Control method for broadcasting device, and broadcasting device and unmanned aerial vehicle device

Abstract

A control method for a broadcasting device. The method comprises: when a shutdown instruction has been acquired, determining the current position and a target shutdown rotation speed of a helical blade; on the basis of the current position and the target shutdown rotation speed of the helical blade, determining a shutdown control mode of the helical blade, wherein the shutdown control mode indicates whether the helical blade has stopped at a zero-point position in the current circle or in the next circle; and then, on the basis of the shutdown control mode, controlling the helical blade to execute a shutdown operation. The present method can overcome the problem of a shutdown position exceeding a zero-point position caused by a shorter distance from a helical blade to the zero-point position, thereby achieving the precise shutdown control over a broadcasting device, and reducing the occurrence of material leakage. Further comprised are a broadcasting device, and an unmanned aerial vehicle device having a broadcasting device.

Description

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

[0001] The present application claims priority to the Chinese patent application No. CN202411373001.0, 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 will cause a large amount of nutrients such as nitrogen, phosphorus and organic matter and chemical substances to 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 stopped to stop the seeding of the material. In order to prevent the spiral feeding device from leaking material when it is stopped, the spiral blade of the spiral feeding device needs to be stopped at the zero position to form a block to the material below to prevent the material from leaking out.

[0004] Currently, when the spiral feeding device is stopped at the zero position, the spiral blade is controlled to rotate at a fixed speed until it stops at the zero position after the spiral feeding device receives the stop command.

[0005] In the above method, whether the spiral blade can accurately stop at the zero position at the current speed is not considered. SUMMARY

[0006] The present application aims to provide a seeding device control method, a seeding device and an unmanned aerial vehicle device to improve the stopping accuracy of the seeding device and the seeding uniformity during the stopping process, in view of the deficiencies in the prior art.

[0007] To achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0008] In a first aspect, the embodiments of the present application provide a seeding device control method, the seeding device comprising a spiral feeding device, the spiral feeding device being used for conveying material to a discharge port, the spiral feeding device comprising a spiral blade, and the method comprising:

[0009] Upon obtaining the shutdown instruction, determine a current position of the spiral vane and a target shutdown rotating speed;

[0010] According to the current position of the spiral vane and the target shutdown rotating speed, determine a shutdown control mode of the spiral vane;

[0011] According to the shutdown control mode, control the spiral vane to perform a shutdown operation;

[0012] The shutdown control mode includes a first shutdown mode and a second shutdown mode; in the first shutdown mode, the spiral vane is controlled to stop at a zero point position in a current round; in the second shutdown mode, the spiral vane is controlled to stop at the zero point position in a next round;

[0013] The spiral vane can block the material when at the zero point position.

[0014] Optionally, the determining of the shutdown control mode of the spiral vane according to the current position of the spiral vane and the target shutdown rotating speed includes:

[0015] According to the current position of the spiral vane and the target shutdown rotating speed, determine whether the spiral vane will pass the zero point position when stopping in a current round;

[0016] If the spiral vane will not pass the zero point position when stopping in the current round, the shutdown control mode is determined as the first shutdown mode; if the spiral vane will pass the zero point position when stopping in the current round, the shutdown control mode is determined as the second shutdown mode.

[0017] Optionally, the determining of whether the spiral vane will pass the zero point position when stopping in the current round according to the current position of the spiral vane and the target shutdown rotating speed includes:

[0018] Determine an angle required for braking corresponding to the target shutdown rotating speed;

[0019] According to the current position and the angle required for braking, determine a predicted stopping position of the spiral vane;

[0020] Based on the predicted stopping position and the zero point position, determine whether the spiral vane will pass the zero point position when stopping in the current round.

[0021] Optionally, the determining of whether the spiral vane will pass the zero point position when stopping in the current round according to the current position of the spiral vane and the target shutdown rotating speed includes:

[0022] Determine an angle required for braking corresponding to the target shutdown rotating speed;

[0023] determining a braking remaining angle of a current turn according to the current position and the zero position;

[0024] judging whether the spiral vane will cross the zero position when stopping at the current turn based on the braking required angle and the braking remaining angle.

[0025] Optionally, the controlling the spiral vane to execute the stopping operation in the stopping control mode comprises:

[0026] determining a braking required angle corresponding to the target stopping rotating speed;

[0027] determining a braking starting point according to the zero position and the braking required angle;

[0028] controlling the spiral vane to start braking after rotating to the braking starting point at the target stopping rotating speed, so that the spiral vane stops at the zero position.

[0029] Optionally, the controlling the spiral vane to start braking after rotating to the braking starting point at the target stopping rotating speed, so that the spiral vane stops at the zero position, comprises:

[0030] controlling the spiral vane based on a speed loop before a preset distance between the position of the spiral vane and the zero position is satisfied;

[0031] controlling the spiral vane based on a position loop after the preset distance between the position of the spiral vane and the zero position is satisfied.

[0032] Optionally, the target stopping rotating speed is determined by:

[0033] determining a current rotating speed of the spiral vane when a stopping instruction is acquired;

[0034] determining a theoretical rotating speed of the spiral vane when the unmanned aerial vehicle is at the target stopping position under a non-stopping assumption;

[0035] determining a target stopping rotating speed of the spiral vane according to the current rotating speed of the spiral vane and the theoretical rotating speed.

[0036] Optionally, the determining the current rotating speed of the spiral vane comprises:

[0037] determining a current flight speed of the unmanned aerial vehicle when a stopping instruction is acquired;

[0038] determining the current rotating speed of the spiral vane according to the current flight speed of the unmanned aerial vehicle, a pre-configured unit amount, a spreading width, and a unit discharging amount of the spiral feeding device.

[0039] Optionally, the determining the theoretical rotation speed of the helical blade when the unmanned aerial vehicle is at the target stop position under the assumption of no shutdown comprises:

[0040] determining the flight speed of the unmanned aerial vehicle at the target stop position;

[0041] determining the theoretical rotation speed of the helical blade according to the flight speed of the unmanned aerial vehicle at the target stop position, the pre-configured unit consumption, the spreading width, and the unit discharge amount of the helical feeding device.

[0042] Optionally, the determining the target stop rotation speed of the helical blade according to the current rotation speed and the theoretical rotation speed of the helical blade comprises:

[0043] determining the average value of the current rotation speed and the theoretical rotation speed, and determining the average value as the target stop rotation speed of the helical blade.

[0044] Optionally, the controlling the helical blade to rotate at the target stop rotation speed to the braking start point and then start braking comprises:

[0045] if the target stop rotation speed is in the preset rotation speed interval, controlling the helical blade to rotate at the target stop rotation speed to the braking start point and then start braking;

[0046] if the target stop rotation speed is not in the preset rotation speed interval, adjusting the target stop rotation speed to the upper limit or the lower limit of the preset rotation speed interval, and controlling the helical blade to rotate at the adjusted stop rotation speed to the braking start point and then start braking.

[0047] In a second aspect, the embodiments of the present application further provide a spreading device control method, the spreading device comprising a helical feeding device, the helical feeding device being configured to deliver material to a discharge port, the helical feeding device comprising a helical blade, the helical blade rotating in a single direction, the method comprising:

[0048] when a shutdown instruction is obtained, determining a target stop rotation speed of the helical blade;

[0049] determining a required braking angle corresponding to the target stop rotation speed;

[0050] determining a braking start point according to the zero position and the required braking angle;

[0051] controlling the helical blade to rotate at the target stop rotation speed to the braking start point and then start braking, so that the helical blade stops at the zero position;

[0052] the helical blade can block the material when at the zero position.

