Seedling throwing control method, device, equipment and medium

Abstract

The embodiment of the invention provides a seedling throwing control method, device and equipment and a medium, and relates to the technical field of seedling throwing. The seedling slinging control method is applied to the seedling slinging system, the seedling slinging system comprises an unmanned aerial vehicle and a seedling slinging mechanism, and the seedling slinging mechanism is hung on the unmanned aerial vehicle. The method comprises the steps that in the seedling throwing operation process, current environment wind data are obtained, whether the environment wind intensity reaches a set threshold value or not is determined based on the environment wind data, and if yes, the unmanned aerial vehicle is controlled to hover, the seedling throwing mechanism stops seedling throwing operation, and the seedling throwing mechanism is controlled to reduce the wind area. Therefore, reliable control and response to scenes with strong wind power are realized, and the accident rate is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of seedling throwing, and in particular to a seedling throwing control method, device, equipment and medium. Background Art

[0002] With the development of technology, mechanized planting has been more and more widely used. For example, the automatic seedling throwing operation can be realized by using drones equipped with seedling throwing mechanisms. However, in the process of automatic seedling throwing operation, there are some factors that affect the reliability of the operation. For example, if there is strong wind, it will affect the reliability of the automatic seedling throwing operation and it is easy to cause accidents. Summary of the invention

[0003] The present invention provides a rice seedling throwing control method, device, equipment and medium, so as to at least partially improve the reliability of automatic rice seedling throwing operation in windy weather and reduce the accident rate.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, an embodiment of the present invention provides a seedling throwing control method, which is applied to a seedling throwing system, wherein the seedling throwing system includes a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism is mounted on the drone, and the method includes:

[0006] During the seedling throwing operation, current environmental wind data is obtained, wherein the environmental wind data includes environmental wind intensity;

[0007] Determining whether the ambient wind intensity reaches a set threshold;

[0008] If so, the drone is controlled to hover, the seedling throwing mechanism is controlled to stop the seedling throwing operation, and the seedling throwing mechanism is controlled to reduce the wind-exposed area.

[0009] Optionally, the seedling throwing mechanism includes a seedling sending module, the seedling sending module includes a seedling sending tray for placing blanket seedlings, the environmental wind data also includes an environmental wind direction, and the controlling the seedling throwing mechanism to reduce the wind-exposed area includes:

[0010] The drone is controlled to adjust to a target heading so that the surface where the seedling delivery tray is located is parallel to the ambient wind direction.

[0011] Optionally, the seedling throwing mechanism includes at least two seedling sending modules, the at least two seedling sending modules are arranged in the same direction, each of the seedling sending modules includes a seedling sending tray for placing blanket seedlings, and the seedling sending tray can be driven by a motor to perform lateral movement, and the controlling of the seedling throwing mechanism to reduce the wind-exposed area includes:

[0012] Controlling the seedling delivery trays of the at least two seedling delivery modules to move horizontally to an overlapping position;

[0013] The overlapping position is the position where the center points of the seedling delivery plates are closest to each other during the lateral movement of the at least two seedling delivery modules.

[0014] Optionally, the seedling throwing mechanism includes at least two seedling sending modules, the at least two seedling sending modules are arranged in the same direction, each of the seedling sending modules includes a seedling sending tray for placing blanket seedlings, and the seedling sending tray can move laterally under the drive of a motor, the environmental wind data also includes the environmental wind direction, and the controlling the seedling throwing mechanism to reduce the wind-exposed area includes:

[0015] Controlling the drone to adjust to a target heading so that the surface of the seedling delivery tray is parallel to the ambient wind direction; and,

[0016] Controlling the seedling delivery trays of the at least two seedling delivery modules to move horizontally to an overlapping position;

[0017] The overlapping position is the position where the center points of the seedling delivery plates are closest to each other during the lateral movement of the at least two seedling delivery modules.

[0018] Optionally, after controlling the drone to hover, the method further includes:

[0019] Continuously obtain current environmental wind data;

[0020] Determine whether the latest obtained ambient wind intensity reaches the set threshold;

[0021] If so, the drone is controlled to maintain a hovering state, and the process returns to the step of continuously acquiring current environmental wind data to determine whether the latest environmental wind intensity reaches the set threshold value, until the drone maintains a hovering state for a preset time, and then the drone is controlled to return; or, until the latest environmental wind intensity is lower than the set threshold value, the drone and the seedling throwing mechanism are controlled to continue operating;

[0022] If not, the drone and the seedling throwing mechanism are controlled to continue the operation.

[0023] Optionally, controlling the drone and the seedling throwing mechanism to continue operating includes:

[0024] After the latest environmental wind intensity is lower than the set threshold value for a set time interval, the drone and the seedling throwing mechanism are controlled to continue the operation; or,

[0025] When the latest environmental wind intensity is lower than the set threshold, and the number of times the latest environmental wind intensity is lower than the set threshold reaches a set number, the drone and the seedling throwing mechanism are controlled to continue operating.

[0026] Optionally, obtaining current environmental wind data includes:

[0027] Obtain current environmental wind data based on detection instruments; or,

[0028] Acquire the rotor speed of the UAV in real time;

[0029] Determine the current force direction and force magnitude based on the change in the rotor speed;

[0030] The current environmental wind data is obtained based on the force direction and force magnitude analysis.

