Pruning control methods, pruning devices, agricultural machinery, and machine-readable storage media

Abstract

This application relates to the field of agricultural machinery and discloses a shoot trimming control method, a shoot trimming device, agricultural machinery, and a machine-readable storage medium. The shoot trimming control method is used to control a drone and a shoot trimming mechanism connected to the drone, and includes: determining the ground clearance of the shoot trimming position of the target crop; determining the target ground clearance of the drone based on the ground clearance of the shoot trimming position, the real-time ground clearance of the drone, and a preset height difference between the drone and the cutting structure in the shoot trimming mechanism; and moving the drone to the target ground clearance so that the cutting structure can cut the target crop from the shoot trimming position. This application ensures that the cutting structure cuts at different target shoot trimming positions, guaranteeing cutting accuracy and improving the position adjustment efficiency of the cutting structure. It reduces the occurrence of over-cutting, under-cutting, or missed cutting, and also improves adaptability to different harvesting environments.

Description

Technical Field

[0001] This application belongs to the field of agricultural machinery technology, and specifically relates to a topping control method, a topping device, agricultural machinery, and a machine-readable storage medium. Background Technology

[0002] Existing sugarcane harvesters require a top cutter at the front of the machine to cut the sugarcane tops when harvesting sugarcane. Before harvesting, the height of the top cutter off the ground needs to be fixed. Therefore, when cutting sugarcane with different top heights off the ground, the height of the top cutter off the ground cannot be adjusted quickly and frequently, resulting in low cutting accuracy and failing to meet the requirements of varied harvesting operations. Summary of the Invention

[0003] The purpose of this application is to provide a topping control method, topping device, agricultural machinery, and machine-readable storage medium that enables adaptive adjustment of the topping device's ground clearance.

[0004] To achieve the above objectives, this application provides a tip-cutting control method for controlling a drone and a tip-cutting mechanism connected to the drone, and includes:

[0005] Determine the ground height of the cut point for the top of the target crop;

[0006] The target ground clearance of the UAV is determined based on the ground clearance of the tip cutting position, the real-time ground clearance of the UAV, and the preset height difference between the UAV and the cutting structure in the tip cutting mechanism.

[0007] The drone is moved to the target altitude so that the cutting structure can cut the target crop from the tip cutting position.

[0008] In some implementations, determining the ground clearance of the top cut point of the target crop includes:

[0009] Determine the height of the top part of the target crop above the ground;

[0010] The height above the ground of the cutting position of the tip is determined based on the height above the ground of the tip growth position and the preset cutting distance.

[0011] In some implementations, determining the height above the ground of the top growth position of the target crop includes:

[0012] Construct an initial three-dimensional model of farmland containing the target crop and determine the height of the target crop;

[0013] Obtain a depth map of the target crop and identify the location of the shoot growth;

[0014] A corrected 3D model is generated by aligning the initial 3D model with the depth map.

[0015] The height of the shoot growth position above the ground is determined based on the position of the shoot growth position in the modified 3D model and the position of the farmland ground in the modified 3D model.

[0016] In some implementations, generating a corrected 3D model by aligning the initial 3D model and the depth map includes:

[0017] Acquire measurement data from the inertial measurement unit and global positioning system of the UAV;

[0018] The corrected 3D model is generated by fusing measurement data from the inertial measurement unit and the global positioning system, the initial 3D model, and the depth map.

[0019] In some embodiments, the tip-cutting control method further includes:

[0020] The target pitch angle of the cutting structure is determined based on the tilt angle of the target crop;

[0021] The pitch angle of the cutting structure is adjusted to the target pitch angle by adjusting the attitude of the UAV and / or by controlling the pitch angle adjustment structure in the cutting mechanism.

[0022] A second aspect of this application also provides a tip-cutting device, comprising:

[0023] Drones can monitor their own real-time altitude above the ground;

[0024] A tip-cutting mechanism, connected to the UAV and including a cutting structure;

[0025] The processing device is communicatively connected to the UAV and the tip-cutting mechanism, and is configured as follows:

[0026] Determine the ground height of the cut point for the top of the target crop;

[0027] The target ground clearance of the UAV is determined based on the ground clearance of the cutting position at the tip, the real-time ground clearance of the UAV, and the preset height difference between the UAV and the cutting structure.