[0053] Optionally, the control of the spiral blade to rotate to the braking starting point at the target shutdown speed and then to brake to stop the spiral blade at the zero position comprises:

[0054] When the shutdown instruction is acquired, the current position of the spiral blade is determined;

[0055] If the current position exceeds the braking starting point, the spiral blade is controlled to rotate to the braking starting point of the next circle at the target shutdown speed and then to brake to stop the spiral blade at the zero position;

[0056] If the current position does not exceed the braking starting point, the spiral blade is controlled to rotate to the braking starting point of the current circle at the target shutdown speed and then to brake to stop the spiral blade at the zero position.

[0057] Optionally, the control of the spiral blade to rotate to the braking starting point at the target shutdown speed and then to brake to stop the spiral blade at the zero position comprises:

[0058] Before a preset distance between the position of the spiral blade and the zero position is met, the spiral blade is controlled based on a speed loop;

[0059] After the preset distance between the position of the spiral blade and the zero position is met, the spiral blade is controlled based on a position loop.

[0060] Optionally, the target shutdown speed is determined by:

[0061] When the shutdown instruction is acquired, the current speed of the unmanned aerial vehicle is determined;

[0062] The theoretical speed of the spiral blade when the unmanned aerial vehicle is at the target shutdown position is determined under the assumption of no shutdown;

[0063] According to the current speed of the spiral blade and the theoretical speed, the target shutdown speed of the spiral blade is determined.

[0064] Optionally, the determination of the current speed of the spiral blade comprises:

[0065] When the shutdown instruction is acquired, the current flight speed of the unmanned aerial vehicle is determined;

[0066] According to the current flight speed of the unmanned aerial vehicle, the pre-configured amount of pesticide per mu, the width of the unmanned aerial vehicle, and the unit discharge amount of the spiral feeding device, the current speed of the spiral blade is determined.

[0067] Optionally, the determination of the theoretical speed of the spiral blade when the unmanned aerial vehicle is at the target shutdown position under the assumption of no shutdown comprises:

[0068] determining a flight speed of the unmanned aerial vehicle when at the target stop-sowing position;

[0069] determining a theoretical rotating speed of the helical blade according to the flight speed of the unmanned aerial vehicle when at the target stop-sowing position, a pre-configured unit consumption, a sowing width, and a unit discharge amount of the helical feeding device.

[0070] In a third aspect, an embodiment of the present application provides a sowing device, comprising: a helical feeding device configured to deliver material to a discharge port, the helical feeding device comprising a helical blade.

[0071] The sowing device is configured to perform the sowing device control method according to any one of the first aspect.

[0072] In a fourth aspect, an embodiment of the present application provides a sowing device, comprising: a helical feeding device configured to deliver material to a discharge port, the helical feeding device comprising a helical blade.

[0073] The sowing device is configured to perform the sowing device control method according to any one of the second aspect.

[0074] In a fifth aspect, an embodiment of the present application provides an unmanned aerial vehicle device, comprising the sowing device according to the third aspect or the fourth aspect.

[0075] The present application has the following beneficial effects:

[0076] The application provides a sowing device control method, a sowing device and a UAV device. The method comprises the following steps: when a shutdown instruction is acquired, the current position of a spiral blade and a target shutdown rotating speed are determined; according to the current position of the spiral blade and the target shutdown rotating speed, a shutdown control mode of the spiral blade is determined; the spiral blade is controlled to execute a shutdown operation according to the shutdown control mode; and the spiral blade can block the material when the spiral blade is at a zero position. According to the current position of the spiral blade and the target shutdown rotating speed, the shutdown control mode can be determined. The shutdown control mode indicates that the spiral blade stops at the zero position in the current circle or stops at the zero position in the next circle. Therefore, according to the shutdown control mode, the spiral blade can be controlled to execute the shutdown operation, the problem that the shutdown position exceeds the zero position due to the short distance from the spiral blade to the zero position can be overcome, the accurate shutdown control of the sowing device is realized, the occurrence of the material leakage problem is reduced, the total amount of agricultural inputs is reduced by accurately delivering seeds, fertilizers, pesticides, biological agents and soil conditioners, and the agricultural non-point source pollution is effectively reduced. Furthermore, by accurately controlling the shutdown of the UAV, the grass seeds, the seedlings for afforestation, the soil solidifying agent for preventing water and soil loss and the microbial agent for realizing the biological repair of pollutants can be efficiently and safely delivered to the specified area, the material leakage to other areas is avoided, the environmental pollution is reduced, and the ecological environment is protected.

[0077] In addition, in an embodiment, the target shutdown rotating speed used by the spiral blade when executing the shutdown can be matched with the working rotating speed when the spiral blade is working, so that the material output in the process of rotating to the zero position can still meet the set unit area sowing amount (such as the amount per mu).

[0078] Furthermore, in an embodiment, the target shutdown rotating speed is calculated according to the current rotating speed of the spiral blade at the moment when the shutdown instruction is received and the theoretical rotating speed of the spiral blade when the UAV is at the target shutdown position, and the amount per mu is used as a parameter in the calculation of the current rotating speed and the theoretical rotating speed, so that the target shutdown rotating speed calculated is more accurate, and the material output uniformity of the sowing device in the process of controlling the shutdown with the target shutdown rotating speed can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0079] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0080] FIG. 1 is a schematic diagram of a sowing device according to an embodiment of the application;

[0081] FIG. 2 is a flowchart of a sowing device control method according to an embodiment of the application;

[0082] Fig. 3 is a flow diagram of another method for controlling a spreading device according to an embodiment of the present application;

[0083] Fig. 4 is a flow diagram of yet another method for controlling a spreading device according to an embodiment of the present application;

[0084] Fig. 5 is a schematic view of an axial direction of a spiral blade according to an embodiment of the present application;

[0085] Fig. 6 is a schematic view of an axial direction of another spiral blade according to an embodiment of the present application;

[0086] Fig. 7 is a flow diagram of another method for controlling a spreading device according to an embodiment of the present application;

[0087] Fig. 8 is a schematic view of an axial direction of yet another spiral blade according to an embodiment of the present application;

[0088] Fig. 9 is a flow diagram of yet another method for controlling a spreading device according to an embodiment of the present application;

[0089] Fig. 10 is a schematic view of an axial direction of yet another spiral blade according to an embodiment of the present application;

[0090] Fig. 11 is a flow diagram of another method for controlling a spreading device according to an embodiment of the present application;

[0091] Fig. 12 is a flow diagram of another method for controlling a spreading device according to an embodiment of the present application;

[0092] Fig. 13 is a flow diagram of yet another method for controlling a spreading device according to an embodiment of the present application;

[0093] Fig. 14 is a flow diagram of another method for controlling a spreading device according to an embodiment of the present application;

[0094] Fig. 15 is a flow diagram of yet another method for controlling a spreading device according to an embodiment of the present application;

[0095] Fig. 16 is a flow diagram of another method for controlling a spreading device according to an embodiment of the present application;

[0096] Fig. 17 is a schematic view of an axial direction of a spiral blade according to an embodiment of the present application;

[0097] Fig. 18 is a schematic view of a structure of a processing device according to an embodiment of the present application. DETAILED DESCRIPTION

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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 for conveying materials to a discharge port, and the spiral feeding device includes a spiral blade.