[0031] In a second aspect, an embodiment of the present invention provides a seedling throwing control device, which is applied to a seedling throwing system, wherein the seedling throwing system includes a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism is mounted on the drone, and the seedling throwing control device includes:

[0032] An information acquisition module, used for acquiring current environmental wind data during the process of carrying out the seedling throwing operation by mounting the seedling throwing mechanism, wherein the environmental wind data includes the environmental wind intensity;

[0033] The information processing module is used to determine whether the environmental wind intensity reaches a set threshold; if so, the drone is controlled to hover, the seedling throwing mechanism is controlled to stop the seedling throwing operation, and the seedling throwing mechanism is controlled to reduce the wind-exposed area.

[0034] In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the rice seedling throwing control method described in the aforementioned embodiment.

[0035] In a fourth aspect, an embodiment of the present invention provides a readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the rice seedling throwing control method as described in the aforementioned embodiment is implemented.

[0036] The rice seedling throwing control method, device, equipment and medium provided by the embodiments of the present invention detect environmental wind data, control the drone to hover and the rice seedling throwing mechanism to stop the rice seedling throwing operation when the environmental wind intensity reaches a set threshold, and control the rice seedling throwing mechanism to reduce the wind-exposed area, thereby effectively reducing the impact of strong winds on the automated rice seedling throwing operation, improving the stability and reliability of the drone flight during the automated rice seedling throwing operation, and reducing the accident rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A schematic structural diagram of a seedling throwing system provided in this embodiment;

[0039] Figure 2 A schematic structural diagram of a seedling throwing mechanism provided in this embodiment from a first viewing angle;

[0040] Figure 3 A schematic diagram of the structure of a seedling throwing mechanism provided in this embodiment from a second viewing angle;

[0041] Figure 4 A schematic diagram of the structure of a seedling throwing system provided in this embodiment from a first viewing angle;

[0042] Figure 5 A schematic diagram of the structure of a seedling throwing system provided in this embodiment from a second viewing angle;

[0043] Figure 6 A block diagram of an electronic device provided in this embodiment;

[0044] Figure 7 One of the flow charts of a rice seedling throwing control method provided in this embodiment;

[0045] Figure 8 The second flow chart of a rice seedling throwing control method provided in this embodiment;

[0046] Fig. 9 This is one of the posture schematic diagrams of a seedling throwing system provided in this embodiment;

[0047] Fig.10 The second posture schematic diagram of a seedling throwing system provided in this embodiment;

[0048] Fig.11 The third posture diagram of a seedling throwing system provided in this embodiment;

[0049] Fig.12 A third flow chart of a rice seedling throwing control method provided in this embodiment;

[0050] Fig.13 A block diagram of a rice seedling throwing control device provided in an embodiment of the present invention.

[0051] Icons: 1000-seedling throwing system; 100-seedling throwing mechanism; 10-load module; 20-seedling delivery module; 21-seedling support plate; 211-opening; 212-slide rail; 22-seedling delivery tray; 221-installation port; 23-driving device; 24-transporting device; 25-seedling pressing device; 251-rotating shaft; 252-pressing strip; 30-seedling removal module; 31-driving source; 32-transmission box; 33-cutter head; 331-installation part; 332-cutter body; 33 3-notch; 40-support module; 41-U-shaped groove; 42-circular rail; 43-first bracket; 44-first limiting wheel; 45-second limiting wheel; 46-second bracket; 47-third bracket; 200-drone; 300-blanket seedling; 310-seedling; 400-electronic device; 410-memory; 420-processor; 430-communication unit; 500-seedling throwing control device; 510-information acquisition module; 520-information processing module. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0053] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0055] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0056] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0057] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0058] Please refer to Figure 1 and Figure 2 The present embodiment provides a seedling throwing mechanism 100 and a seedling throwing system 1000. Specifically, the seedling throwing system 1000 includes a drone 200 and at least one set of seedling throwing mechanisms 100, and the seedling throwing mechanisms 100 are mounted on the drone 200. The seedling throwing mechanism 100 is used to separate the blanket seedlings 300, and the separated seedlings 310 are thrown out by centrifugal force and / or ejection force to achieve the seedling throwing operation. At the same time, the flying seedling throwing operation is achieved in conjunction with the flight of the drone 200.

[0059] There are many ways for the seedling throwing mechanism 100 to throw the seedlings 310. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the seedlings 310 can be thrown out by centrifugal force. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the separated seedlings 310 can be ejected and thrown out by an ejection force (the seedling throwing mechanism 100 can be provided with an ejection member, and the ejection member can provide an ejection force). In one embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and ejection force to throw out the separated seedlings 310.

[0060] The seedling throwing mechanism 100 includes a load module 10, a seedling delivery module 20 and a seedling retrieval module 30. The load module 10 is used to be set on the drone 200. The seedling delivery module 20 is set on the load module 10, and the seedling delivery module 20 is used to transport the blanket seedlings 300. The seedling retrieval module 30 is set on the load module 10, and the seedling retrieval module 30 is used to separate the seedlings 310 from the blanket seedlings 300 on the seedling delivery module 20 and then throw them out through centrifugal force and / or ejection force. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation, and the blanket seedlings 300 are transported by the seedling delivery module 20, and the seedling retrieval module 30 separates the blanket seedlings 300 and then throws the seedlings 310, so as to realize the flying seedling throwing operation of the blanket seedlings 300.

[0061] It should be noted that there are many ways to separate, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling removal method is not limited.

[0062] In this embodiment, the drone 200 is a rotor drone, specifically a quad-rotor drone. Of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone 200 can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. For ease of description, the drawings show directions such as front, back, left, right, up, and down. These directions are all relative positional relationships that can be clearly known to those skilled in the art when the drone 200 is conventionally placed or flying.