[0028] The drone is moved to the target altitude so that the cutting structure can cut the target crop from the tip cutting position.

[0029] In some embodiments, the processing device is further configured to:

[0030] Determine the height of the top part of the target crop above the ground;

[0031] The height above the ground of the cutting position of the tip is determined based on the height above the ground of the tip growth position and the preset cutting distance.

[0032] In some embodiments, the tip-cutting device further includes an identification system communicatively connected to the processing device, the identification system being configured to:

[0033] Construct an initial three-dimensional model of farmland containing the target crop and determine the height of the target crop;

[0034] Obtain a depth map of the target crop and identify the location of the shoot growth;

[0035] A corrected 3D model is generated by aligning the initial 3D model with the depth map.

[0036] The height of the shoot growth position above the ground is determined based on the position of the shoot growth position in the modified 3D model and the position of the farmland ground in the modified 3D model.

[0037] In some embodiments, the identification system is further configured to:

[0038] Acquire measurement data from the inertial measurement unit and global positioning system of the UAV;

[0039] The corrected 3D model is generated by fusing measurement data from the inertial measurement unit and the global positioning system, the initial 3D model, and the depth map.

[0040] In some embodiments, the tip-cutting device further includes 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 further configured to:

[0041] The target pitch angle of the cutting structure is determined based on the tilt angle of the target crop;

[0042] The pitch angle of the cutting structure is adjusted to the target pitch angle by adjusting the attitude of the drone.

[0043] In some embodiments, the tip trimming device further includes an identification system capable of identifying the tilt angle of the target crop, and the tip trimming mechanism further includes a pitch angle adjustment structure for adjusting the pitch angle of the cutting structure. The processing device is communicatively connected to the identification system and the pitch angle adjustment structure and is further configured to:

[0044] The target pitch angle of the cutting structure is determined based on the tilt angle of the target crop;

[0045] The pitch angle adjustment structure is controlled to adjust the pitch angle of the cutting structure to the target pitch angle.

[0046] In some embodiments, the tip-cutting mechanism further includes a support structure supporting the cutting structure. The pitch angle adjustment structure includes a telescopic device, a first body hinge and a second body hinge connected laterally to the UAV, and a first support hinge and a second support hinge connected laterally to the support structure. The first body hinge and the first support hinge are respectively hinged to both 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.

[0047] A third aspect of this application also provides agricultural machinery, comprising:

[0048] Vehicle body; and

[0049] At least one of the above-mentioned tip-cutting devices;

[0050] The vehicle body is equipped with a power supply device electrically connected to the tip trimming device and / or a controller communicatively connected to the tip trimming device.

[0051] A fourth aspect of this application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described tipping control method.

[0052] Through the above technical solution, the tip-cutting control method of this 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 clearance of the UAV according to different tip-cutting positions, ensuring that the cutting structure can be aligned with the tip-cutting position for cutting. This not only ensures cutting accuracy but also improves the position adjustment efficiency of the cutting structure, reducing phenomena such as over-cutting, under-cutting, or missed cutting, and also improves adaptability to different harvesting operation environments.

[0053] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0054] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0055] Figure 1 This is a schematic diagram of an agricultural machine according to a specific embodiment of this application;

[0056] Figure 2 For those who need to utilize Figure 1 A schematic diagram of the crop-cutting device cutting the target crop.

[0057] Figure 3 This is a schematic diagram of a tip-cutting mechanism according to a specific embodiment of this application;

[0058] Figure 4 (a) is a schematic diagram of a cutting mechanism with a connecting rod according to a specific embodiment of this application. Figure 4 (b) is a schematic diagram of another clipping mechanism with a connecting rod according to a specific embodiment of this application, wherein, Figure 4 The connecting rod in (a) and Figure 4 The lengths of the connecting rods in (b) are different;

[0059] Figure 5 (a) is a schematic diagram of a tip-cutting mechanism with a telescopic device according to a specific embodiment of this application. Figure 5 (b) is a schematic diagram of another tip-cutting mechanism with a telescopic device according to a specific embodiment of this application, wherein, Figure 5 The telescopic device in (b) is compared to Figure 5 The telescopic device in (a) is extended;

[0060] Figure 6 This is a flowchart of a tip-cutting control method in a specific embodiment of this application.