[0104] 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 spread to places where they should not be spread. In order to prevent the spiral feeding device from leaking materials after stopping, it is usually necessary to control the spiral blade of the spiral feeding device 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 material to prevent the material 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.

[0105] In the related art, when the spiral feeding device is controlled to stop at the zero position, the angle (or distance or distance) required for the spiral blade to brake is not considered, so that the actual stop position of the spiral feeding device may exceed the zero position, and precise stop control cannot be achieved, resulting in material leakage.

[0106] Therefore, the present application provides a kind of spreading equipment control method, the current position of spiral blade and target stop speed can judge stop control mode, stop control mode indicates that spiral blade stops at zero position in current circle or stops at zero position in next circle, so as to control spiral blade to execute stop operation according to stop control mode, it can overcome the problem that current circle cannot be accurately stopped due to the distance of spiral blade to zero position is less than the angle required for braking, realize the accurate stop control of spreading equipment, reduce the occurrence of material leakage.

[0107] Figure 2 is a flowchart of a spreading equipment control method provided by an embodiment of the present application; the execution subject of the method can be a controller on the spreading equipment, or a controller on the unmanned aerial vehicle carrying the spreading equipment, or a third-party control device. As shown in Figure 2, the method can include:

[0108] S101, when the stop command is obtained, the current position of the spiral blade and the target stop speed are determined.

[0109] The stop command can be triggered by an operator. Upon receiving the stop command, the current position of the spiral vane at the time of receiving the stop command can be obtained, and a target stop rotation speed can be determined. The target stop rotation speed can refer to a zero rotation speed. In the process of controlling the spiral vane to stop at the zero position, the spiral vane needs to rotate at the target stop rotation speed and start braking at the appropriate position until it stops at the zero position.

[0110] S102, determine a stop control mode of the spiral vane according to the current position of the spiral vane and the target stop rotation speed.

[0111] Optionally, the target stop rotation speed corresponding to a braking required angle can be determined according to the target stop rotation speed, and a braking remaining angle can be determined according to the current position of the spiral vane and the zero position, so that the stop control mode can be determined according to the braking required angle and the braking remaining angle.

[0112] The braking required angle and the braking remaining angle can be used to determine whether the spiral vane will pass the zero position when stopping at the target stop rotation speed, that is, whether the spiral vane can stop at the zero position of the current circle.

[0113] S103, control the spiral vane to perform a stop operation according to the stop control mode.

[0114] The stop control mode includes a first stop mode and a second stop mode. In the first stop mode, the spiral vane is controlled to stop at the zero position in the current circle. In the second stop mode, the spiral vane is controlled to stop at the zero position in the next circle.

[0115] 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. Controlling the spiral vane to perform a stop operation does not mean controlling the spiral vane to immediately decelerate and brake. The stop operation in the present scheme can be divided into two stages, that is, the spiral vane can be first controlled to rotate to a braking starting point at the target stop rotation speed, and then decelerated from the braking starting point until finally stopped at the zero position.

[0116] In some embodiments, based on the determined stop control mode, the spiral vane can be controlled to perform a corresponding stop operation according to the stop control mode. It should be noted that the time when the stop command is received is different, the current position of the spiral vane and the target stop rotation speed determined are also different, and the determined stop control mode is also different. Therefore, the stop control mode determined corresponding to the stop command received at different times can be different.

[0117] The stop control mode in the present embodiment can include two modes, the first stop mode is used to control the spiral vane to stop at the zero position in the current circle, and the second stop mode is used to control the spiral vane to stop at the zero position in the next circle.

[0118] wherein 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.

[0119] In the first parking mode, the spiral vane rotates from the current position and stops at the zero point position in the current circle, while in the second parking mode, the spiral vane rotates from the current position and passes the zero point position in the current circle and stops at the zero point position in the next circle.

[0120] The spiral vane can block the material at the zero point position.

[0121] In some embodiments, the spiral vane performs the parking operation and stops rotating at the zero point position, and the spiral vane can block the material at the zero point position to prevent material leakage.

[0122] In summary, the method for controlling the spreading device provided in the embodiment includes: when the parking instruction is obtained, determining the current position of the spiral vane and the target parking speed; determining the parking control mode of the spiral vane according to the current position of the spiral vane and the target parking speed; controlling the spiral vane to perform the parking operation according to the parking control mode; and the spiral vane can block the material at the zero point position. The current position of the spiral vane and the target parking speed can be used to determine the parking control mode, which indicates whether the spiral vane stops at the zero point position in the current circle or in the next circle, so that the spiral vane can be controlled to perform the parking operation according to the parking control mode, which can overcome the problem that the parking position exceeds the zero point position due to the short distance from the spiral vane to the zero point position, and achieve accurate parking control of the spreading device, which not only reduces the occurrence of material leakage, but also reduces the total amount of agricultural inputs by accurately delivering seeds, fertilizers, pesticides, biological agents, and soil conditioners, effectively reducing agricultural non-point source pollution; further, by accurately controlling the parking of the unmanned aerial vehicle, 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 delivered to the designated area, avoiding material leakage to other areas, reducing environmental pollution, and protecting the ecological environment.

[0123] FIG. 3 is a flowchart of another method for controlling a spreading device provided in the embodiment of the application; optionally, in step S102, determining the parking control mode of the spiral vane according to the current position of the spiral vane and the target parking speed can include:

[0124] S201, determining whether the spiral vane will stop beyond the zero point position in the current circle according to the current position of the spiral vane and the target parking speed.

[0125] In some embodiments, according to the current position of the spiral vane and the target stop rotation speed, it can be calculated whether the spiral vane will cross the zero position in the current circle when stopping at the target stop rotation speed from the current position.

[0126] S202, if the spiral vane will not cross the zero position when stopping in the current circle, it is determined that the stop control mode is the first stop mode; if the spiral vane will cross the zero position when stopping in the current circle, it is determined that the stop control mode is the second stop mode.

[0127] If the spiral vane will not cross the zero position when stopping in the current circle, it can be indicated that the current braking residual angle is sufficient to stop the spiral vane when rotating to the zero position of the current circle. The spiral vane can stop at the zero position when stopping in the current circle. In this case, it can be determined that the stop control mode is the first stop mode, that is, the spiral vane can be controlled to stop at the zero position in the current circle.

[0128] If the spiral vane will cross the zero position when stopping in the current circle, it indicates that the current braking residual angle is not sufficient to stop the spiral vane when rotating to the zero position of the current circle. Therefore, the position of the spiral vane when completely stopping will exceed the zero position. This case is also called overshoot. In this case, it can be determined that the stop control mode is the second stop mode, that is, the spiral vane is controlled to stop at the zero position in the next circle, and the spiral vane needs to rotate one more circle.

[0129] It is worth noting that since the zero position is a fixed position, which can be understood as a point, and the control accuracy is difficult to control accurately, it can be controlled within a certain accuracy range. Therefore, the above-mentioned crossing of the zero position does not mean crossing the point where the zero position is located. Instead, a position range can be determined based on the zero position, and the zero position is crossed only when the position exceeds the position range. That is, the zero position is crossed only when the position exceeds the zero position by a certain angle.

[0130] For example, assuming that the zero position is the position where 30 degrees of the circle is located, and it is set that not crossing the zero position 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 crosses the zero position.

