Tip cutting control method, tip cutting device, agricultural machine and machine readable storage medium

Abstract

The invention relates to the field of agricultural machinery, and discloses a tip cutting control method, a tip cutting device, agricultural machinery and a machine readable storage medium, the tip cutting control method is used for controlling an unmanned aerial vehicle and a tip cutting mechanism connected to the unmanned aerial vehicle, and the tip cutting control method comprises the following steps: determining the terrain clearance of a tip cutting position of a target crop; determining a target terrain clearance of the unmanned aerial vehicle according to the terrain clearance of the tip cutting position, the real-time terrain clearance of the unmanned aerial vehicle and a preset height difference between the unmanned aerial vehicle and a cutting structure in the tip cutting mechanism; the drone is moved to the target terrain clearance to enable the cutting structure to cut the target crop from the tip cutting position. It can be guaranteed that the cutting structure cuts different accurate tip cutting positions, the cutting precision can be guaranteed, the position adjusting efficiency of the cutting structure can be improved, the phenomena of excessive cutting, insufficient cutting or missing cutting can be reduced, and the adaptability to different harvesting operation environments can be improved.

Description

Technical Field

[0001] The present application belongs to the technical field of agricultural machinery, and specifically relates to a top cutting control method, a top cutting device, agricultural machinery and a machine-readable storage medium. Background Art

[0002] When harvesting sugarcane, the existing sugarcane harvester needs to use the topper in front of the machine body to cut the sugarcane tips. Before the harvesting operation, the height of the topper above the ground needs to be fixed. Therefore, when cutting sugarcane with different heights of sugarcane tips above the ground, the height of the topper above the ground cannot be adjusted quickly and frequently, resulting in low cutting accuracy and failure to meet the changing harvesting operation requirements. Summary of the invention

[0003] The purpose of the present application is to provide a top cutting control method, a top cutting device, an agricultural machine and a machine-readable storage medium, which can realize adaptive adjustment of the height of the top cutting device above the ground.

[0004] In order to achieve the above-mentioned purpose, the present application provides a tip cutting control method, which is used to control a drone and a tip cutting mechanism connected to the drone, and comprises: Determine the height above ground of the top cutting location of the target crop; Determining a target ground height of the drone based on the ground height of the tip cutting position, the real-time ground height of the drone, and a preset height difference between the drone and the cutting structure in the tip cutting mechanism; The drone is moved to the target ground clearance height to enable the cutting structure to cut the target crop from the tip cutting position.

[0005] In some embodiments, determining the height above ground of the tip cutting position of the target crop includes: Determining the height above ground of the growing position of the top of the target crop; The height of the tip cutting position above the ground is determined according to the height of the tip growing position above the ground and a preset cutting distance.

[0006] In some embodiments, determining the height above ground of the top growth position of the target crop comprises: constructing an initial three-dimensional model of the farmland containing the target crop and determining the height of the target crop; Acquire a depth map of the target crop and identify the tip growth position; Generating a revised three-dimensional model by aligning the initial three-dimensional model with the depth map; The height of the tip growth position from the ground is determined according to the position of the tip growth position in the revised three-dimensional model and the position of the ground of the farmland in the revised three-dimensional model.

[0007] In some embodiments, generating a revised three-dimensional model by aligning the initial three-dimensional model with the depth map includes: Obtaining measurement data from an inertial measurement unit and a global positioning system of the drone; The modified three-dimensional model is generated by fusing the measurement data of the inertial measurement unit and the global positioning system, the initial three-dimensional model and the depth map.

[0008] In some embodiments, the topping control method further comprises: determining a target pitch angle of the cutting structure according to the inclination angle of the target crop; The pitch angle of the cutting structure is adjusted to the target pitch angle by adjusting the posture of the UAV and / or by controlling the pitch angle adjustment structure in the cutting mechanism.

[0009] The second aspect of the present application also provides a toe cutting device, which comprises: Drones can monitor their real-time height above the ground; A cutting mechanism connected to the drone and comprising a cutting structure; A processing device is communicatively connected with the drone and the cutting mechanism, and is configured as follows: Determine the height above ground of the top cutting location of the target crop; Determining a target ground height of the drone based on the ground height of the tip cutting position, the real-time ground height of the drone, and a preset height difference between the drone and the cutting structure; The drone is moved to the target ground clearance height to enable the cutting structure to cut the target crop from the tip cutting position.