[0061] Explanation of reference numerals in the attached figures

[0062] 1. Unmanned Aerial Vehicle (UAV) 2. Trimming Mechanism

[0063] 3 Power supply system 4 Vehicle body

[0064] 21 Support structure 22 Cutting structure

[0065] 23 Cutting drive equipment 24 First machine body hinge

[0066] 25 First support hinge 26 Second support hinge

[0067] 27-link 28-telescopic device

[0068] 31 Power cord for drive equipment 32 Power cord for drone

[0069] A. Location of shoot growth B. Location of shoot cutting Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0071] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0072] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0073] Reference Figures 1 to 5 This application provides a tip-cutting device, which includes:

[0074] Drone 1;

[0075] A tip-cutting mechanism 2, connected to the drone 1 (for example, the tip-cutting mechanism 2 can be connected to the bottom of the drone 1), includes a support structure 21, a cutting structure 22, and a cutting drive device 23. The cutting drive device 23 is mounted on the support structure 21 and is used to drive the cutting structure 22 to perform a cutting action; and

[0076] The power supply system 3 is used to provide operating power for the UAV 1 and the tipping mechanism 2.

[0077] With the above configuration, the topping device of this application does not need to be mechanically connected to the vehicle body 4 of the agricultural machinery during use. Instead, the topping mechanism 2 is carried by the drone 1, and the drone 1 adjusts the position of the topping mechanism 2. Compared with traditional topping devices, the topping device of this application greatly reduces the weight by eliminating the connecting arm and the pin mechanism, which greatly reduces the load on the vehicle body 4, effectively improves the flexibility of the vehicle body 4, and also reduces the overall fuel consumption and maintenance costs.

[0078] Furthermore, when dealing with crops with shoots of varying heights, the shoot trimming device of this application can quickly and conveniently adjust the height of the shoot trimming mechanism 2 off the ground by using the lift of the drone 1, thereby effectively improving the trimming accuracy, reducing over-cutting, under-cutting, or missed-cutting phenomena, and also improving adaptability to different harvesting environments.

[0079] Furthermore, when the tip-cutting device of this application is used for lifting and lowering using a drone, since there is no mechanical connection between it and the vehicle body 4, it will not cause any impact to the vehicle body 4 during the lifting and lowering process.

[0080] It should be noted that the stalk-cutting device of this application can be used to cut the sugarcane stalks, and can also be used to cut the stalks of other types of crops. In other words, this application does not limit the applicable scenarios of the stalk-cutting device. As an example, when the stalk-cutting device of this application is used for sugarcane stalk cutting, the stalk-cutting device can work in conjunction with the vehicle body of the sugarcane harvester. When carrying out sugarcane harvesting operations, the UAV 1 can use its own equipped UAV lidar and ultrasonic sensors to obtain the real-time ground clearance of the UAV 1 and the relative distance between the UAV 1 and the front and rear. Then, the UAV 1 can adjust its position to be a certain distance in front of the vehicle cab and a certain height above the ground, maintaining the initial position for safe operation. When it is necessary to cut sugarcane stalks of different heights, the UAV 1 can adjust the ground clearance of the stalk-cutting mechanism 2 by raising and lowering.

[0081] In some embodiments, the tip trimming 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 applicability of the tip trimming device of this application. For example, for crops with a tilted posture (such as lodged sugarcane), more precise tip trimming accuracy can be obtained by adjusting the cutting angle of the cutting structure 22 on the crop.

[0082] In some embodiments, refer to Figure 4 The pitch angle adjustment structure may include a first body hinge 24 and a second body hinge (not shown in the figures) connected laterally to the UAV 1 at intervals, a first support hinge 25 and a second support hinge 26 connected laterally to the support structure 21 at intervals, and a plurality of connecting rods 27 of different lengths that can be selectively installed. The first body hinge 24 and the first support hinge 25 are respectively hinged to both ends of one of the connecting rods 27, and the second body hinge is hinged to the second support hinge 26. Therefore, by replacing the connecting rods 27 of different lengths, the pitch angle of the cutting structure 22 can be adjusted.