[0131] FIG. 4 is a flowchart of another method for controlling a spreading device according to an embodiment of the present application. Optionally, in step S201, according to the current position of the spiral vane and the target stop rotation speed, it can be determined whether the spiral vane will cross the zero position when stopping in the current circle, which can include:

[0132] S301, determining a braking angle required by the target stop rotation speed.

[0133] Optionally, the braking required angle corresponding to different rotation speeds of the spreading device can be obtained through a pre-test experiment. The braking required angle refers to the angle that the spiral vane needs to rotate from the current position to completely stop.

[0134] The braking required angle corresponding to different rotation speeds of the spiral vane can be different. Therefore, according to the test data, the braking required angle corresponding to the target stop rotation speed can be determined.

[0135] S302, determining the predicted stop position of the spiral vane according to the current position and the braking required angle.

[0136] Optionally, the angle where the current position is located can be the current angle. The new angle can be calculated by adding the braking required angle to the current angle, and the position where the new angle is located can be determined as the predicted stop position of the spiral vane.

[0137] FIG. 5 is a schematic axial view of a spiral vane. Taking the clockwise rotation of the spiral vane as an example, assuming that the braking required angle is angle a, then the position reached after rotating angle a from the current position is the predicted stop position.

[0138] S303, 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.

[0139] 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 close to the zero position, the braking remaining angle of the spiral vane rotating to the zero position is less than the braking required angle of the spiral vane stopping, the current braking remaining angle is insufficient to make the spiral vane stop rotating at the zero position, and therefore the spiral vane will cross the zero position when stopping in the current circle.

[0140] If the predicted stop position does not exceed the zero position, it can be considered that the current position of the spiral vane is far away from the zero position, the braking remaining angle of the spiral vane rotating to the zero position is greater than the braking required angle of the spiral vane stopping, the current braking remaining angle is sufficient to make the spiral vane stop rotating at the zero position, and therefore the spiral vane will not cross the zero position when stopping in the current circle.

[0141] 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 pre-defined rotation direction (clockwise or counterclockwise) with the specified reference point as the origin.

[0142] FIG. 6 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 is marked in the figure. FIG. 6(a) shows a case where the predicted stop position exceeds the zero position. FIG. 6(b) shows a case where the predicted stop position does not exceed the zero position.

[0143] FIG. 7 is a flowchart of another method for controlling the spreading device provided by the embodiment of the present application. Optionally, in step S201, whether the spiral vane will cross the zero position when stopping at the current circle is determined according to the current position of the spiral vane and the target stop speed, which can include the following steps:

[0144] S401, determining the braking required angle corresponding to the target stop speed.

[0145] The implementation of step S401 is the same as that of step S301, and thus will not be described in detail here.

[0146] S402, determining the braking remaining angle of the current circle according to the current position and the zero position.

[0147] In another implementation, the braking remaining angle of the current circle can be determined according to the current position and the zero position. That is, the angle between the current position and the zero position is determined as the braking remaining angle of the current circle.

[0148] FIG. 8 is another axial view of the spiral vane provided by the embodiment of the present application, taking the clockwise rotation as an example. According to the current position and the zero position, the angle b can be uniquely determined, and thus the angle b is determined as the braking remaining angle of the current circle.

[0149] S403, determining 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.

[0150] Similar to the determination logic of step S303, when the braking required angle is greater than the braking remaining angle, it can be considered that the current braking remaining angle is insufficient to stop the spiral vane at the zero position, and the spiral vane will cross the zero position when stopping at the current circle. When the braking required angle is less than the braking remaining angle, it can be considered that the current braking remaining angle is sufficient to stop the spiral vane at the zero position, and the spiral vane will not cross the zero position when stopping at the current circle.

[0151] FIG. 9 is a flowchart of another method for controlling the spreading device provided by the embodiment of the present application. Optionally, in step S103, the spiral vane is controlled to perform the stop operation according to the stop control mode, which can include the following steps:

[0152] S501, determining the braking required angle corresponding to the target stop speed.

[0153] Step S501 is the same as the implementation of step S301, and thus will not be described in detail here.

[0154] S502, determining the braking start point according to the zero position and the required braking angle.

[0155] Optionally, since the shutdown operation is divided into two stages, in the first stage, the spiral blade is rotated to the braking start point at the target shutdown speed, and in the second stage, the spiral blade is decelerated and braked from the braking start point and finally stopped at the zero position, so the braking start point can be used as the critical point.

[0156] According to the above explanation of the required braking angle, the spiral blade is decelerated and braked from the braking start point until it stops at the zero position, and the required rotation angle can be the required braking angle. Then, when the zero position is known, the required braking angle can be determined by reversing the rotation of the zero position.

[0157] Taking the gradually increasing clockwise rotation angle as an example, assuming that the zero position corresponds to 180 degrees and the required braking angle is 50 degrees, then the braking start point corresponds to the position of 130 degrees.

[0158] FIG. 10 is another axial view of the spiral blade provided by an embodiment of the present application, taking the clockwise rotation of the spiral blade as an example, where the angle c indicates the required braking angle, and the braking start point can be determined according to the zero position and the angle c.

[0159] S503, controlling the spiral blade to start braking after rotating to the braking start point at the target shutdown speed, so that the spiral blade stops at the zero position.

[0160] Optionally, when controlling the spiral blade to perform the shutdown operation, the spiral blade can be first controlled to rotate to the braking start point at the target shutdown speed, and then decelerated and braked from the braking start point, so that the spiral blade stops at the zero position.

[0161] Whether the shutdown is controlled according to the first shutdown mode or the second shutdown mode, the spiral blade needs to be controlled to start braking after rotating to the braking start point at the target shutdown speed, so that the spiral blade stops at the zero position.

[0162] In the first shutdown mode, the spiral blade needs to be controlled to rotate to the braking start point at the target shutdown speed, and then decelerated and braked from the braking start point, so that the spiral blade stops at the zero position of the current circle; and in the second shutdown mode, the spiral blade needs to be controlled to rotate to the braking start point at the target shutdown speed, and then decelerated and braked from the braking start point, so that the spiral blade stops at the zero position of the next circle.

[0163] In the first parking mode, the spiral vane rotates to the braking starting point of the current circle at the target parking speed, and then brakes from the braking starting point, and stops rotating when the current circle reaches the zero position. In the second parking mode, the spiral vane rotates to the braking starting point of the next circle at the target parking speed, and then brakes from the braking starting point of the next circle, and stops rotating when the next circle reaches the zero position. In the process of parking in the second parking mode, the spiral vane rotates from the current position to the braking starting point, passes through the zero position of the current circle, and then continues to rotate from the zero position of the current circle to the braking starting point of the next circle, and then brakes.

[0164] FIG. 11 is a flowchart of another method for controlling the spreading device according to an embodiment of the present application. Optionally, in step S103, the spiral vane is controlled to rotate to the braking starting point at the target parking speed and then start braking, so that the spiral vane stops at the zero position, which can include:

[0165] S601, before the distance between the position of the spiral vane and the zero position meets the preset distance, the spiral vane is controlled based on the speed loop.

[0166] In some embodiments, during the process of controlling the spiral vane to brake from the braking starting point, the spiral vane can be first controlled based on the speed loop for deceleration braking, and then controlled based on the position loop for deceleration braking when the spiral vane rotates to the appropriate position, so as to control the spiral vane to stop accurately at the zero position.