[0010] In some embodiments, the processing device is further configured to: Determining the height above ground of the growing position of the top of the target crop; The height of the tip cutting position above the ground is determined according to the height of the tip growing position above the ground and a preset cutting distance.

[0011] In some embodiments, the topping device further comprises an identification system in communication with the processing device, wherein the identification system is configured as follows: constructing an initial three-dimensional model of the farmland containing the target crop and determining the height of the target crop; Acquire a depth map of the target crop and identify the tip growth position; Generating a revised three-dimensional model by aligning the initial three-dimensional model with the depth map; The height of the tip growth position from the ground is determined according to the position of the tip growth position in the revised three-dimensional model and the position of the ground of the farmland in the revised three-dimensional model.

[0012] In some embodiments, the identification system is further configured to: Obtaining measurement data from an inertial measurement unit and a global positioning system of the drone; The modified three-dimensional model is generated by fusing the measurement data of the inertial measurement unit and the global positioning system, the initial three-dimensional model and the depth map.

[0013] In some embodiments, the topping device further comprises an identification system capable of identifying the inclination angle of the target crop, and the processing device is communicatively connected to the identification system and is further configured to: determining a target pitch angle of the cutting structure according to the inclination angle of the target crop; The pitch angle of the cutting structure is adjusted to the target pitch angle by adjusting the posture of the drone.

[0014] In some embodiments, the topping device further includes an identification system capable of identifying the inclination angle of the target crop, the topping mechanism further includes a pitch angle adjustment structure for adjusting the pitch angle of the cutting structure, and the processing device is communicatively connected with the identification system and the pitch angle adjustment structure and is further configured as follows: determining a target pitch angle of the cutting structure according to the inclination angle of the target crop; The pitch angle of the cutting structure is adjusted to the target pitch angle by controlling the pitch angle adjustment structure.

[0015] In some embodiments, the cutting mechanism also includes a supporting structure supporting the cutting structure, the pitch angle adjustment structure includes a telescopic device, a first body hinge and a second body hinge connected to the drone at laterally spaced intervals, and a first support hinge and a second support hinge connected to the supporting structure at laterally spaced intervals, the first body hinge and the first support hinge are respectively hinged to two ends of the telescopic device, the second body hinge is hinged to the second support hinge, and the processing device is communicatively connected to the telescopic device.

[0016] The third aspect of the present application also provides an agricultural machine, which includes: Vehicle body; and at least one topping device as described above; Wherein, the vehicle body is provided with a power supply device electrically connected to the top cutting device and / or a controller communicatively connected to the top cutting device.

[0017] A fourth aspect of the present application further provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned tip cutting control method.

[0018] Through the above-mentioned technical scheme, the tip cutting control method of the present application can utilize the flexible lifting and lowering characteristics of the UAV, so that the tip cutting device can adaptively adjust the real-time ground height of the UAV according to different tip cutting positions, ensuring that the cutting structure can cut at the tip cutting position, which can not only ensure the cutting accuracy, but also improve the position adjustment efficiency of the cutting structure, reduce the occurrence of over-cutting, under-cutting or missed cutting, and improve the adaptability to different harvesting operation environments.

[0019] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings: Figure 1 A schematic diagram of an agricultural machine in a specific embodiment of the present application; Figure 2 For the need to use Figure 1 A schematic diagram of a cutting device in the embodiment of the present invention cutting a target crop; Figure 3 A schematic diagram of a tip cutting mechanism in a specific implementation manner of the present application; Figure 4 (a) is a schematic diagram of a tip cutting mechanism provided with a connecting rod in a specific embodiment of the present application, Figure 4 (b) is a schematic diagram of another tip cutting mechanism provided with a connecting rod in a specific embodiment of the present application, wherein: Figure 4 The connecting rod in (a) is Figure 4 The lengths of the connecting rods in (b) are different; Figure 5 (a) is a schematic diagram of a cutting mechanism provided with a telescopic device in a specific embodiment of the present application, Figure 5 (b) is a schematic diagram of another cutting mechanism provided with a telescopic device in a specific embodiment of the present application, wherein: Figure 5 The telescopic device in (b) is Figure 5 The telescopic device in (a) is extended; Figure 6 The present invention is a flowchart of a method for controlling the cutting of tips in a specific embodiment of the present application.

