. This method calculates the flight time required for the unmanned aerial vehicle to fly to the target stop position and the stop time required for the helical blade to rotate to the zero position in real time, so that the time of triggering the stop can be determined in real time according to the real-time flight time and stop time, the flight time of the unmanned aerial vehicle and the stop time of the helical blade are comprehensively considered, and the control mode of triggering the stop in advance at a non-fixed time is realized, so that the spreading device can stop exactly at the zero position when the unmanned aerial vehicle flies to the target stop position, precise stop is achieved, and missing or over-spraying of the material is avoided.

[0205] In addition, in an embodiment, the target stop rotation speed is calculated according to the user-set amount per mu and the related parameters of the unmanned aerial vehicle, so that the calculated target stop rotation speed is more matched with the amount per mu, and the uniformity of the discharging during the stop operation according to the target stop rotation speed can be improved.

[0206] Optionally, the present application also provides a spreading device, referring to FIG. 1, the spreading device can include: a screw feeding device for conveying material to a discharge port, the screw feeding device including a screw blade. The spreading device is used to perform the spreading device control method in any of the above embodiments.

[0207] Optionally, the present application also provides a UAV device, the UAV device including the above-mentioned spreading device, the UAV device can carry the spreading device to perform the stopping operation according to the spreading device control method provided in the present application.

[0208] The following describes the device and storage medium for performing the spreading device control method provided in the present application, and the specific implementation process and technical effects are described above, and the following will not be repeated.

[0209] FIG. 16 is a structural schematic diagram of a processing device provided in an embodiment of the present application, which can be a processor or a controller installed in a spreading device or a UAV device. It is a computing device with data processing function.

[0210] As shown in FIG. 16, the device can include: a processor 801, a storage medium 802.

[0211] The storage medium 802 is used to store programs, and the processor 801 calls the programs stored in the storage medium 802 to execute the above-mentioned method embodiments. The specific implementation manner and technical effects are similar, and will not be repeated here.

[0212] Among them, the storage medium 802 stores program codes, when the program codes are executed by the processor 801, the processor 801 executes various steps in the spreading device control method according to various exemplary embodiments of the present application described in the above “example method” part of the specification.

[0213] Among them, the storage medium 802 stores program codes, when the program codes are executed by the processor 801, the processor 801 executes various steps in the spreading device control method according to various exemplary embodiments of the present application described in the above “example method” part of the specification.

[0214] The processor 801 can be a general processor, such as a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic, a discrete hardware component, and can implement or execute the methods, steps and logical block diagrams disclosed in the embodiments of the present application. The general processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present application can be directly embodied as completed by a hardware processor, or completed by a combination of hardware and software modules in the processor.

[0215] The storage medium 802 is a non-volatile computer readable storage medium, and can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The storage medium can include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card type storage medium, random access memory (RAM), static random access memory (SRAM), programmable read only memory (PROM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), magnetic storage medium, magnetic disk, optical disk, etc. The storage medium is any other medium capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer, but is not limited to this. The storage medium 802 in the embodiments of the present application can also be a circuit or any other device capable of realizing a storage function, used to store program instructions and / or data.

[0216] Optionally, the present application also provides a program product, such as a computer readable storage medium, comprising a program for executing the above-mentioned method embodiments when executed by a processor.

[0217] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other manners. For example, the apparatus embodiments described above are merely illustrative, for example, the division of the units is merely a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, apparatuses or units, and can be electrical, mechanical or other forms.

[0218] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0219] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0220] The integrated unit realized in the form of software functional unit can be stored in a computer readable storage medium. The software functional unit stored in a storage medium includes a plurality of instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) execute part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (English: Read-Only Memory, ROM for short), a random access memory (English: Random Access Memory, RAM for short), a magnetic disk or an optical disk, and various program code storage media.

Claims

1. A method of controlling a spreading apparatus, characterized by, The spreading device is mounted on a UAV, and the spreading device comprises a screw feeder for conveying material to a discharge port, the screw feeder comprising a screw blade, the method comprising: determining the flight time required for the UAV to fly from the current aircraft position to the target stop position; determining the stop time required for the screw blade to rotate from the current blade position and stop at the zero position; controlling the screw blade to perform a stop operation according to the flight time and the stop time; wherein the screw blade can block the material when at the zero position.