[0083] For example, if the initial pitch adjustment structure used was Figure 4(a) With the relatively shorter connecting rod 27, the cutting structure 22 is in a horizontal position. When it is necessary to cut crops with an inclined posture, the connecting rod 27 can be used to cut the crops. Figure 4 In (a), the connecting rod 27 is removed, and the support structure 21 is rotated about the hinge point between the second body hinge and the second support hinge 26, and then replaced. Figure 4 (b) The relatively long connecting rod 27 allows the cutting structure 22 to be adjusted to an inclined state.

[0084] It should be noted that this 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 can be connected to the bottom of the UAV 1, and the first support hinge 25 and the second support hinge 26 can be connected to the top of the support structure 21.

[0085] In some embodiments, refer to Figure 5 The pitch angle adjustment structure may include a telescopic device 28, a first body hinge 24 and a second body hinge connected laterally to the UAV 1 at intervals, and a first support hinge 25 and a second support hinge 26 connected laterally to the support structure 21 at intervals. The first body hinge 24 and the first support hinge 25 are hinged to both ends of the telescopic device 28, and the second body hinge is hinged to the second support hinge 26. At this time, the pitch angle adjustment is achieved by extending or retracting the telescopic device 28 (e.g., from...). Figure 5 (a) The length of the telescopic device 28 shown is extended as follows: Figure 5 (b) The length of the telescopic device 28 shown is such that the support structure 21 can rotate around the hinge point between the second body hinge and the second support hinge 26, thereby enabling the adjustment of the pitch angle of the cutting structure 22 and allowing real-time adjustment during operation, which is beneficial to improving the adaptability of the cutting device to complex working conditions.

[0086] It should be noted that this application does not limit the specific type of telescopic device 28, such as electric push rod, linear motor, hydraulic rod, etc.

[0087] In some embodiments, the tip trimming device can also adjust the pitch angle of the cutting structure 22 by adjusting the attitude of the UAV 1. In this case, the aforementioned pitch angle adjustment structure is not required, thereby further reducing the weight of the tip trimming device and lowering manufacturing costs. These two functions can also be combined in the same tip trimming device; that is, the tip trimming device can have both a pitch angle adjustment structure and the ability to adjust the pitch angle of the cutting structure 22 by adjusting the attitude of the UAV 1.

[0088] In some embodiments, refer to Figure 3The support structure 21 is formed as a support cylinder, the cutting structure 22 is formed as a cutting disc disposed at the end of the support cylinder, and the cutting drive device 23 is formed as a rotary cutting drive device disposed inside the support cylinder and used to drive the cutting disc to rotate and cut. By driving the cutting disc to rotate and cut using the rotary cutting drive device, the cutting capability can be enhanced, and there is no need to rely more on the power provided by the UAV to ensure the cutting effect, thereby reducing the power requirements of the UAV.

[0089] In some embodiments, the aforementioned rotary cutting drive device can employ different types of equipment such as electric motors and / or hydraulic motors. For example, when dealing with densely planted crops (such as sugarcane), the cutting resistance is relatively greater. Therefore, the rotary cutting drive device is usually required to provide stronger power to ensure the cutting force of the cutting disc. In this case, a hydraulic motor can be used as the rotary cutting drive device, which can better adapt to high-load operating conditions and ensure the cutting effect on crops. Electric motors, on the other hand, do not require hydraulic pipelines, oil tanks, or other hydraulic components, and are relatively lighter, which is beneficial to improving the flexibility of the UAV 1.

[0090] In some embodiments, the power supply system 3 may include a drone power cable 32 and a drive device power cable 31. One end of the drone power cable 32 is connected to the drone 1 and the other end is used to connect to an external power supply device. One end of the drive device power cable 31 is connected to a cutting drive device 23 and the other end is used to connect to an external power supply device.

[0091] The power supply equipment described in this embodiment is generally installed on the vehicle body 1 of the agricultural machinery to ensure that the power supply to the drone 1 and the drive equipment power line 31 is continuously supplied for a long time during the cutting operation, supporting the long-term operation of the tip cutting device.