[0167] 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.

[0168] When the distance between the real-time position and the zero position meets the preset distance, the spiral vane can be controlled based on the speed loop.

[0169] S602, after the distance between the position of the spiral vane and the zero position meets the preset distance, the spiral vane is controlled based on the position loop.

[0170] When the distance between the position of the spiral vane and the zero position meets the preset distance, that is, after the spiral vane rotates to the appropriate position, the position loop is entered, and the spiral vane is controlled based on the position loop.

[0171] It is worth noting that the position loop and the speed loop are both closed-loop feedback control links in a 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.

[0172] The position loop is to adjust the current speed in real time by continuously comparing the difference between the current position and the expected position, so as to control the current position to move accurately to the expected position.

[0173] In an implementable manner, before the real-time position of the spiral vane and the zero position meet the preset distance, the current real-time speed of the spiral vane can be adjusted in real time according to the difference between the current real-time speed of the spiral vane and the preset speed, so as to control the deceleration braking of the spiral vane.

[0174] After the real-time position of the spiral vane and the zero position meet the preset distance, the current real-time speed of the spiral vane can be adjusted in real time according to the difference between the current real-time position of the spiral vane and the zero position, so as to control the spiral vane to continuously approach the zero position and stop rotating at the zero position.

[0175] Here, the stop of the spiral vane at the zero position does not mean that it must stop accurately at the zero position, but it is considered to stop at the zero position within a preset error range of the zero position.

[0176] FIG. 12 is a flowchart of another method for controlling the spreading device according to an embodiment of the present application; optionally, the target stop speed mentioned in the above steps can be determined in the following manner:

[0177] S701, when the stop instruction is acquired, determining the current speed of the spiral vane.

[0178] The calculation manner of the target stop speed is described in this embodiment. In an embodiment, the speed of the spiral vane when the stop instruction is received can be taken as the target stop speed. In this way, during the stop process, the discharging amount of the spiral vane rotating and before the stop instruction is received can be kept consistent, and sudden change in the discharging amount will not occur.

[0179] However, this calculation manner of the target stop speed still has the problem that it does not conform to the user-set amount per mu. Taking the line-changing scenario as an example, the unmanned aerial vehicle needs to slow down before turning around, and in order to ensure that the amount per mu does not change, the discharging flow needs to be reduced synchronously, that is, the speed of the spiral vane actually needs to be reduced following the reduction of the flight speed of the unmanned aerial vehicle. If the speed of the spiral vane when the stop instruction is received is taken as the target stop speed, the discharging amount during the stop process will be more than the set amount per mu, because the unmanned aerial vehicle will slow down when performing the line changing, that is, the speed of the spiral vane should be reduced, but it is not reduced here because the target stop speed is used.

[0180] Based on this, the present application can take the average speed of the spiral vane at the position point of the unmanned aerial vehicle when the spreading device completes the stop as the target stop speed.

[0181] S702, determine the theoretical rotating speed of the helical blade when the UAV is at the target stop position under the assumption of no shutdown.

[0182] In addition, the theoretical rotating speed of the helical blade when the UAV is at the target stop position under the assumption of no shutdown also needs to be collected. Normally, the actual rotating speed of the helical blade when the UAV is at the target stop position is 0, and since the rotating speed of the helical blade is related to the flight speed of the UAV, taking the scenario of changing lanes as an example, the UAV needs to slow down before turning around, and in order to ensure the accurate use amount, the discharge flow needs to be reduced synchronously, that is, the rotating speed of the helical blade will actually decrease with the flight speed of the UAV. Therefore, under the assumption of no shutdown, the theoretical rotating speed of the helical blade when the UAV is at the target stop position is not 0, but needs to be calculated.

[0183] S703, determine the target stop rotating speed of the helical blade according to the current rotating speed and the theoretical rotating speed of the helical blade.

[0184] Optionally, the target stop rotating speed of the helical blade can be calculated according to the determined current rotating speed and the theoretical rotating speed.

[0185] FIG. 13 is a flowchart of another method for controlling the spreading device according to an embodiment of the present application. Optionally, in step S701, the current rotating speed of the helical blade is determined, including:

[0186] S801, when the shutdown instruction is acquired, determine the current flight speed of the UAV.

[0187] In an implementable manner, the current flight speed of the UAV at the moment when the shutdown instruction is received can be collected.

[0188] S802, determine the current rotating speed of the helical blade according to the current flight speed of the UAV, the pre-configured use amount per mu, the spreading width, and the unit discharge amount of the helical feeding device.

[0189] According to the current flight speed of the UAV, the pre-configured use amount per mu, the spreading width, and the unit discharge amount of the helical feeding device, the following calculation formula can be used: S1=D*V1*W / C, to calculate the current rotating speed of the helical blade.

[0190] Wherein, S1 represents the current rotating speed of the helical blade, D represents the pre-configured use amount per mu, V1 represents the current flight speed of the UAV, W represents the spreading width of the spreading device, and C represents the unit discharge amount of the helical feeding device, that is, the discharge amount of the helical blade rotating one circle.

[0191] FIG. 14 is a flow diagram of another method for controlling the spreading device according to an embodiment of the present application. Optionally, in step S702, the theoretical rotating speed of the propeller when the UAV is at the target stopping position under the assumption of no shutdown can include:

[0192] S901, determining the flight speed of the UAV when the UAV is at the target stopping position.

[0193] Referring to the calculation method of the current rotating speed, the flight speed of the UAV when the UAV is at the target stopping position can be determined, wherein the target stopping position of the UAV and the flight speed of the UAV when the UAV is at the target stopping position can be preconfigured.

[0194] S902, determining the theoretical rotating speed of the propeller according to the flight speed of the UAV when the UAV is at the target stopping position, the preconfigured amount per mu, the spreading width, and the unit discharge amount of the screw feeding device.

[0195] Then, the theoretical rotating speed of the propeller can be calculated according to the flight speed of the UAV when the UAV is at the target stopping position, the preconfigured amount per mu, the spreading width, and the unit discharge amount of the screw feeding device, using the following formula: S2=D*V2*W / C.

[0196] Wherein, S2 represents the theoretical rotating speed of the propeller, D represents the preconfigured amount per mu, V2 represents the flight speed of the UAV when the UAV is at the target stopping position, W represents the spreading width of the spreading device, and C represents the unit discharge amount of the screw feeding device, that is, the discharge amount of the propeller when the propeller rotates one circle.

[0197] Optionally, the rotating speed of the propeller itself can be detected by a sensor installed on the screw feeding device, and the sensor can be a Hall sensor, an encoder, or a photoelectric sensor. In one implementation, the sensor can be installed on the driving motor of the screw feeding device.

[0198] Optionally, in step S703, the target shutdown rotating speed of the propeller can be determined according to the current rotating speed and the theoretical rotating speed of the propeller, which can include: determining the average value of the current rotating speed and the theoretical rotating speed, and determining the average value as the target shutdown rotating speed of the propeller.

[0199] In one implementation, the average value of the current rotating speed and the theoretical rotating speed can be calculated, and the average value is taken as the target shutdown rotating speed of the propeller.

[0200] In another implementation, the current rotating speed of the propeller at the moment when the shutdown instruction is received can also be taken as the target shutdown rotating speed.