[0063] Figure 1 What is shown is a split-type seedling throwing system 1000. Specifically, the load module 10 of the seedling throwing mechanism 100 can be detachably mounted on the lower part of the drone 200, that is, the drone 200 and the seedling throwing mechanism 100 adopt an upper and lower split design. The drone 200 serves as a mobile platform and is a split design with the seedling throwing mechanism 100. In other words, this type of seedling throwing mechanism 100 is an independent structure that does not rely on the fuselage frame of the drone 200. Based on this type, the corresponding device can be replaced according to actual operation requirements in a specific operation scene. For example, after the seedling throwing mechanism 100 is disassembled, a sowing device is installed to achieve the sowing of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0064] Please refer to Figure 2 and Figure 3 , each module of the seedling throwing mechanism 100 will be described in detail below.

[0065] Specifically, the seedling removal module 30 includes a driving source 31 and a cutter head 33. The driving source 31 is connected to the cutter head 33 to drive the cutter head 33 to separate the seedling blanket 300 on the seedling delivery module 20, and to eject the separated seedlings 310 by centrifugal force and / or ejection force. Generally, the driving source 31 is a motor, which drives the cutter head 33 along the Figure 2 The cutter head 33 rotates in the direction indicated by the arrow A, thereby separating the seedling blanket 300 during the contact process. The separated seedling 310 follows the cutter head 33 to rotate in the direction of the arrow A. When the cutter head 33 rotates to a specific position, the seedling 310 is ejected under the action of the centrifugal force and / or the ejection force. The cutter head 33 may be provided with an ejection member, which can complete energy storage and energy release through the cam member during the rotation of the cutter head. When the ejection member releases energy, the seedling 310 is ejected under the ejection force provided by the ejection member.

[0066] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the driving source 31, and the driving source 31 directly drives the cutter head 33 to rotate, or the cutter head 33 can be rotatably mounted on the load module 10, and the driving source 31 is mounted on the load module 10, and connected to the cutter head 33 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force. Of course, the driving source 31 can also be other than a motor, for example, a pneumatic motor, a gasoline engine, etc.

[0067] In order to facilitate the throwing out of the rice seedling 310, in this embodiment, the cutter head 33 includes a mounting portion 331 and a cutter body 332 disposed on the mounting portion 331, the mounting portion 331 is connected to the driving source 31, and a notch 333 is formed on the cutter body 332, the notch 333 is used to clamp the rice seedling 310 after the cutter body 332 separates the lower rice seedling 310, so that the rice seedling 310 follows the rotation and is thrown out under the action of centrifugal force and / or ejection force. It can be understood that in the specific operation process, the notch 333 on the cutter body 332 will clamp the soil part at the root of the rice seedling 310, and then drive it to rotate during the rotation process, so as to throw it out. Of course, the specific structure of the cutter head 33 can also be selected as a rice seedling needle.

[0068] Combination Figure 2 and Figure 3 In this embodiment, the seedling removal module 30 further includes a transmission box 32, a driving source 31 is connected to the transmission box 32, and is used to drive the transmission box 32 to rotate, and at least one cutter head 33 is arranged on each transmission box 32. The transmission box 32 can give the cutter head 33 a specific motion trajectory. Generally, a plurality of mutually meshing gears can be arranged inside the transmission box 32, the driving source 31 meshes with a gear in the transmission box 32, and the cutter head 33 meshes with another gear. The transmission box 32 can make the motion trajectory of the cutter head 33 and the posture of the cutter head 33 during the motion process meet the requirements.

[0069] In order to improve the efficiency of removing seedlings, the rotation speed of the cutter head 33 is usually increased. Of course, too fast a speed may cause other problems such as heat dissipation and unstable separation. In order to solve this problem, in this embodiment, at least two cutter heads 33 are arranged on each transmission box 32, thereby expanding the number of cutter heads 33 at the same separation and throwing position.

[0070] In this embodiment, two cutter heads 33 are distributed on one transmission box 32. Of course, in other embodiments, only one cutter head 33 may be distributed, or three, four or more cutter heads 33 may be distributed. When two cutter heads 33 are distributed on one transmission box 32, the angles of the two cutter heads 33 to the center of the transmission box 32 may be distributed at 180 degrees, three cutter heads 33 may be spaced 120 degrees apart, and four cutter heads 33 may be spaced 90 degrees apart. In other words, the cutter heads 33 may be arranged in a uniform distribution. Of course, it is not excluded that the cutter heads 33 may be arranged in an uneven distribution in a certain scenario.

[0071] By designing a larger number of cutter heads 33 on the transmission box 32, the efficiency of removing seedlings can be improved at the same rotation speed. In addition, in terms of installation, the transmission box 32 can be directly installed on the output shaft of the driving source 31, or the transmission box 32 can be rotatably installed on the load module 10, the driving source 31 is installed on the load module 10, and is connected to the transmission box 32 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force.

[0072] On the other hand, the efficiency of the seedling throwing operation can also be improved by increasing the number of seedling delivery modules 20. Figure 3 In this embodiment, there are multiple seedling delivery modules 20 , and there are multiple seedling taking modules 30 , which correspond one to one with the multiple seedling delivery modules 20 .

[0073] Specifically, Figure 3 In the figure, the number of seedling delivery modules 20 is three, and correspondingly, the number of seedling retrieval modules 30 is also three. Of course, when the number of seedling delivery modules 20 is greater than three, the number of seedling retrieval modules 30 can also be increased accordingly. Generally, the seedlings 310 transported by multiple seedling delivery modules 20 are the same kind of seedlings 310, and the seedling throwing operation is carried out in the same farmland. Therefore, the multiple seedling retrieval modules 30 can be controlled to work synchronously by a control device arranged on the load module 10, or by the flight control of the drone 200. Of course, it is not ruled out that multiple seedling delivery modules 20 work independently, for example, the seedling retrieval efficiencies of the multiple seedling retrieval modules 30 are controlled to be unequal, or some of the seedling retrieval modules 30 are controlled to work while the remaining seedling retrieval modules 30 do not work.