[0021] Description of Reference Numerals 1 UAV 2 cutting mechanism 3 Power supply system 4 Vehicle body 21 Support structure 22 Cutting structure 23 cutting drive device 24 first body hinge 25 first support hinge 26 second support hinge 27 connecting rod 28 telescopic device 31 drive equipment power line 32 drone power line A Tip growth position B Tip cutting position DETAILED DESCRIPTION In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0022] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0023] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0024] Reference Figures 1 to 5 The present application provides a cutting device, which comprises: Drone 1; A cutting mechanism 2 connected to the drone 1 (for example, the cutting mechanism 2 can be connected to the bottom of the drone 1), and includes a support structure 21, a cutting structure 22 and a cutting drive device 23, wherein the cutting drive device 23 is disposed on the support structure 21 and is used to drive the cutting structure 22 to perform a cutting action; and The power supply system 3 is used to provide operating power for the UAV 1 and the cutting mechanism 2.

[0025] Through the above-mentioned arrangement, the top cutting device of the present application does not need to form a mechanical connection with the body 4 of the agricultural machinery when in use. Instead, the top cutting mechanism 2 is carried by the drone 1, and the position of the top cutting mechanism 2 is adjusted by the drone 1. Compared with the traditional top cutting device, the top cutting device of the present application greatly reduces the weight due to the elimination of the connecting arm and the pinning mechanism, greatly reduces the load-bearing capacity of the body 4, effectively improves the flexibility of the body 4, and also reduces the fuel consumption and maintenance cost of the whole machine.

[0026] Moreover, when faced with crops with tops of different heights, the top cutting device of the present application can quickly and conveniently adjust the height of the top cutting mechanism 2 from the ground by lifting and lowering the drone 1, thereby effectively improving the top cutting accuracy, reducing the occurrence of over-cutting, under-cutting or missed cutting, and improving the adaptability to different harvesting operation environments.

[0027] Furthermore, when the top cutting device of the present application is lifted and lowered by the drone, since there is no mechanical connection between the top cutting device and the vehicle body 4, no impact will be caused to the vehicle body 4 during the lifting process.

[0028] It should be noted that the cutting device of the present application can be used to cut the sugarcane tips, and can also be used to cut the tips of other types of crops. In other words, the present application does not limit the applicable scenarios of the cutting device. As an example, when the cutting device of the present application is used for cutting sugarcane tips, the cutting device can cooperate with the body of the sugarcane harvester. When harvesting sugarcane, the drone 1 can use its own drone laser radar and ultrasonic sensor to obtain the real-time ground height of the drone 1 and the relative distance between the drone 1 and the front and rear, respectively. Then, the drone 1 can adjust its position to a certain distance in front of the cab of the vehicle body and a certain height above the ground, and maintain it in the initial position for safe operation. When it is necessary to cut sugarcane tips with different heights, the drone 1 can adjust the ground height of the cutting mechanism 2 by lifting.

[0029] In some embodiments, the cutting mechanism 2 may further include a pitch angle adjustment structure for adjusting the pitch angle of the cutting structure 22. By adjusting the pitch angle of the cutting structure 22, the cutting angle of the cutting structure 22 on the crop can be adjusted, thereby further expanding the scope of application of the cutting device of the present application. For example, for crops with an inclined posture (such as lodged sugarcane, etc.), a more accurate cutting accuracy can be obtained by adjusting the cutting angle of the cutting structure 22 on the crop.

[0030] In some embodiments, reference Figure 4 The pitch angle adjustment structure may include a first body hinge 24 and a second body hinge (not shown in the drawings) connected to the drone 1 at intervals in the transverse direction, a first support hinge 25 and a second support hinge 26 connected to the support structure 21 at intervals in the transverse direction, and a plurality of connecting rods 27 of different lengths that can be installed selectively. The first body hinge 24 and the first support hinge 25 are respectively hinged to the two ends of one of the connecting rods 27, and the second body hinge is hinged to the second support hinge 26. It can be seen that by replacing connecting rods 27 of different lengths, the pitch angle adjustment of the cutting structure 22 can be achieved.