[0092] When the tip-cutting device is also equipped with the aforementioned pitch angle adjustment structure and the pitch angle adjustment structure is equipped with an electrically controlled telescopic device 28, the power supply system 3 may also include a telescopic device power cord (not shown in the attached figure). One end of the telescopic device power cord is connected to the cutting telescopic device 28 and the other end is used to connect to an external power supply device, so that the power supply device can continuously supply power to the electrically controlled telescopic device 28 for a long time.

[0093] In some embodiments, a wire passage groove can be provided on the peripheral wall of the support cylinder. In this case, one end of the power cord 31 of the drive device can pass through the wire passage groove to connect to the rotary cutting drive device, ensuring that the rotary cutting drive device can be continuously powered for a long time even when it is installed in the support cylinder for compact installation.

[0094] In some embodiments, the power supply system 3 may also include a power battery (e.g., a large-capacity battery pack) installed on the UAV 1 and used to power the UAV 1 and the tipping mechanism 2. With the power battery, the aforementioned UAV power cable 32, drive device power cable 31 and telescopic device power cable can be omitted, so that the flight range of the UAV 1 is not restricted by the power cable, thereby further improving the autonomy and operational flexibility of the UAV 1.

[0095] Of course, the power battery and the various power cables mentioned above can also be used in the same cutting device. For example, the power battery can be used first, and when the power battery is depleted, the power cable can be connected to continue to provide power for the cutting device. In fact, an additional power cable can be added to charge the power battery.

[0096] In some embodiments, the tip trimming device may include a processing device communicatively connected to the UAV 1 and the tip trimming mechanism 2, and configured to:

[0097] Determine the ground height of the top cutting point B of the target crop;

[0098] The target ground clearance of UAV 1 is determined based on the ground clearance of the cutting position B at the tip, the real-time ground clearance of UAV 1, and the preset height difference between UAV 1 and the cutting structure 22.

[0099] The drone 1 is moved to the target altitude so that the cutting structure 22 can cut the target crop from the tip cutting position B.

[0100] It should be noted that, based on the foregoing, UAV 1 can monitor its own real-time ground clearance. Therefore, through a communication connection with the processing device, the processing device can obtain the real-time ground clearance of UAV 1 from the UAV's lidar or the flight controller of UAV 1. The ground clearance of the tip cutting position B can be pre-stored in the processing device, or it can be input into the processing device in real time by the user, or it can be detected in real time by sensors, etc. This application does not impose any restrictions on this. In addition, the preset height difference between UAV 1 and the cutting structure 22 is determined after the tip cutting device leaves the factory, so it can be pre-stored in the processing device.

[0101] If we set the real-time ground clearance of UAV 1 as H1 and the preset height difference between UAV 1 and cutting structure 22 as H2, then the real-time ground clearance of cutting structure 22 is H1-H2. Given the ground clearance of the tip cutting position B and the real-time ground clearance of cutting structure 22, the height difference between cutting structure 22 and tip cutting position B can be obtained by calculating the difference. Furthermore, the target ground clearance of UAV 1 can be calculated based on the real-time ground clearance of UAV 1 and this height difference.

[0102] With the configuration of this embodiment, the tip-cutting device can adaptively adjust the real-time ground clearance of the UAV 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 both ensure cutting accuracy and improve the position adjustment efficiency of the cutting structure 22.

[0103] In some embodiments, refer to Figure 2 The processing equipment can also be configured as follows:

[0104] Determine the height above the ground of the top growth position A of the target crop;

[0105] The height of the cutting position B above the ground is determined based on the height of the shoot growth position A above the ground and the preset cutting distance.

[0106] It should be noted that the height of the shoot growth position A above the ground can be pre-stored in the processing equipment, or input into the processing equipment in real time by the user, or detected in real time by sensors, etc., and this application does not impose any restrictions on this. In addition, the preset cutting distance can be pre-stored in the processing equipment, or input into the processing equipment in real time by the user, and this application does not impose any restrictions on this.

[0107] In this embodiment, to determine the height of the tip cutting position B above the ground, the method used is to first determine the height of the tip growth position A above the ground, and then combine the preset cutting distance to determine the height of the tip cutting position B above the ground. This is because in actual operation, it is relatively easier to identify the position of the tip growth position A.