[0074] In order to achieve the separation and throwing of the blanket seedlings 300 row by row and bunch by bunch, in the present embodiment, the seedling delivery module 20 includes a seedling supporting plate 21 and a seedling delivery tray 22, the seedling supporting plate 21 is arranged on the load module 10, the seedling supporting plate 21 is provided with an opening 211, the seedling delivery tray 22 is used to transport the blanket seedlings 300, the seedling delivery tray 22 includes an installation port 221, the lower part of the seedling delivery tray 22 is located in the seedling supporting plate 21, and the seedling delivery tray 22 can move laterally relative to the seedling supporting plate 21; wherein, the seedling taking module 30 is used to separate the blanket seedlings 300 through the opening 211, and throw out the separated seedlings 310.

[0075] In other words, the positions of the seedling taking module 30, the opening 211 of the seedling supporting plate 21, etc. remain unchanged relative to the load module 10, and the seedling delivery tray 22 can reciprocate in the left and right directions based on the slide rail 212. In this way, the seedling taking module 30 only separates the blanket seedlings 300 exposed in the opening 211, so that the blanket seedlings 300 can be separated and thrown row by row and bunch by bunch. Of course, in other embodiments, the position of the seedling delivery tray 22 relative to the load module 10 can also remain unchanged, while the seedling supporting plate 21 and the seedling taking module 30 can move horizontally in the left and right directions.

[0076] In this embodiment, the seedling support plate 21 can be understood as an open plate in a long strip shape. The seedling support plate 21 is relatively fixed to the load module 10 and does not move with the left and right reciprocating motion of the seedling delivery tray 22. The seedling support plate 21 has a certain supporting effect on the seedling delivery tray 22. Figure 4 In this embodiment, the number of the seedling taking modules 30 is three and they are distributed at intervals. Therefore, the number of the openings 211 is also three and they are distributed at corresponding intervals, so that each seedling taking module 30 can separate and throw the blanket seedlings 300 in the corresponding opening 211.

[0077] In order to facilitate the lateral movement of the seedling delivery tray 22 , in this embodiment, the seedling delivery module 20 further includes a driving device 23 , which is disposed on the load module 10 and is used to drive the seedling delivery tray 22 to move laterally relative to the seedling supporting plate 21 .

[0078] Generally, the driving device 23 can use a motor with a gear rack mechanism to achieve the left and right reciprocating movement of the seedling tray 22, or a motor with a screw mechanism or a synchronous belt. Of course, it is not excluded to use the rotor power of the drone 200 to drive the seedling tray 22 to move left and right.

[0079] Combination Figure 3 Generally, the seedling delivery tray 22 is set to be placed in an inclined state. This design allows the seedling blanket 300 to move downward under the action of gravity after the seedling delivery tray 22 moves horizontally once, so that the seedling removal module 30 can carry out the next round of seedling removal. Of course, a power source can also be set to drive it, for example, in combination with Figure 3In this embodiment, the seedling delivery module 20 further includes a conveying device 24 , which is disposed on the seedling delivery tray 22 , and is used to drive the seedling blanket 300 to move toward the seedling supporting plate 21 .

[0080] The conveying device 24 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel). In addition, the conveying device 24 can be set at different positions in the height direction of the seedling delivery tray 22. It should be noted that the inclined setting of the seedling delivery tray 22 can also achieve effective utilization of the longitudinal space to reduce the space occupied by the seedling delivery tray 22 in the horizontal width. At the same time, due to the inclined setting, the blanket seedlings 300 can use their gravity to slide down, and the power consumption of the conveying device 24 can also be reduced.

[0081] In addition, considering the possible separation of the blanket seedling 300 after being placed on the seedling delivery tray 22, combined with Figure 2 and Figure 3 In this embodiment, the seedling delivery module 20 further includes a seedling pressing device 25, which is disposed on the seedling delivery tray 22, and is used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or a rod, etc. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and a plurality of pressure strips 252, the rotating shaft 251 is rotatably disposed horizontally on the seedling delivery tray 22, and the plurality of pressure strips 252 are vertically and spaced apart from the rotating shaft 251, and the plurality of pressure strips 252 are used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22.

[0082] In this embodiment, in a specific scenario, the rotating shaft 251 can rotate relative to the seedling delivery tray 22 with a certain damping, so the force of the pressure bar 252 on the blanket seedling 300 can be adjusted, and the pressure state can be maintained. Of course, a torsion spring can also be installed on the rotating shaft 251 to provide pressure to rotate in the direction of the blanket seedling 300.

[0083] Combination Figure 3 In this embodiment, the seedling delivery tray 22 is a rectangular frame structure, specifically, it includes a load-bearing plate and two baffles arranged on the left and right edges of the load-bearing plate, and no baffles are arranged above or below it, so that an upper opening is formed at the top to facilitate placing the seedlings, and a lower opening is formed at the bottom to facilitate taking the seedlings. The width of the seedling delivery tray 22 can match the width of a tray of seedling blankets 300. In addition, the height of the seedling delivery tray 22 is not limited to the height of a tray of seedling blankets 300. During installation, the two ends of the rotating shaft 251 can be rotatably arranged on the two baffles of the seedling delivery tray 22, respectively. Figure 4In the embodiment, four pressure strips 252 are correspondingly arranged on a rotating shaft 251. In other words, four pressure strips 252 are distributed on a seedling delivery tray 22 to limit the blanket seedlings 300 in the seedling delivery tray 22, so that the blanket seedlings 300 can be pressed on the seedling delivery tray 22 by the pressure strips 252, which greatly ensures that the blanket seedlings 300 will not be blown away during the flight of the drone 200. Of course, the number of pressure strips 252 corresponding to a seedling delivery tray 22 may not be limited to four, for example, it may also be three, five or more. In addition, since in the present embodiment, the number of seedling delivery modules 20 is multiple, the number of seedling pressing devices 25 may also be multiple, and each seedling delivery tray 22 is correspondingly provided with a seedling pressing device 25. In a certain scenario, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 may share a rotating shaft 251.