[0031] For example, if the initial pitch angle adjustment structure adopts Figure 4 (a) The connecting rod 27 is relatively short, and the cutting structure 22 is in a horizontal state. When it is necessary to cut crops with an inclined posture, the connecting rod 27 can be Figure 4 (a) The connecting rod 27 is removed, and the supporting structure 21 is rotated around the hinge point between the second body hinge and the second supporting hinge 26, and then replaced. Figure 4 (b) The connecting rod 27 is relatively long so that the cutting structure 22 can be adjusted to a tilted state.

[0032] It should be noted that the present application does not limit the specific positions of the first body hinge 24, the second body hinge, the first support hinge 25, and the second support hinge 26. For example, the first body hinge 24 and the second body hinge may be connected to the bottom of the drone 1, and the first support hinge 25 and the second support hinge 26 may be connected to the top of the support structure 21.

[0033] In some embodiments, reference Figure 5 The pitch angle adjustment structure may include a telescopic device 28, a first body hinge 24 and a second body hinge connected to the drone 1 at intervals in the transverse direction, and a first support hinge 25 and a second support hinge 26 connected to the support structure 21 at intervals in the transverse direction. The first body hinge 24 and the first support hinge 25 are respectively hinged to the two ends of the telescopic device 28, and the second body hinge is hinged to the second support hinge 26. At this time, by extending and retracting the telescopic device 28 (for example, from Figure 5The length of the telescopic device 28 shown in (a) is extended to Figure 5 (b) shows the length of the telescopic device 28), the support structure 21 can rotate around the hinge point between the second body hinge and the second support hinge 26, so as to realize the pitch angle adjustment of the cutting structure 22, and can be adjusted in real time during the operation, which is beneficial to improve the adaptability of the cutting device to complex working conditions.

[0034] It should be noted that the present application does not limit the specific type of the telescopic device 28, such as an electric push rod, a linear motor, a hydraulic rod, etc.

[0035] In some embodiments, the cutting device can also adjust the pitch angle of the cutting structure 22 by adjusting the posture of the drone 1. In this case, the aforementioned pitch angle adjustment structure does not need to be provided, thereby further reducing the weight of the cutting device and reducing the manufacturing cost. In the same cutting device, these two functions can also be combined, that is, the cutting device can be provided with a pitch angle adjustment structure and can adjust the pitch angle of the cutting structure 22 by adjusting the posture of the drone 1.

[0036] In some embodiments, reference Figure 3 The support structure 21 is formed as a support cylinder, the cutting structure 22 is formed as a cutting disc arranged at the end of the support cylinder, and the cutting drive device 23 is formed as a rotary cutting drive device arranged in the support cylinder and used to drive the cutting disc to rotate and cut. The rotary cutting drive device drives the cutting disc to rotate and cut, which can enhance the cutting ability and does not need to rely more on the power provided by the drone to ensure the cutting effect, thereby reducing the power requirement for the drone.

[0037] In some embodiments, the above-mentioned rotary cutting drive device can use different types of devices such as electric motors and / or hydraulic motors. For example, when facing crops with a high planting density (such as sugarcane, etc.), the cutting resistance is relatively greater, so the rotary cutting drive device is usually required to provide stronger power to ensure the cutting force of the cutting disc. At this time, a hydraulic motor can be used as a rotary cutting drive device, so that it can better adapt to high-load operating occasions and ensure the cutting effect of crops. Electric motors do not need to be equipped with hydraulic components such as hydraulic pipelines and oil tanks, and are relatively light in weight, which is conducive to improving the flexibility of the drone 1.

[0038] In some embodiments, the power supply system 3 may include a UAV power cord 32 and a drive device power cord 31, one end of the UAV power cord 32 is connected to the UAV 1 and the other end is used for an external power supply device, one end of the drive device power cord 31 is connected to the cutting drive device 23 and the other end is used for an external power supply device.

[0039] The power supply device described in this embodiment is generally arranged on the body 1 of the agricultural machinery, so as to ensure that the UAV 1 and the power line 31 of the driving device are powered for a long time during the cutting operation, and support the long-term operation of the cutting device.

[0040] When the cutting device is also provided with the aforementioned pitch angle adjustment structure and the pitch angle adjustment structure is provided with an electrically controlled telescopic device 28, the power supply system 3 may also include a telescopic device power cord (not shown in the drawings), one end of which is connected to the cutting telescopic device 28 and the other end is used for an external power supply device, thereby continuously supplying power to the electrically controlled telescopic device 28 for a long time through the power supply device.