2. The method of claim 1, wherein, The control of the screw blade to perform a stop operation comprises: controlling the screw blade to rotate from the current blade position to the braking starting point at a target stop rotation speed, and starting braking at the braking starting point to make the screw blade stop at the zero position.

3. The method of claim 2, wherein, The braking starting point is determined by: determining the braking required angle corresponding to the target stop rotation speed; determining the braking starting point according to the zero position and the braking required angle.

4. The method according to any one of claims 2-3, characterized in that, The target stop rotation speed is determined by: when receiving a stop signal, determining the current flight speed of the UAV; determining the target stop rotation speed according to the current flight speed of the UAV, the pre-configured amount per mu, the spreading width, and the unit discharge amount of the screw feeder.

5. The method according to any one of claims 2-3, characterized in that, The target stop rotation speed is determined by: when receiving a stop signal, determining the current rotation speed of the screw blade; determining the current rotation speed as the target stop rotation speed.

6. The method according to any one of claims 1 to 5, characterized in that, The determination of the stop time required for the screw blade to rotate from the current blade position and stop at the zero position comprises: determining the stop time according to the current blade position and the target stop rotation speed.

7. The method of claim 6, wherein, The determination of the stop time according to the current blade position and the target stop rotation speed comprises: inputting the current blade position and the target stop rotation speed into a pre-constructed multivariate nonlinear function to obtain the stop time.

8. The method according to any one of claims 1 to 7, characterized in that, The control of the screw blade to perform a stop operation according to the flight time and the stop time comprises: monitoring the flight time and the stop time, and controlling the screw blade to perform a stop operation when the flight time is less than or equal to the stop time.

9. The method according to any one of claims 1 to 8, characterized in that, The control of the screw blade to perform a stop operation comprises: determining the stop control mode of the screw blade according to the current blade position and the target stop rotation speed; controlling the screw blade to perform a stop operation according to the stop control mode.

10. The method of claim 9, wherein, The determination of the stop control mode of the screw blade according to the current blade position and the target stop rotation speed comprises: judging whether the screw blade will pass the zero position when stopping at the current circle according to the current blade position and the target stop rotation speed; If the helical blade will not cross the zero position when stopping at the current circle, the stop control mode is determined as a first stop mode; if the helical blade will cross the zero position when stopping at the current circle, the stop control mode is determined as a second stop mode; in the first stop mode, the helical blade is controlled to stop at the zero position at the current circle; in the second stop mode, the helical blade is controlled to stop at the zero position at the next circle.

11. The method of claim 10, wherein, The determining whether the helical blade will cross the zero position when stopping at the current circle according to the current blade position and the target stop rotation speed comprises: determining a braking required angle corresponding to the target stop rotation speed; determining a predicted stop position of the helical blade according to the current blade position and the braking required angle; judging whether the helical blade will cross the zero position when stopping at the current circle based on the predicted stop position and the zero position.

12. The method of claim 10, wherein, The determining whether the helical blade will cross the zero position when stopping at the current circle according to the current blade position and the target stop rotation speed comprises: determining a braking required angle corresponding to the target stop rotation speed; determining a braking remaining angle of the current circle according to the current blade position and the zero position; judging whether the helical blade will cross the zero position when stopping at the current circle based on the braking required angle and the braking remaining angle.

13. The method according to any one of claims 2-5, characterized in that, The controlling the helical blade to rotate from the current blade position to a braking start point at the target stop rotation speed and to brake at the braking start point to make the helical blade stop at the zero position comprises: controlling the helical blade based on a speed loop before a preset distance between the blade position of the helical blade and the zero position is satisfied; controlling the helical blade based on a position loop after the preset distance between the blade position of the helical blade and the zero position is satisfied.

14. The method according to any one of claims 2-5, characterized in that, The controlling the helical blade to rotate from the current blade position to a braking start point at the target stop rotation speed comprises: if the target stop rotation speed is in a preset rotation speed interval, controlling the helical blade to rotate from the current blade position to the braking start point at the target stop rotation speed; if the target stop rotation speed is not in the preset rotation speed interval, adjusting the target stop rotation speed to an upper limit or a lower limit of the preset rotation speed interval and controlling the helical blade to rotate to the braking start point at the adjusted stop rotation speed.

15. A spreading device, characterized in that The method comprises: a helical feeding device for feeding material to a discharge port, the helical feeding device comprising a helical blade; the spreading device is configured to perform the method of any one of claims 1-14.

16. A drone device, comprising: The method comprises: the spreading device of claim 15. The method comprises:

Images