[0108] In some embodiments, the tipping device may further include an identification system communicatively connected to the processing device, the identification system being configured to:

[0109] Construct an initial 3D model of farmland containing the target crop and determine the height of the target crop;

[0110] Obtain a depth map of the target crop and identify the shoot growth location A;

[0111] A corrected 3D model is generated by aligning the initial 3D model and the depth map.

[0112] The height of the shoot growth position A above the ground is determined based on the position of the shoot growth position A in the modified 3D model and the position of the farmland ground in the modified 3D model.

[0113] By aligning the initial 3D model with the depth map to generate a corrected 3D model, a more accurate 3D model can be obtained. This allows for more precise data when calculating the ground clearance of the shoot growth position A, thus ensuring cutting accuracy. Furthermore, the shoot trimming device can automatically and accurately identify different shoot growth positions A. Subsequently, the shoot cutting position B can be determined based on shoot growth position A, and the real-time ground clearance of the UAV 1 can be adaptively adjusted to ensure that the cutting structure 22 is aligned with the shoot cutting position B for cutting. This ensures both cutting accuracy and improves the position adjustment efficiency of the cutting structure 22.

[0114] Furthermore, the identification system can also be configured as follows:

[0115] Acquire measurement data from the inertial measurement unit and global positioning system of UAV 1;

[0116] A corrected 3D model is generated by fusing measurement data from the inertial measurement unit and the global positioning system, the initial 3D model, and the depth map.

[0117] As an example, the aforementioned identification system can be configured as a multi-sensor fusion measurement and control system, which may include a binocular vision camera, a lidar (which may be the lidar of the drone or an additional device), an inertial measurement unit, and a global positioning system (generally referred to as GPS) installed on the UAV 1.

[0118] Specifically, point cloud data of farmland containing the target crop can be obtained using LiDAR to construct an initial 3D model of the farmland and determine the height of the target crop. Furthermore, depth information (i.e., a depth map) of a 2D image of the target crop can be obtained using a binocular vision camera, and the shoot growth position A can be determined using feature point matching and disparity calculation.

[0119] Then, the attitude and motion status information of UAV 1 is provided through the inertial measurement unit (IMU) to ensure the correction of data deviations between the LiDAR and the binocular vision camera in complex terrain or unstable flight conditions, while the global positioning system (GPS) can register the absolute positions of the LiDAR and the binocular vision camera. The above data is then fused using a multi-sensor information fusion algorithm model. That is, based on the measurement data from the IMU and GPS, the initial 3D model constructed by the LiDAR is aligned with the depth map acquired by the binocular vision camera, thereby correcting the initial 3D model and generating a more accurate corrected 3D model.

[0120] Finally, the growth point cloud corresponding to the shoot growth position A is extracted from the modified 3D model, and the lowest point cloud in the modified 3D model, i.e. the ground point cloud of the farmland, is extracted. The height of the shoot growth position A above the ground can then be calculated based on the height difference between the growth point cloud and the ground point cloud.

[0121] In some embodiments, the topping device may further include an identification system capable of identifying the tilt angle of the target crop, in which case the processing device is communicatively connected to the identification system, and the processing device may be configured to:

[0122] The target pitch angle of the cutting structure 22 is determined based on the tilt angle of the target crop;

[0123] The pitch angle of the cutting structure 22 is adjusted to the target pitch angle by adjusting the attitude of the UAV 1.

[0124] With the configuration of this embodiment, the tip-cutting device can automatically adjust the pitch angle of the cutting structure 22 according to the different tilt angles of the target crop, thereby better adapting to the cutting operation of target crops with different tilt postures (such as lodged sugarcane), which is conducive to improving cutting accuracy and cutting efficiency.

[0125] In some embodiments, the topping device may further include a recognition system capable of identifying the tilt angle of the target crop, and the topping 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 to the pitch angle adjustment structure and the recognition system, and the processing device is further configured to:

[0126] The target pitch angle of the cutting structure 22 is determined based on the tilt angle of the target crop;

[0127] The pitch angle adjustment structure is controlled to adjust the pitch angle of the cutting structure 22 to the target pitch angle.

[0128] With the configuration of this embodiment, similarly, the tip trimming device can automatically adjust the pitch angle of the cutting structure 22 according to the different tilt angles of the target crop, thereby better adapting to the cutting operation of target crops with different tilt postures, which is conducive to improving cutting accuracy and cutting efficiency.