[0041] In some embodiments, a wire groove can be set on the peripheral wall of the support tube. In this case, one end of the drive device power cord 31 can pass through the wire groove to connect to the rotary cutting drive device, ensuring that the rotary cutting drive device can be installed in the support tube for compact installation and can also achieve long-term continuous power supply to the rotary cutting drive device.

[0042] In some embodiments, the power supply system 3 may also include a power battery (for example, a large-capacity battery pack) arranged on the UAV 1 and used to power the UAV 1 and the cutting mechanism 2. When a power battery is provided, the aforementioned UAV power cord 32, the driving device power cord 31 and the telescopic device power cord can be omitted, so that the flight range of the UAV 1 is not restricted by the power cord, thereby further improving the autonomy and operational flexibility of the UAV 1.

[0043] Of course, the power battery and the above-mentioned power cords can also be used in the same cutting device at the same time. For example, the power battery can be used first. When the power battery is exhausted, the power cord can be connected to continue to provide operating power for the cutting device. You can even add additional power cords to charge the power battery.

[0044] In some embodiments, the cutting device may include a processing device that is communicatively connected to the drone 1 and the cutting mechanism 2 and is configured to: Determine the height of the top cutting position B of the target crop from the ground; Determine the target ground height of the drone 1 according to the ground height of the tip cutting position B, the real-time ground height of the drone 1, and the preset height difference between the drone 1 and the cutting structure 22; The drone 1 is moved to a target height above the ground so that the cutting structure 22 can cut the target crop from the tip cutting position B.

[0045] It should be noted that, based on the foregoing, the drone 1 can monitor its real-time height above the ground, so the processing device can obtain the real-time height above the ground of the drone 1 from the drone laser radar or the flight controller of the drone 1 through the communication connection with the drone 1 through the processing device. The height above the ground of the tip cutting position B can be pre-stored in the processing device, or can be input into the processing device in real time by the user, or can be detected in real time by sensors, etc., and this application does not limit this. In addition, the preset height difference between the drone 1 and the cutting structure 22 has been determined after the tip cutting device leaves the factory, so it can be pre-stored in the processing device.

[0046] If the real-time ground height of the drone 1 is set to H1, and the preset height difference between the drone 1 and the cutting structure 22 is set to H2, the real-time ground height of the cutting structure 22 is H1-H2. When the ground height of the tip cutting position B and the real-time ground height of the cutting structure 22 are determined, the height difference between the cutting structure 22 and the tip cutting position B can be obtained by calculating the difference, and further, the target ground height of the drone 1 can be calculated based on the real-time ground height of the drone 1 and the height difference.

[0047] Through the setting of this embodiment, the tip cutting device can adaptively adjust the real-time ground height of the drone 1 according to different tip cutting positions B, ensuring that the cutting structure 22 can be aligned with the tip cutting position B for cutting, which can not only ensure the cutting accuracy, but also improve the position adjustment efficiency of the cutting structure 22.

[0048] In some embodiments, reference Figure 2 , the processing device can also be configured as: Determine the height of the top growth position A of the target crop from the ground; The height of the tip cutting position B from the ground is determined based on the height of the tip growth position A from the ground and the preset cutting distance.

[0049] It should be noted that the height of the tip growth position A from the ground can be pre-stored in the processing device, or can be input into the processing device in real time by the user, or can be detected in real time by a sensor, etc., and this application does not limit this. In addition, the preset cutting distance can be pre-stored in the processing device, or can be input into the processing device in real time by the user, and this application does not limit this.

[0050] Through the setting of this embodiment, in order to determine the height of the tip cutting position B above the ground, the method adopted is to first determine the height of the tip growth position A above the ground, and then determine the height of the tip cutting position B above the ground in combination with the preset cutting distance. This is because in actual operation, it is relatively easier to identify the position of the tip growth position A.

[0051] In some embodiments, the toe cutting device may further include an identification system in communication with the processing device, the identification system being configured to: Constructing an initial three-dimensional model of a farmland containing target crops and determining the height of the target crops; Obtain a depth map of the target crop and identify the tip growth position A; Generating a revised 3D model by aligning the initial 3D model with the depth map; The height of the tip growth position A from the ground is determined based on the position of the tip growth position A in the revised three-dimensional model and the position of the ground of the farmland in the revised three-dimensional model.