[0201] Alternatively, the intermediate rotational speeds of the helical blade can also be collected at the moment when the stop command is received and at intermediate moments before the UAV flies to the target stop position, so that the target stop rotational speed of the helical blade can be obtained by calculating the current rotational speed, the theoretical rotational speed and the average of the rotational speeds at the intermediate moments.

[0202] The target stop rotational speed calculated by the method provided in the present solution can take into account the information of the amount of use per mu, so that more uniform spreading can be ensured in the process of controlling the stop at the target stop rotational speed.

[0203] Optionally, in step S103, the control of the helical blade to rotate to the braking starting point at the target stop rotational speed and then start braking can include: if the target stop rotational speed is within the preset rotational speed range, controlling the helical blade to rotate to the braking starting point at the target stop rotational speed and then start braking.

[0204] In order to balance the stop time and the discharging effect, the target stop rotational speed usually needs to be controlled within a preset rotational speed range. In the present embodiment, the preset rotational speed range can be 500 rpm-10000 rpm. In actual application, it can also be adjusted flexibly.

[0205] When the target stop rotational speed is within the preset rotational speed range, the helical blade can be controlled to rotate to the braking starting point at the target stop rotational speed and then start braking, and the specific braking process can refer to the foregoing embodiments.

[0206] If the target stop rotational speed is not within the preset rotational speed range, the target stop rotational speed is adjusted to the upper limit or the lower limit of the preset rotational speed range, and the helical blade is controlled to rotate to the braking starting point at the adjusted stop rotational speed and then start braking.

[0207] When the target stop rotational speed is not within the preset rotational speed range, the target stop rotational speed needs to be adjusted. In one case, if the target stop rotational speed is less than the lower limit of the preset rotational speed range, the target stop rotational speed can be adjusted to the lower limit of the rotational speed range, and if the target stop rotational speed is greater than the upper limit of the preset rotational speed range, the target stop rotational speed can be adjusted to the upper limit of the preset rotational speed range, so as to obtain the adjusted stop rotational speed, and the helical blade can be controlled to rotate to the braking starting point according to the adjusted stop rotational speed.

[0208] For example, the preset rotational speed range can be 500 rpm-10000 rpm, if the target stop rotational speed is less than 500 rpm, the target stop rotational speed can be adjusted to 500 rpm, and if the target stop rotational speed is greater than 10000 rpm, the target stop rotational speed can be adjusted to 10000 rpm.

[0209] Of course, in actual adjustment, when the target stop rotation speed is less than 500 rpm, it is not necessarily adjusted to 500 rpm only, and a certain size greater than 500 rpm is also possible. Similarly, when the target stop rotation speed is greater than 10000 rpm, it is not necessarily adjusted to 10000 rpm only, and a certain size less than 10000 rpm is also possible.

[0210] In summary, the sowing equipment control method provided in this embodiment includes: when a stop instruction is acquired, determining the current position of the spiral blade and the target stop rotation speed; determining the stop control mode of the spiral blade according to the current position of the spiral blade and the target stop rotation speed; controlling the spiral blade to perform a stop operation according to the stop control mode; and the spiral blade can block the material when it is at the zero position. This method can determine the stop control mode by the current position of the spiral blade and the target stop rotation speed. The stop control mode indicates that the spiral blade stops at the zero position in the current round or stops at the zero position in the next round. Therefore, the spiral blade can be controlled to perform a stop operation according to the stop control mode, which can overcome the problem that the stop position exceeds the zero position due to the short distance of the spiral blade to the zero position, and achieve accurate stop control of the sowing equipment and reduce the occurrence of material leakage.

[0211] In addition, in an embodiment, the target stop rotation speed is calculated according to the current rotation speed of the spiral blade at the moment when the stop instruction is received and the theoretical rotation speed of the spiral blade when the unmanned aerial vehicle is at the target stop position, and the acreage amount is used as a parameter in the calculation of the current rotation speed and the theoretical rotation speed, so that the target stop rotation speed calculated is more accurate, thereby improving the uniformity of the discharging of the sowing equipment during the stop process controlled by the target stop rotation speed.

[0212] FIG. 15 is a flowchart of another sowing equipment control method provided in an embodiment of the present application;

[0213] The sowing equipment includes a spiral feeding device for conveying the material to the discharge port. The material includes but is not limited to seeds, fertilizers, pesticides, biological agents, soil conditioners, grass seeds, tree seedlings for afforestation, soil stabilizers for preventing water and soil loss, and microbial agents for bioremediation of pollutants. The spiral feeding device includes a spiral blade that rotates in a single direction. The method can include:

[0214] S1001, when a stop instruction is acquired, determining the target stop rotation speed of the spiral blade.

[0215] According to the content of the above embodiments, whether it is the first stop mode or the second stop mode, the process of controlling the spiral blade to stop is the same, that is, the spiral blade is first controlled to rotate to the braking starting point at the target stop rotation speed, and then decelerated from the braking starting point until it stops at the zero position.

[0216] The target shutdown speed of the spiral vane can be determined in the manner of the embodiments described above.

[0217] S1002, determine the braking required angle corresponding to the target shutdown speed.

[0218] S1003, determine the braking starting point according to the zero position and the braking required angle.

[0219] S1004, control the spiral vane to start braking after rotating to the braking starting point at the target shutdown speed, so as to stop the spiral vane at the zero position.

[0220] Optionally, the specific implementation of steps S1002-S1004 can refer to the embodiments described above, which will not be repeated here.

[0221] In summary, the method for controlling the spreading device provided in the embodiment includes: determining the target shutdown speed of the spiral vane when the shutdown instruction is obtained; determining the braking required angle corresponding to the target shutdown speed; determining the braking starting point according to the zero position and the braking required angle; and controlling the spiral vane to start braking after rotating to the braking starting point at the target shutdown speed, so as to stop the spiral vane at the zero position. In the method, when the shutdown is performed, the braking required angle corresponding to the target shutdown speed can be considered, and the braking starting point is determined based on the zero position and the braking required angle. The spiral vane will only start braking after rotating to the braking starting point. If the current circle has already passed the braking starting point, the spiral vane will not be braked in the current circle, but will be braked when the braking starting point is reached in the next circle, so that the spiral vane can be accurately stopped at the zero position.

[0222] FIG. 16 is a flowchart of another method for controlling the spreading device provided in the embodiment of the application; optionally, in step S1004, controlling the spiral vane to start braking after rotating to the braking starting point at the target shutdown speed, so as to stop the spiral vane at the zero position, can include:

[0223] S1101, determine the current position of the spiral vane when the shutdown instruction is obtained.

[0224] Optionally, the implementation steps of determining the current position of the spiral vane can refer to step S101.

[0225] S1102, if the current position exceeds the braking starting point, control the spiral vane to start braking after rotating to the braking starting point of the next circle at the target shutdown speed, so as to stop the spiral vane at the zero position.

[0226] In some embodiments, if the current position exceeds the braking starting point, it can be considered that the current position is relatively close to the zero position, the remaining angle of the spiral vane for braking is less than the required angle for braking, and the spiral vane will cross the zero position when stopping at the current circle. Therefore, the spiral vane can be controlled to rotate to the braking starting point of the next circle at the target stop speed and then start braking, so that the spiral vane stops at the zero position of the next circle.

[0227] In some embodiments, if the current position exceeds the braking starting point, it can be considered that the current position is relatively close to the zero position, the remaining angle of the spiral vane for braking is less than the required angle for braking, and the spiral vane will cross the zero position when stopping at the current circle. Therefore, the spiral vane can be controlled to rotate to the braking starting point of the next circle at the target stop speed and then start braking, so that the spiral vane stops at the zero position of the next circle.