[0084] In addition, combined Figure 3 In this embodiment, the seedling delivery tray 22 is supported at multiple positions in the height direction by the load module 10. For example, in this embodiment, the seedling throwing mechanism 100 further includes a support module 40. For example, the support module 40 includes a first bracket 43. One end of the first bracket 43 is connected to the load module 10, and the other end of the first bracket 43 supports the upper part of the seedling delivery tray 22. The support module 40 also includes a U-shaped groove 41, a circular rail 42, a first limiting wheel 44, a second limiting wheel 45, etc. Figure 3 and Figure 4 Since the seedling delivery tray 22 needs to move horizontally, in order to facilitate support, the support position of the first bracket 43 and the seedling delivery tray 22 can be supported horizontally by the cooperation of a slide rail and a pulley. For example, a pulley is provided at the end of the first bracket 43, and a slide rail is provided on the seedling delivery tray 22, and the two are rollingly matched. Alternatively, a slide rail is provided at the end of the first bracket 43, and a pulley is provided on the seedling delivery tray 22. In addition, in some scenarios, the height of the first bracket 43 is adjustable, and the inclination angle of the seedling delivery tray 22 can also be adjusted.

[0085] At the same time, the lower part of the seedling delivery tray 22 is supported by the seedling support plate 21 to improve the overall compactness of the structure. Of course, the middle part of the seedling delivery tray 22 can also be supported by the load module 10. It should be noted here that the upper part is only to indicate that the position of the support is higher than the middle and lower parts in the height direction.

[0086] Of course, the support module 40 may also include a second bracket 46 and a third bracket 47. One end of the second bracket 46 is connected to the load module 10, and the other end of the second bracket 46 is installed with the above-mentioned seedling support plate 21. One end of the third bracket 47 is connected to the load module 10, and the other end of the third bracket 47 is installed with the above-mentioned seedling removal module 30 (specifically, the driving source 31). Of course, the second bracket 46 and the third bracket 47 may also be a bracket structure, that is, the seedling support plate 21 and the seedling removal module 30 are installed on the load module 10 through the same bracket.

[0087] Figure 1-Figure 3 The illustrated embodiment demonstrates the main structure of the seedling throwing mechanism 100 provided by the present invention. In addition, the multiple modules mentioned in this application (load module 10, seedling delivery module 20, seedling retrieval module 30, etc.) can be manufactured and sold separately in the early stage, and then assembled to form an integral structure in the later stage.

[0088] Figure 4 and Figure 5 Another embodiment of the seedling throwing system 1000 is shown, wherein the description of the same modules, mechanisms or components can refer to the above text. In this embodiment, the seedling throwing system 1000 is a double system, that is, it has two sets of seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 share a load module 10. The two sets of seedling throwing mechanisms 100 are arranged back to back. Of course, in other embodiments, the two sets of seedling throwing mechanisms can also be arranged in other ways (for example, arranged in the same direction), or three, four or more sets of seedling throwing mechanisms 100 can be arranged.

[0089] According to a seedling throwing system 1000 provided in this embodiment, the working principle of the seedling throwing system 1000 is as follows:

[0090] When the drone 200 is flying, the driving source 31 drives the transmission box 32 to rotate, and the transmission box 32 drives the cutter head 33 to achieve high-speed rotation. When the cutter head 33 rotates to the opening 211, it separates and removes the rice seedlings 310, drives the rice seedlings 310 to rotate, and when the rice seedlings 310 rotate to a certain angle, the rice seedlings 310 are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thereby realizing the flying and throwing of the blanket seedlings 300. At the same time, the rice seedling delivery tray 22 moves horizontally, driving the blanket seedlings 300 to move left and right, so that the blanket seedlings 300 are separated and thrown row by row. After a row of rice seedlings 310 in the left and right directions of the blanket seedlings 300 is separated, the entire blanket seedlings 300 moves downward under the action of gravity and the driving force of the conveying device 24, so that in the process of the rice seedling delivery tray 22 moving horizontally again, it is separated and thrown row by ...

[0091] Based on the above-mentioned seedling throwing system, automated seedling throwing operations can be realized. However, when the drone is operating with the seedling throwing mechanism loaded, if strong winds occur, it will affect the flight stability of the drone and the reliability of the seedling throwing operation. If it is not controlled and responded to, accidents are likely to occur.

[0092] To improve the above problems, in this embodiment, during the automated seedling throwing operation of the seedling throwing system, the environmental wind data is detected, and the UAV and the seedling throwing mechanism are controlled when the environmental wind intensity is strong to cope with strong winds, reduce the impact of strong winds on flight stability and automated operations, and reduce the accident rate.

[0093] Please refer to Figure 6 , Figure 6 A block diagram of an electronic device 400 provided in an embodiment of the present invention. The electronic device 400 may be, but is not limited to, a drone, a controller of a rice seedling throwing system, etc. The electronic device 400 may include a memory 410, a processor 420, and a communication unit 430. The memory 410, the processor 420, and the communication unit 430 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses or signal lines.