[0052] Through the configuration of this embodiment, a more accurate three-dimensional model can be obtained by aligning the initial three-dimensional model with the depth map to generate a modified three-dimensional model, so that more accurate data can be obtained when the height above the ground of the tip growth position A is calculated next, which is conducive to ensuring cutting accuracy. In addition, the tip cutting device can automatically and accurately identify different tip growth positions A, and then determine the tip cutting position B according to the tip growth position A, and then adaptively adjust the real-time height above the ground of the drone 1 to ensure that the cutting structure 22 can be aligned with the tip cutting position B for cutting, which can not only ensure cutting accuracy, but also improve the position adjustment efficiency of the cutting structure 22.

[0053] Furthermore, the recognition system can also be configured as: Obtaining measurement data of the inertial measurement unit and the global positioning system of UAV 1; The revised 3D model is generated by fusing the measurement data of the inertial measurement unit and the global positioning system, the initial 3D model and the depth map.

[0054] As an example, the above-mentioned recognition system can be set as a multi-sensor fusion measurement and control system, which may include a binocular vision camera, a laser radar (which can be a drone laser radar or an additional one), an inertial measurement unit and a global positioning system (i.e., Global Positioning System, generally referred to as GPS) arranged on the drone 1.

[0055] Specifically, the point cloud data of the farmland containing the target crops can be obtained by laser radar to construct the initial three-dimensional model of the farmland and obtain the height of the target crops. In addition, the depth information (i.e., depth map) of the two-dimensional image of the target crops can be obtained by binocular vision camera, and the tip growth position A can be determined by feature point matching and parallax calculation.

[0056] Then, the inertial measurement unit provides the attitude and motion state information of the drone 1 to ensure that the data deviation of the laser radar and the binocular vision camera is corrected in complex terrain or unstable flight, while the global positioning system can align the absolute positions of the laser radar and the binocular vision camera. The above data are fused through a multi-sensor information fusion algorithm model, that is, based on the measurement data of the inertial measurement unit and the global positioning system, the initial three-dimensional model constructed by the laser radar is aligned with the depth map obtained by the binocular vision camera, so as to correct the initial three-dimensional model and generate a more accurate corrected three-dimensional model.

[0057] Finally, the growth point cloud corresponding to the tip growth position A is extracted from the corrected three-dimensional model, and the lowest point cloud in the corrected three-dimensional model, that is, the ground point cloud of the farmland, is extracted. The height of the tip growth position A from the ground can be calculated based on the height difference between the growth point cloud and the ground point cloud.

[0058] In some embodiments, the topping device may further include an identification system capable of identifying the tilt angle of the target crop, and the processing device is communicatively connected to the identification system, and the processing device may be configured as follows: Determining a target pitch angle of the cutting structure 22 according to the inclination angle of the target crop; The pitch angle of the cutting structure 22 is adjusted to the target pitch angle by adjusting the posture of the drone 1 .

[0059] Through the arrangement of this embodiment, the cutting device can automatically adjust the pitch angle of the cutting structure 22 according to the different inclination angles of the target crops, so as to better adapt to the cutting operation of target crops with different inclination postures (such as fallen sugarcane, etc.), which is beneficial to improving the cutting accuracy and cutting efficiency.

[0060] In some embodiments, the top cutting device may further include an identification system capable of identifying the inclination angle of the target crop, and the top cutting mechanism 2 may further include a pitch angle adjustment structure for adjusting the pitch angle of the cutting structure 22. In this case, the processing device is communicatively connected with the pitch angle adjustment structure and the identification system, and the processing device is further configured as follows: Determining a target pitch angle of the cutting structure 22 according to the inclination angle of the target crop; The pitch angle adjustment structure is controlled to adjust the pitch angle of the cutting structure 22 to a target pitch angle.

[0061] Through the arrangement of this embodiment, similarly, the cutting device can automatically adjust the pitch angle of the cutting structure 22 according to the different inclination angles of the target crops, so as to better adapt to the cutting operation of target crops with different inclination postures, which is beneficial to improving the cutting accuracy and cutting efficiency.

[0062] For example, when the pitch angle adjustment structure adopts the telescopic device 28, the processing device can be communicatively connected with the telescopic device 28, so as to realize automatic control of the telescopic device 28 by the processing device.