[0228] In some embodiments, if the current position exceeds the braking starting point, it can be considered that the current position is relatively close to the zero position, the remaining angle of the spiral vane for braking is less than the required angle for braking, and the spiral vane will cross the zero position when stopping at the current circle. Therefore, the spiral vane can be controlled to rotate to the braking starting point of the next circle at the target stop speed and then start braking, so that the spiral vane stops at the zero position of the next circle.

[0229] FIG. 17 is an axial schematic view of a spiral vane according to an embodiment of the present application. Taking the origin marked in the figure and the defined clockwise rotation direction as an example, FIG. 17a shows a schematic view when the current position exceeds the braking starting point, and FIG. 17b shows a schematic view when the current position does not exceed the braking starting point.

[0230] Optionally, the step S1004 of controlling the spiral vane to rotate to the braking starting point at the target stop speed and then start braking so that the spiral vane stops at the zero position can include: controlling the spiral vane based on the speed loop before the position of the spiral vane and the zero position satisfy the preset distance; and controlling the spiral vane based on the position loop after the position of the spiral vane and the zero position satisfy the preset distance.

[0231] The specific implementation of this step can refer to steps S601-S602.

[0232] Optionally, the target stop speed in the above steps can be determined by the following method: determining the current speed of the spiral vane when the stop instruction is acquired; determining the theoretical speed of the spiral vane when the unmanned aerial vehicle is at the target stop position under the assumption of no stop; and determining the target stop speed of the spiral vane according to the current speed and the theoretical speed of the spiral vane.

[0233] The specific implementation of this step can refer to steps S701-S703.

[0234] Optionally, the determining the current rotating speed of the spiral blade can comprise: determining a current flight speed of the unmanned aerial vehicle when the stop command is acquired; and determining the current rotating speed of the spiral blade according to the current flight speed of the unmanned aerial vehicle, the pre-configured unit area application amount, the width of the unmanned aerial vehicle, and the unit discharge amount of the spiral feeding device.

[0235] The specific implementation of this step can refer to steps S801-S802.

[0236] Optionally, the determining the theoretical rotating speed of the spiral blade when the unmanned aerial vehicle is at the target stop position under the assumption of not stopping can comprise: determining a flight speed of the unmanned aerial vehicle when the unmanned aerial vehicle is at the target stop position; and determining the theoretical rotating speed of the spiral blade according to the flight speed of the unmanned aerial vehicle when the unmanned aerial vehicle is at the target stop position, the pre-configured unit area application amount, the width of the unmanned aerial vehicle, and the unit discharge amount of the spiral feeding device.

[0237] The specific implementation of this step can refer to steps S901-S902.

[0238] Optionally, the present application also provides a spreading device, which can comprise: a spiral feeding device, the spiral feeding device being configured to deliver material to a discharge port, and the spiral feeding device comprising a spiral blade. The spreading device is configured to perform the spreading device control method in any of the above embodiments.

[0239] Optionally, the present application also provides an unmanned aerial vehicle device, which comprises the above-described spreading device, and the unmanned aerial vehicle device can carry the spreading device to perform the stop operation according to the spreading device control method provided in the present application.

[0240] In summary, the spreading device control method provided in the present embodiment comprises: determining a current position of the spiral blade and a target stop rotating speed when a stop command is acquired; determining a stop control mode of the spiral blade according to the current position of the spiral blade and the target stop rotating speed; and controlling the spiral blade to perform a stop operation according to the stop control mode. The spiral blade can block the material when the spiral blade is at the zero position. The current position of the spiral blade and the target stop rotating speed can be used to determine the stop control mode, which indicates whether the spiral blade stops at the zero position in the current circle or in the next circle. Therefore, the spiral blade can be controlled to perform the stop operation according to the stop control mode, which can overcome the problem that the stop position exceeds the zero position due to the short distance between the spiral blade and the zero position, and achieve accurate stop control of the spreading device and reduce the occurrence of the material leakage problem.

[0241] In addition, in an embodiment, the target stop rotating speed used by the spiral blade when performing the stop operation can match the working rotating speed when the spiral blade is working, so that the discharge amount in the process of rotating to the zero position can still meet the set unit area application amount (such as the unit area application amount per mu).

[0242] Further, in an embodiment, the target stopping speed is calculated according to the current rotating speed of the helical blade at the moment when the stopping instruction is received and the theoretical rotating speed of the helical blade at the target stopping position of the UAV, and the current rotating speed and the theoretical rotating speed are both calculated by taking the amount of seeds per unit area as a parameter, so that the calculated target stopping speed is more accurate, thereby improving the uniformity of the seed discharge of the spreading device during the stopping process controlled by the target stopping speed.

[0243] The following describes the device, equipment, storage medium, etc. for performing the spreading device control method provided in the present application. The specific implementation process and technical effects are described above, and will not be described again.

[0244] FIG. 18 is a structural schematic diagram of a processing device provided in an embodiment of the present application. The processing device can be a processor or a controller installed in a spreading device or a UAV device. The processing device is a computing device with data processing function.

[0245] As shown in FIG. 18, the device can include a processor 801 and a storage medium 802.

[0246] The storage medium 802 is used to store programs, and the processor 801 invokes 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 described again.

[0247] The storage medium 802 stores program codes, and when the program codes are executed by the processor 801, the processor 801 performs various steps in the spreading device control method according to various exemplary embodiments of the present application described in the “Exemplary Method” part of the present specification.

[0248] The processor 801 can be a general-purpose 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 device, a discrete hardware component, and can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as hardware processor execution or executed by a combination of hardware and software modules in the processor.

[0249] The storage medium 802, as a non-volatile computer readable storage medium, 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, for example, can include flash memory, hard disk, multimedia card, card type storage medium, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (Programmable Read Only Memory, PROM), read-only memory (Read Only Memory, ROM), electrically erasable programmable read-only memory (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 thereto. The storage medium 802 in the embodiment of the present application can also be a circuit or any other device capable of realizing a storage function, used for storing program instructions and / or data.

[0250] Optionally, the present application also provides a program product, for example, a computer readable storage medium, comprising a program, which is used for executing the above-mentioned method embodiments when executed by a processor.

[0251] In several embodiments provided by the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the embodiments of the apparatus described above are merely schematic; for example, the division of the units is only a logical function division; there can be another division manner in actual implementation; 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 displayed or discussed mutual couplings or direct couplings or communication connections between different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be electric, mechanical or in other forms.

[0252] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0253] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, 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.

[0254] 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 enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.

Claims

1. A method of controlling a spreading apparatus, characterized by, The spreading device comprises a screw feeder for conveying material to a discharge port, the screw feeder comprising a screw blade, and the method comprises: When the stop command is acquired, determining a current position of the screw blade and a target stop rotation speed; According to the current position of the screw blade and the target stop rotation speed, determining a stop control mode of the screw blade; According to the stop control mode, controlling the screw blade to perform a stop operation; The stop control mode comprises a first stop mode and a second stop mode; in the first stop mode, the screw blade is controlled to stop at a zero point position in the current round; in the second stop mode, the screw blade is controlled to stop at the zero point position in the next round; The screw blade can block the material when it is at the zero point position.