[0094] The memory 410 is used to store programs or data. The memory 410 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0095] The processor 420 is used to read / write data or programs stored in the memory 410 and execute corresponding functions. For example, the memory 410 stores a seedling throwing control device 500, and the seedling throwing control device 500 includes at least one software function module that can be stored in the memory 410 in the form of software or firmware. The processor 420 executes various functional applications and data processing by running software programs and modules stored in the memory 410, such as the seedling throwing control device 500 in the embodiment of the present invention, that is, realizing the seedling throwing control method in the embodiment of the present invention.

[0096] The communication unit 430 is used to establish a communication connection between the electronic device 400 and other communication terminals through a network, and to send and receive data through the network.

[0097] It should be understood that Figure 6 The structure shown is only a schematic diagram of the structure of the electronic device 400. The electronic device 400 may also include Figure 6 More or fewer components as shown, or with Figure 6 Different configurations shown. Figure 6 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0098] Please refer to Figure 7 , Figure 7 One of the flow diagrams of the seedling throwing control method provided in an embodiment of the present invention. The method can be applied to the above-mentioned seedling throwing system 1000, which includes a drone and a seedling throwing mechanism, and the seedling throwing mechanism is mounted on the drone. The implementation process of the seedling throwing control method is described in detail below. In this embodiment, the method may include S110, S120 and S130.

[0099] S110, during the seedling throwing operation, obtaining current environmental wind data, wherein the environmental wind data includes environmental wind intensity.

[0100] S120, determining whether the ambient wind intensity reaches a set threshold. If yes, executing S130; if no, returning to executing S110.

[0101] S130, controlling the drone to hover, controlling the seedling throwing mechanism to stop the seedling throwing operation, and controlling the seedling throwing mechanism to reduce the wind-exposed area.

[0102] By adopting the above scheme, by detecting the environmental wind data during the seedling throwing operation, the UAV and the seedling throwing mechanism are controlled when the environmental wind intensity reaches the set threshold, the seedling throwing operation is suspended and the wind-exposed area of ​​the seedling throwing mechanism is reduced, thereby reducing the impact of strong winds on the automated seedling throwing operation, improving the stability and reliability of the UAV flight during the automated seedling throwing operation, and thereby reducing the accident rate.

[0103] In S110, the ambient wind data includes the ambient wind intensity and may also include other information, such as the ambient wind direction. Accordingly, the method for obtaining the current ambient wind data may be flexibly selected. For example, the current ambient wind data may be directly obtained based on a detection instrument, such as obtaining the current ambient wind data based on a wind vane, an anemometer, etc.

[0104] For another example, the current environmental wind data can be obtained indirectly. Figure 8 , the method for obtaining environmental wind data may include S111, S112 and S113.

[0105] S111, obtaining the rotor speed of the UAV in real time.

[0106] S112, determining the current force direction and force magnitude based on the change in the rotor speed.

[0107] S113, obtaining current environmental wind data based on the force direction and force magnitude analysis.

[0108] By obtaining the current environmental wind data, it is possible to monitor the wind conditions in the operating environment of the seedling throwing system and take timely measures when encountering strong winds to ensure the reliability of the automated seedling throwing operation and reduce the accident rate.

[0109] In S120, the threshold value can be set flexibly, for example, it can be set according to different regions, different operation scenes, different operation objects, etc. For another example, it can be set based on different needs. For example, in order to ensure the efficiency of automated seedling throwing as much as possible, the threshold value can be set to a relatively high value to minimize operation interruption; in order to ensure the reliability of automated operation and reduce accidents as much as possible, the threshold value can be set to a relatively low value to maximize safety; in order to ensure a balance between the efficiency and reliability of automated seedling throwing, the threshold value can be set to a relatively moderate value.

[0110] Based on the set threshold, it can be determined whether the current environmental wind intensity needs to be responded to. When it is determined that the environmental wind intensity reaches the set threshold, it indicates that the current wind force is strong, which may affect the reliability of the operation or even cause an accident, and timely response is required. When it is determined that the environmental wind intensity does not reach the set threshold, it indicates that the current wind force will basically not affect the reliability of the operation or cause an accident, and no response is required, and normal operations can continue.

[0111] When the wind intensity reaches the set threshold, the drone is controlled to hover and the seedling throwing mechanism is controlled to stop the seedling throwing operation to ensure the reliability of the automated operation. The wind-exposed area is reduced by controlling the seedling throwing mechanism to reduce the load on the drone rotor and reduce safety hazards.

[0112] In S130, there are many ways to control the seedling throwing mechanism to reduce the wind-exposed area, as long as the load that the seedling throwing system needs to bear can be reduced.

[0113] For example, in one implementation, since the seedling delivery module in the seedling throwing system is a structure with a large wind-receiving surface, if the drone-loaded seedling throwing mechanism encounters a strong wind directly facing the seedling delivery module, the drone rotor will bear a large load for wind resistance. If the wind-receiving area of ​​the seedling delivery module can be reduced, the load can be reduced. Therefore, when the seedling throwing mechanism includes at least two seedling delivery modules, at least two seedling delivery modules are arranged in the same direction, and each seedling delivery module includes a seedling delivery tray for placing blanket seedlings, and the seedling delivery tray can be driven by a motor to perform a lateral movement, the seedling throwing mechanism can be placed in the minimum wind-receiving area by controlling the seedling delivery trays of the at least two seedling delivery modules to move horizontally to an overlapping position.