[0129] For example, when the pitch angle adjustment structure uses telescopic device 28, the processing device can be connected to the telescopic device 28 for communication, thereby realizing the automatic control of the telescopic device 28 by the processing device.

[0130] Reference Figure 1 This application also provides an agricultural machine comprising:

[0131] Car body 4; and

[0132] At least one of the above-mentioned tip-cutting devices;

[0133] The vehicle body 4 is equipped with a power supply device electrically connected to the tip cutting device and / or a controller communicatively connected to the tip cutting device. The controller can, for example, control the UAV 1 and the cutting drive device 23 in the tip cutting mechanism 2, the telescopic device 28 in the pitch angle adjustment structure, etc.

[0134] In some embodiments, for complex harvesting areas (such as harvesting areas with complex sugarcane tops distribution, such as areas with high sugarcane planting density or large span of sugarcane top height), multiple top-cutting devices can be configured in the same agricultural machinery to perform top-cutting operations in coordination, thereby improving the adaptability and cutting efficiency of the agricultural machinery.

[0135] Reference Figure 6 This application also provides a tip-cutting control method for controlling a drone 1 and a tip-cutting mechanism 2 connected to the drone 1, and includes:

[0136] Step S1: Determine the ground height of the top cutting point B of the target crop;

[0137] Step S2: Determine the target ground clearance of UAV 1 based on the ground clearance of the tip cutting position B, the real-time ground clearance of UAV 1, and the preset height difference between UAV 1 and the cutting structure 22 in the tip cutting mechanism 2.

[0138] Step S3: Move the drone 1 to the target ground height so that the cutting structure 22 can cut the target crop from the tip cutting position B.

[0139] In some embodiments, step S1 may include:

[0140] Step S11: Determine the height above the ground of the top growth position A of the target crop;

[0141] Step S12: Determine the ground height of the tip cutting position B based on the ground height of the tip growth position A and the preset cutting distance.

[0142] In some embodiments, step S11 may include:

[0143] Step S111: Construct an initial 3D model of the farmland containing the target crop and determine the height of the target crop;

[0144] Step S112: Obtain a depth map of the target crop and identify the shoot growth position A;

[0145] Step S113: Generate a corrected 3D model by aligning the initial 3D model and the depth map;

[0146] Step S114: Determine the height of the shoot growth position A above the ground based on the position of the shoot growth position A in the modified 3D model and the position of the farmland ground in the modified 3D model.

[0147] In some embodiments, step S113 may include:

[0148] Step S1131: Acquire measurement data from the inertial measurement unit and global positioning system of UAV 1;

[0149] Step S1132: Generate a corrected 3D model by fusing measurement data from the inertial measurement unit and the global positioning system, the initial 3D model, and the depth map.

[0150] In some embodiments, the tip-cutting control method may further include:

[0151] Step S1': Determine the target pitch angle of the cutting structure 22 based on the tilt angle of the target crop;

[0152] Step S2': Adjust the pitch angle of the cutting structure 22 to the target pitch angle by adjusting the attitude of the UAV 1 and / or by controlling the pitch angle adjustment structure in the cutting mechanism 2.

[0153] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the tip-cutting control method according to any one of claims 1 to 4.

[0154] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0155] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0156] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0157] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0158] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0159] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0160] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0161] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0162] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling tip pruning, characterized in that, The tip-cutting control method is used to control the UAV (1) and the tip-cutting mechanism (2) connected to the UAV (1), and includes: Determine the ground height of the cut point (B) at the top of the target crop; The target ground clearance of the UAV (1) is determined based on the ground clearance of the tip cutting position (B), the real-time ground clearance of the UAV (1), and the preset height difference between the UAV (1) and the cutting structure (22) in the tip cutting mechanism (2). The drone (1) is moved to the target height so that the cutting structure (22) can cut the target crop from the tip cutting position (B); Determining the ground height of the top cut position (B) for the target crop includes: Determine the height above the ground of the shoot growth position (A) of the target crop; The height above the ground of the cutting position (B) of the tip is determined based on the height above the ground of the tip growth position (A) and the preset cutting distance; The tip-cutting control method also includes: The target pitch angle of the cutting structure (22) is determined based on the tilt angle of the target crop; The pitch angle of the cutting structure (22) is adjusted to the target pitch angle by adjusting the attitude of the UAV (1) and / or by controlling the pitch angle adjustment structure in the cutting mechanism (2).