2. The method of claim 1, wherein, According to the current position of the screw blade and the target stop rotation speed, determining a stop control mode of the screw blade, comprising: According to the current position of the screw blade and the target stop rotation speed, determining whether the screw blade will stop beyond the zero point position in the current round; If the screw blade will not stop beyond the zero point position in the current round, the stop control mode is determined to be the first stop mode; if the screw blade will stop beyond the zero point position in the current round, the stop control mode is determined to be the second stop mode.

3. The method of claim 2, wherein, According to the current position of the screw blade and the target stop rotation speed, determining whether the screw blade will stop beyond the zero point position in the current round, comprising: Determining a braking required angle corresponding to the target stop rotation speed; According to the current position and the braking required angle, determining a predicted stop position of the screw blade; Based on the predicted stop position and the zero point position, determining whether the screw blade will stop beyond the zero point position in the current round.

4. The method of claim 2, wherein, According to the current position of the screw blade and the target stop rotation speed, determining whether the screw blade will stop beyond the zero point position in the current round, comprising: Determining a braking required angle corresponding to the target stop rotation speed; According to the current position and the braking required angle, determining a predicted stop position of the screw blade; Based on the predicted stop position and the zero point position, determining whether the screw blade will stop beyond the zero point position in the current round.

5. The method according to any one of claims 1 to 4, characterized in that, According to the current position of the screw blade and the target stop rotation speed, determining whether the screw blade will stop beyond the zero point position in the current round, comprising: Determining a braking required angle corresponding to the target stop rotation speed; According to the zero point position and the braking required angle, determining a braking starting point; Controlling the screw blade to start braking after rotating to the braking starting point at the target stop rotation speed, so that the screw blade stops at the zero point position.

6. The method of claim 5, wherein, According to the current position of the screw blade and the target stop rotation speed, determining whether the screw blade will stop beyond the zero point position in the current round, comprising: Before the position of the screw blade and the zero point position satisfy a preset distance, controlling the screw blade based on a speed loop; After a preset distance between the position of the helical blade and the zero position is met, the helical blade is controlled based on a position ring.

7. The method according to any one of claims 1 to 6, characterized in that, The target stop rotation speed is determined by: When a stop command is obtained, a current rotation speed of the helical blade is determined; A theoretical rotation speed of the helical blade when the unmanned aerial vehicle is at the target stop position is determined under a non-stop assumption; According to the current rotation speed of the helical blade and the theoretical rotation speed, the target stop rotation speed of the helical blade is determined.

8. The method of claim 7, wherein, The current rotation speed of the helical blade is determined by: When a stop command is obtained, a current flight speed of the unmanned aerial vehicle is determined; According to the current flight speed of the unmanned aerial vehicle, a pre-configured amount per mu, a spreading width and a unit discharge amount of the helical feeding device, the current rotation speed of the helical blade is determined.

9. The method of claim 7, wherein, The theoretical rotation speed of the helical blade when the unmanned aerial vehicle is at the target stop position is determined under a non-stop assumption by: A flight speed of the unmanned aerial vehicle when the unmanned aerial vehicle is at the target stop position is determined; According to the flight speed of the unmanned aerial vehicle when the unmanned aerial vehicle is at the target stop position, a pre-configured amount per mu, a spreading width and a unit discharge amount of the helical feeding device, the theoretical rotation speed of the helical blade is determined.

10. The method of claim 7, wherein, The target stop rotation speed of the helical blade is determined according to the current rotation speed of the helical blade and the theoretical rotation speed by: An average value of the current rotation speed and the theoretical rotation speed is determined, and the average value is determined as the target stop rotation speed of the helical blade.

11. The method of claim 5 or 6, wherein, The helical blade starts to brake after rotating to the brake starting point at the target stop rotation speed by: If the target stop rotation speed is in a preset rotation speed interval, the helical blade starts to brake after rotating to the brake starting point at the target stop rotation speed; If the target stop rotation speed is not in the preset rotation speed interval, the target stop rotation speed is adjusted to an upper limit or a lower limit of the preset rotation speed interval, and the helical blade starts to brake after rotating to the brake starting point at the adjusted stop rotation speed.

12. A method of controlling a spreading apparatus, characterized by, The spreading device comprises a helical feeding device for conveying material to a discharge port, the helical feeding device comprises a helical blade, the helical blade rotates in a single direction, and the method comprises: When a stop command is obtained, a target stop rotation speed of the helical blade is determined; A required braking angle corresponding to the target stop rotation speed is determined; A brake starting point is determined according to a zero position and the required braking angle; The helical blade starts to brake after rotating to the brake starting point at the target stop rotation speed, so that the helical blade stops at the zero position; The helical blade can block the material when the helical blade is at the zero position.

13. The method of claim 12, wherein, The helical blade starts to brake after rotating to the brake starting point at the target stop rotation speed, so that the helical blade stops at the zero position by: When a stop command is obtained, a current position of the helical blade is determined; If the current position exceeds the brake starting point, the helical blade starts to brake after rotating to a brake starting point of a next round at the target stop rotation speed, so that the helical blade stops at the zero position; If the current position does not exceed the braking starting point, the spiral vane is controlled to rotate to the braking starting point of the current circle at the target stop rotation speed, and then braking is started to stop the spiral vane at the zero position.

14. The method of claim 12, wherein, The control of the spiral vane to rotate to the braking starting point at the target stop rotation speed and then start braking to stop the spiral vane at the zero position comprises: Before a preset distance between the position of the spiral vane and the zero position is met, the spiral vane is controlled based on a speed loop; After the preset distance between the position of the spiral vane and the zero position is met, the spiral vane is controlled based on a position loop.

15. The method of claim 12, wherein, The target stop rotation speed is determined by: When a stop command is obtained, the current rotation speed of the spiral vane is determined; Under the assumption of no stop, the theoretical rotation speed of the spiral vane when the unmanned aerial vehicle is at the target stop position is determined; According to the current rotation speed of the spiral vane and the theoretical rotation speed, the target stop rotation speed of the spiral vane is determined.

16. The method of claim 15, wherein, The determination of the current rotation speed of the spiral vane comprises: When a stop command is obtained, the current flight speed of the unmanned aerial vehicle is determined; According to the current flight speed of the unmanned aerial vehicle, the pre-configured amount per mu, the width of the unmanned aerial vehicle, and the unit discharge amount of the spiral feeding device, the current rotation speed of the spiral vane is determined.

17. The method of claim 15, wherein, The determination of the theoretical rotation speed of the spiral vane when the unmanned aerial vehicle is at the target stop position under the assumption of no stop comprises: The flight speed of the unmanned aerial vehicle at the target stop position is determined; According to the flight speed of the unmanned aerial vehicle at the target stop position, the pre-configured amount per mu, the width of the unmanned aerial vehicle, and the unit discharge amount of the spiral feeding device, the theoretical rotation speed of the spiral vane is determined.

18. A spreading apparatus, characterized in that Comprise: A spiral feeding device for conveying material to a discharge port, the spiral feeding device comprising a spiral vane; The spreading equipment is used to execute the spreading equipment control method of any one of claims 1-11.

19. A spreading apparatus, characterized in that Comprise: A spiral feeding device for conveying material to a discharge port, the spiral feeding device comprising a spiral vane; The spreading equipment is used to execute the spreading equipment control method of any one of claims 12-17.

20. A drone device, comprising: Comprise: The spreading equipment of claim 18 or claim 19.

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