[0114] The overlap position is the position where the center points of the seedling delivery trays of at least two seedling delivery modules are closest to each other during the lateral movement. It can be understood that when at least two seedling delivery modules move lateral to the position where the center points of the seedling delivery trays are closest to each other, the overlap of the seedling delivery trays of at least two seedling delivery modules is the highest and the overall wind-exposed area is the smallest.

[0115] like Fig. 9 As shown in the figure, taking the seedling throwing system including two groups of front and rear seedling delivery modules, and the front and rear rows of seedling trays moving horizontally alternately from left to right to realize the horizontal seedling delivery function as an example, when the front and rear groups of seedling delivery modules move horizontally to the extreme position of the reverse direction (the center point of the seedling delivery tray is the farthest), the wind-exposed area of ​​the drone is the largest, which has the greatest impact on the flight stability of the drone. Fig.10 As shown, when the seedling trays of the front and rear seedling delivery modules are controlled to move horizontally to an overlapping position (the center points of the seedling delivery trays are closest to each other), the wind-exposed area can be reduced.

[0116] Among them, in order to ensure that the center of gravity of the drone is in the middle position, the two rows of seedling trays can overlap in the middle to ensure the stable operation of the drone.

[0117] For another example, in another implementation, since the seedling delivery module in the seedling throwing system is a structure with a large wind-exposed surface, if the drone-loaded seedling throwing mechanism encounters a strong wind facing the seedling delivery module, such as a seedling delivery tray, the drone rotor will bear a large load for wind resistance. If the heading can be adjusted so that the seedling delivery module avoids facing the strong wind or even parallel to the strong wind direction, the wind-exposed surface of the seedling delivery module can be reduced, thereby reducing the load. Fig.11 As shown, the environmental wind data may also include the environmental wind direction, which can be adjusted to the target heading by controlling the drone so that the surface of the seedling delivery tray is parallel to the environmental wind direction, so that the seedling throwing mechanism is in the minimum wind-receiving area.

[0118] Based on the various diagrams, it can be seen that, in general, the seedling delivery module is the structure with the largest wind receiving area in the seedling throwing mechanism. Therefore, minimizing the wind receiving area of ​​the seedling delivery module can minimize the wind receiving area of ​​the seedling throwing mechanism.

[0119] For example, in another implementation, the wind-exposed area of ​​the seedling delivery module can be reduced and the heading can be adjusted. Accordingly, controlling the seedling throwing mechanism to reduce the wind-exposed area can be achieved through the following steps: controlling the drone to adjust to the target heading so that the surface of the seedling delivery tray is parallel to the ambient wind direction; and controlling the seedling delivery trays of at least two seedling delivery modules to move horizontally to an overlapping position.

[0120] The overlapping position is the position where the center points of the seedling delivery plates are closest to each other during the lateral movement of the at least two seedling delivery modules.

[0121] Please refer to Fig.12 After controlling the drone to hover, the method further includes S140, S150, S160 and S170.

[0122] S140, continuously obtaining current environmental wind data.

[0123] S150, determining whether the latest ambient wind intensity reaches the set threshold. If yes, executing S160; if no, executing S170.

[0124] S160, control the UAV to maintain a hovering state, and return to the step of continuously acquiring current environmental wind data to determine whether the latest environmental wind intensity reaches the set threshold, until the UAV maintains a hovering state for a preset time, then control the UAV to return; or, until the latest environmental wind intensity is lower than the set threshold, then control the UAV and the seedling throwing mechanism to continue operating.

[0125] S170, controlling the UAV and the seedling throwing mechanism to continue operation.

[0126] When the ambient wind intensity reaches the set threshold, the drone is controlled to hover, the seedling throwing mechanism stops operating, and the wind-receiving area of ​​the seedling delivery module is reduced and / or the heading is adjusted to reduce the impact of strong winds, thereby ensuring the reliability of the automated seedling throwing operation. If the wind stops within the preset time, the operation can continue, otherwise it will return, thereby ensuring the timeliness of automated seedling throwing while improving the rationality of control.

[0127] In order to reduce the frequent switching between continuing and stopping the operation, the drone and the seedling throwing mechanism can be controlled to continue the operation in the following manner: after the latest environmental wind intensity is lower than the set time interval of the set threshold, the drone and the seedling throwing mechanism are controlled to continue the operation. Alternatively, when the latest environmental wind intensity is lower than the set threshold, and the latest environmental wind intensity is lower than the set threshold for a continuous number of times reaching a set number, the drone and the seedling throwing mechanism are controlled to continue the operation.

[0128] For another example, a recovery operation threshold may be set. When the recovery operation threshold is lower than the set threshold, the drone and the seedling throwing mechanism may be controlled to continue the operation when the latest environmental wind intensity is lower than the recovery operation threshold.

[0129] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing the seedling throwing control device 500 is given below. Optionally, the seedling throwing control device 500 can adopt the above Figure 6 The device structure of the electronic device 400 is shown. Fig.13 , Fig.13 A block diagram of the seedling throwing control device 500 provided in this embodiment. It should be noted that the basic principle and technical effects of the seedling throwing control device 500 provided in this embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above-mentioned embodiments. The seedling throwing control device 500 is applied to a seedling throwing system, and the seedling throwing system includes a drone and a seedling throwing mechanism, and the seedling throwing mechanism is mounted on the drone. The seedling throwing control device 500 includes an information acquisition module 510 and an information processing module 520.

[0130] The information acquisition module 510 is used to obtain current environmental wind data during the seedling transplanting operation, and the environmental wind data includes environmental wind intensity.