2. The tip-cutting control method according to claim 1, characterized in that, Determining the height above the ground of the shoot growth position (A) of the target crop includes: Construct an initial three-dimensional model of farmland containing the target crop and determine the height of the target crop; Obtain a depth map of the target crop and identify the shoot growth position (A); A corrected 3D model is generated by aligning the initial 3D model with the depth map. The height of the shoot growth position (A) above the ground is determined based on the position of the shoot growth position (A) in the modified three-dimensional model and the position of the farmland ground in the modified three-dimensional model.

3. The tip-cutting control method according to claim 2, characterized in that, Generating a corrected 3D model by aligning the initial 3D model and the depth map includes: Acquire measurement data from the inertial measurement unit and global positioning system of the UAV (1); The corrected 3D model is generated by fusing measurement data from the inertial measurement unit and the global positioning system, the initial 3D model, and the depth map.

4. A tip-cutting device, characterized in that, include: The drone (1) is able to monitor its own real-time altitude above the ground; A tip-cutting mechanism (2) is connected to the UAV (1) and includes a cutting structure (22). The processing device is communicatively connected to the UAV (1) and the tip-cutting mechanism (2), and is configured as follows: Determine the ground height of the cut point (B) at the top of the target crop; The target ground clearance of the UAV (1) is determined based on the ground clearance of the tip cutting position (B), the real-time ground clearance of the UAV (1), and the preset height difference between the UAV (1) and the cutting structure (22). The drone (1) is moved to the target height so that the cutting structure (22) can cut the target crop from the tip cutting position (B); The processing device is further configured to: Determine the height above the ground of the shoot growth position (A) of the target crop; The height above the ground of the cutting position (B) of the tip is determined based on the height above the ground of the tip growth position (A) and the preset cutting distance; The crop trimming device further includes an identification system capable of identifying the tilt angle of the target crop and a pitch angle adjustment structure for adjusting the pitch angle of the cutting structure (22). The processing device is communicatively connected to the identification system and the pitch angle adjustment structure and is further configured to: The target pitch angle of the cutting structure (22) is determined based on the tilt angle of the target crop; The pitch angle of the cutting structure (22) is adjusted to the target pitch angle by adjusting the attitude of the UAV (1) and / or by controlling the pitch angle adjustment structure.

5. The tip-cutting device according to claim 4, characterized in that, The tip-cutting device further includes an identification system communicatively connected to the processing device, the identification system being configured as follows: Construct an initial three-dimensional model of farmland containing the target crop and determine the height of the target crop; Obtain a depth map of the target crop and identify the shoot growth position (A); A corrected 3D model is generated by aligning the initial 3D model with the depth map. The height of the shoot growth position (A) above the ground is determined based on the position of the shoot growth position (A) in the modified three-dimensional model and the position of the farmland ground in the modified three-dimensional model.

6. The tip-cutting device according to claim 5, characterized in that, The identification system is also configured to: Acquire measurement data from the inertial measurement unit and global positioning system of the UAV (1); The corrected 3D model is generated by fusing measurement data from the inertial measurement unit and the global positioning system, the initial 3D model, and the depth map.

7. The tip-cutting device according to claim 4, characterized in that, The tip-cutting mechanism (2) further includes a support structure (21) supporting the cutting structure (22). The pitch angle adjustment structure includes a telescopic device (28), a first body hinge (24) and a second body hinge connected laterally to the UAV (1), and a first support hinge (25) and a second support hinge (26) connected laterally to the support structure (21). The first body hinge (24) and the first support hinge (25) are respectively hinged to both ends of the telescopic device (28), and the second body hinge is hinged to the second support hinge (26). The processing device is communicatively connected to the telescopic device (28).

8. Agricultural machinery, characterized in that, include: Vehicle body (4); and At least one tip-cutting device according to any one of claims 4 to 7; The vehicle body (4) is equipped with a power supply device electrically connected to the tip trimming device and / or a controller communicatively connected to the tip trimming device.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the tip-cutting control method according to any one of claims 1 to 3.

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