[0063] Reference Figure 1 The present application also provides an agricultural machine, which comprises: Body 4; and at least one topping device as described above; Among them, the vehicle body 4 is provided with a power supply device electrically connected to the cutting device and / or a controller communicatively connected to the cutting device. The controller can, for example, control the UAV 1 and the cutting drive device 23 in the cutting mechanism 2, the telescopic device 28 in the pitch angle adjustment structure, etc.

[0064] In some embodiments, for complex harvesting areas (e.g., harvesting areas with complex sugarcane tip distribution such as high sugarcane planting density or large sugarcane tip height span), multiple tip cutting devices can be configured in the same agricultural machinery to collaboratively perform tip cutting operations, thereby improving the adaptability and cutting efficiency of the agricultural machinery.

[0065] Reference Figure 6 The present application also provides a tip cutting control method, which is used to control the drone 1 and the tip cutting mechanism 2 connected to the drone 1, and includes: Step S1: determining the height above the ground of the cutting position B of the top of the target crop; Step S2: determining a target ground height of the drone 1 according to the ground height of the tip cutting position B, the real-time ground height of the drone 1, and a preset height difference between the drone 1 and the cutting structure 22 in the tip cutting mechanism 2; Step S3: Move the drone 1 to a target height above the ground so that the cutting structure 22 can cut the target crop from the tip cutting position B.

[0066] In some embodiments, step S1 may include: Step S11: determining the height above the ground of the growth position A of the top of the target crop; Step S12: determining the height of the tip cutting position B from the ground according to the height of the tip growth position A from the ground and a preset cutting distance.

[0067] In some embodiments, step S11 may include: Step S111: constructing an initial three-dimensional model of the farmland containing the target crop and determining the height of the target crop; Step S112: obtaining a depth map of the target crop and identifying the tip growth position A; Step S113: aligning the initial 3D model with the depth map to generate a modified 3D model; Step S114: determining the height of the tip growth position A from the ground according to the position of the tip growth position A in the revised three-dimensional model and the position of the ground of the farmland in the revised three-dimensional model.

[0068] In some embodiments, step S113 may include: Step S1131: Acquire measurement data of the inertial measurement unit and the global positioning system of the drone 1; Step S1132: Generate a revised 3D model by fusing the measurement data of the inertial measurement unit and the global positioning system, the initial 3D model and the depth map.

[0069] In some embodiments, the toe cutting control method may further include: Step S1': determining a target pitch angle of the cutting structure 22 according to the inclination angle of the target crop; Step S2 ′: adjusting the pitch angle of the cutting structure 22 to the target pitch angle by adjusting the posture of the drone 1 and / or by controlling the pitch angle adjustment structure in the cutting mechanism 2 .

[0070] The present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the tip cutting control method according to any one of claims 1 to 4.

[0071] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0072] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0073] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0074] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0075] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0076] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0077] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0078] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0079] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling the cutting of the tops, characterized in that: The tipping control method is used to control a drone (1) and a tipping mechanism (2) connected to the drone (1), and comprises: Determine the height above ground of the tip cutting position (B) of the target crop; Determining a target ground height of the drone (1) based on the ground height of the tip cutting position (B), the real-time ground height of the drone (1), and a preset height difference between the drone (1) and the cutting structure (22) in the tip cutting mechanism (2); The drone (1) is moved to the target height above the ground so that the cutting structure (22) can cut the target crop from the tip cutting position (B).

2. The method for controlling the top cutting according to claim 1, characterized in that: Determining the height above ground of the target crop tip cutting position (B) includes: Determining the height above ground of the top growth position (A) of the target crop; The height of the tip cutting position (B) above the ground is determined according to the height of the tip growth position (A) above the ground and a preset cutting distance.

3. The method for controlling the cutting of the tops according to claim 2, characterized in that: Determining the height of the top growth position (A) of the target crop from the ground includes: constructing an initial three-dimensional model of the farmland containing the target crop and determining the height of the target crop; Acquire a depth map of the target crop and identify the tip growth position (A); Generating a revised three-dimensional model by aligning the initial three-dimensional model with the depth map; The height of the tip growth position (A) from the ground is determined according to the position of the tip growth position (A) in the revised three-dimensional model and the position of the ground of the farmland in the revised three-dimensional model.