[0131] The information processing module 520 is used to determine whether the environmental wind intensity reaches a set threshold; if so, the drone is controlled to hover, the seedling throwing mechanism is controlled to stop the seedling throwing operation, and the seedling throwing mechanism is controlled to reduce the wind-exposed area.

[0132] An embodiment of the present invention further provides a readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the rice seedling throwing control method is implemented.

[0133] To sum up, the embodiments of the present invention provide a seedling throwing control method, device, equipment and medium. When the drone is carrying a seedling throwing mechanism to perform seedling throwing operations, if it encounters strong winds, the seedling throwing mechanism is controlled to stop throwing the seedlings, thereby reducing the wind-exposed area, and the drone remains hovering to resist the strong wind. After the strong wind ends, the operation is resumed, or if the strong wind has not stopped for a period of time, the drone returns, thereby reducing the impact of strong winds on flight stability, ensuring the reliability of automated seedling throwing operations, and reducing the accident rate.

[0134] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0135] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0136] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0137] The above description is only an optional embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling seedling throwing, characterized in that: Applied to a seedling throwing system, the seedling throwing system comprises a drone and a seedling throwing mechanism, the seedling throwing mechanism is mounted on the drone, and the method comprises: During the seedling throwing operation, current environmental wind data is obtained, wherein the environmental wind data includes environmental wind intensity; Determining whether the ambient wind intensity reaches a set threshold; If so, the drone is controlled to hover, the seedling throwing mechanism is controlled to stop the seedling throwing operation, and the seedling throwing mechanism is controlled to reduce the wind-exposed area.

2. The rice seedling throwing control method according to claim 1, characterized in that: The seedling throwing mechanism includes a seedling sending module, the seedling sending module includes a seedling sending plate for placing blanket seedlings, the environmental wind data also includes the environmental wind direction, and the controlling the seedling throwing mechanism to reduce the wind-exposed area includes: The drone is controlled to adjust to a target heading so that the surface where the seedling delivery tray is located is parallel to the ambient wind direction.

3. The rice seedling throwing control method according to claim 1, characterized in that: The seedling throwing mechanism comprises at least two seedling sending modules, the at least two seedling sending modules are arranged in the same direction, each of the seedling sending modules comprises a seedling sending tray for placing blanket seedlings, the seedling sending tray can be driven by a motor to perform a transverse movement, and the controlling of the seedling throwing mechanism to reduce the wind-exposed area comprises: Controlling the seedling delivery trays of the at least two seedling delivery modules to move horizontally to an overlapping position; The overlapping position is the position where the center points of the seedling delivery plates are closest to each other during the lateral movement of the at least two seedling delivery modules.

4. The rice seedling throwing control method according to claim 1, characterized in that: The seedling throwing mechanism includes at least two seedling sending modules, the at least two seedling sending modules are arranged in the same direction, each of the seedling sending modules includes a seedling sending tray for placing blanket seedlings, and the seedling sending tray can move laterally under the drive of a motor, the environmental wind data also includes the environmental wind direction, and the controlling the seedling throwing mechanism to reduce the wind-exposed area includes: Controlling the drone to adjust to a target heading so that the surface of the seedling delivery tray is parallel to the ambient wind direction; and, Controlling the seedling delivery trays of the at least two seedling delivery modules to move horizontally to an overlapping position; The overlapping position is the position where the center points of the seedling delivery plates are closest to each other during the lateral movement of the at least two seedling delivery modules.

5. The rice seedling throwing control method according to claim 1, characterized in that: After controlling the drone to hover, the method further includes: Continuously obtain current environmental wind data; Determine whether the latest obtained ambient wind intensity reaches the set threshold; If so, the drone is controlled to maintain a hovering state, and the process returns to the step of continuously acquiring current environmental wind data to determine whether the latest environmental wind intensity reaches the set threshold value, until the drone maintains a hovering state for a preset time, and then the drone is controlled to return; or, until the latest environmental wind intensity is lower than the set threshold value, the drone and the seedling throwing mechanism are controlled to continue operating; If not, the drone and the seedling throwing mechanism are controlled to continue the operation.

6. The method for controlling seedling throwing according to claim 5, characterized in that: The controlling the drone and the seedling throwing mechanism to continue the operation includes: After the latest environmental wind intensity is lower than the set threshold value for a set time interval, the drone and the seedling throwing mechanism are controlled to continue the operation; or, When the latest environmental wind intensity is lower than the set threshold, and the number of times the latest environmental wind intensity is lower than the set threshold reaches a set number, the drone and the seedling throwing mechanism are controlled to continue operating.

7. The rice seedling throwing control method according to any one of claims 1 to 6, characterized in that: The obtaining of current environmental wind data includes: Obtain current environmental wind data based on detection instruments; or, Acquire the rotor speed of the UAV in real time; Determine the current force direction and force magnitude based on the change in the rotor speed; The current environmental wind data is obtained based on the force direction and force magnitude analysis.

8. A seedling throwing control device, characterized in that: Applied to a seedling throwing system, the seedling throwing system includes a drone and a seedling throwing mechanism, the seedling throwing mechanism is mounted on the drone, and the seedling throwing control device includes: An information acquisition module is used to obtain current environmental wind data during the seedling throwing operation, wherein the environmental wind data includes environmental wind intensity; The information processing module is used to determine whether the environmental wind intensity reaches a set threshold; if so, the drone is controlled to hover, the seedling throwing mechanism is controlled to stop the seedling throwing operation, and the seedling throwing mechanism is controlled to reduce the wind-exposed area.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the rice seedling throwing control method described in any one of claims 1-7.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the rice seedling throwing control method as described in any one of claims 1 to 7 is implemented.

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