4. The method for controlling the cutting of the tops according to claim 3, characterized in that: Generating a modified three-dimensional model by aligning the initial three-dimensional model with the depth map comprises: Obtaining measurement data from an inertial measurement unit and a global positioning system of the drone (1); The modified three-dimensional model is generated by fusing the measurement data of the inertial measurement unit and the global positioning system, the initial three-dimensional model and the depth map.

5. The method for controlling the cutting of the tops according to claim 1, characterized in that: The tip cutting control method further comprises: Determining a target pitch angle of the cutting structure (22) according to the inclination angle of the target crop; The pitch angle of the cutting structure (22) is adjusted to the target pitch angle by adjusting the posture of the drone (1) and / or by controlling the pitch angle adjustment structure in the cutting mechanism (2).

6. A cutting device, characterized in that: include: The drone (1) is capable of monitoring its real-time height above the ground; A cutting mechanism (2), connected to the drone (1) and comprising a cutting structure (22); A processing device is communicatively connected to the drone (1) and the cutting mechanism (2), and is configured as follows: Determine the height above ground of the tip cutting position (B) of the target crop; Determining a target ground height of the drone (1) according to the ground height of the tip cutting position (B), the real-time ground height of the drone (1), and a preset height difference between the drone (1) and the cutting structure (22); The drone (1) is moved to the target height above the ground so that the cutting structure (22) can cut the target crop from the tip cutting position (B).

7. The topping device according to claim 6, characterized in that: The processing device is further configured to: Determining the height above ground of the top growth position (A) of the target crop; The height of the tip cutting position (B) above the ground is determined according to the height of the tip growth position (A) above the ground and a preset cutting distance.

8. The topping device according to claim 7, characterized in that: The toe cutting device also includes an identification system in communication with the processing device, wherein the identification system is configured as follows: constructing an initial three-dimensional model of the farmland containing the target crop and determining the height of the target crop; Acquire a depth map of the target crop and identify the tip growth position (A); Generating a revised three-dimensional model by aligning the initial three-dimensional model with the depth map; The height of the tip growth position (A) from the ground is determined according to the position of the tip growth position (A) in the revised three-dimensional model and the position of the ground of the farmland in the revised three-dimensional model.

9. The topping device according to claim 8, characterized in that: The identification system is also configured to: Obtaining measurement data from an inertial measurement unit and a global positioning system of the drone (1); The modified three-dimensional model is generated by fusing the measurement data of the inertial measurement unit and the global positioning system, the initial three-dimensional model and the depth map.

10. The topping device according to claim 6, characterized in that: The topping device further comprises an identification system capable of identifying the inclination angle of the target crop, and the processing device is communicatively connected with the identification system and is further configured as follows: Determining a target pitch angle of the cutting structure (22) according to the inclination angle of the target crop; The pitch angle of the cutting structure (22) is adjusted to the target pitch angle by adjusting the posture of the drone (1).

11. The topping device according to claim 6, characterized in that: The topping device further comprises an identification system capable of identifying the inclination angle of the target crop, the topping mechanism (2) further comprises a pitch angle adjustment structure for adjusting the pitch angle of the cutting structure (22), the processing device is communicatively connected with the identification system and the pitch angle adjustment structure and is further configured as follows: Determining a target pitch angle of the cutting structure (22) according to the inclination angle of the target crop; The pitch angle adjustment structure is controlled to adjust the pitch angle of the cutting structure (22) to the target pitch angle.

12. The topping device according to claim 11, characterized in that The cutting mechanism (2) further comprises a support structure (21) supporting the cutting structure (22); the pitch angle adjustment structure comprises a telescopic device (28), a first body hinge (24) and a second body hinge connected to the UAV (1) at intervals in the transverse direction, and a first support hinge (25) and a second support hinge (26) connected to the support structure (21) at intervals in the transverse direction; the first body hinge (24) and the first support hinge (25) are respectively hinged to two ends of the telescopic device (28); the second body hinge is hinged to the second support hinge (26); and the processing device is communicatively connected to the telescopic device (28).

13. Agricultural machinery, characterized in that include: Body (4); and at least one topping device according to any one of claims 6 to 12; Wherein, the vehicle body (4) is provided with a power supply device electrically connected to the top cutting device and / or a controller communicatively connected to the top cutting device.

14. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, and the instructions are used to enable a machine to execute the topping control method according to any one of claims 1 to 5.

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