Tip cutting device and agricultural machine

Abstract

The utility model relates to the field of agricultural machinery, and discloses a tip cutting device and agricultural machinery. The tip cutting mechanism is connected to the unmanned aerial vehicle and comprises a supporting structure, a cutting structure and cutting driving equipment, and the cutting driving equipment is arranged on the supporting structure and used for driving the cutting structure to execute the cutting action; and the power supply system is used for providing operation power for the unmanned aerial vehicle and the tip cutting mechanism. Compared with a traditional tip cutting device, the tip cutting device has the advantages that due to the fact that a connecting arm and a pin shifting mechanism are omitted, the weight is greatly reduced, the vehicle body load bearing of agricultural machinery is greatly reduced, the vehicle body flexibility is effectively improved, and meanwhile the oil consumption and the maintenance cost of the whole machine are reduced. Moreover, when the tip cutting device faces crops with tips of different heights, the height of the tip cutting mechanism above the ground can be rapidly and conveniently adjusted through lifting of the unmanned aerial vehicle, and therefore the tip cutting precision and the adaptability to different harvesting operation environments are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural machinery, and particularly relates to a cutting device and an agricultural machine. BACKGROUND

[0002] The existing sugarcane harvester needs to use a front cutting device to cut the cane stalks when harvesting the sugarcane, but the traditional cutting device contains a large weight and size of the cane poking mechanism and connecting arm, and the cutting device and the cane poking mechanism need to rely on the connecting arm to be connected on the machine body, which not only affects the flexibility of the whole machine, but also increases the oil consumption and maintenance cost. In addition, before the harvesting operation, the ground clearance of the cutting device needs to be fixed, so when cutting the sugarcane with different ground clearances of the cane stalks, the ground clearance of the cutting device cannot be quickly and frequently adjusted, resulting in low cutting precision and failing to meet the changing harvesting requirements. CONTENT OF THE UTILITY MODEL

[0003] The purpose of the present application is to provide a cutting device and an agricultural machine, which can greatly reduce the weight of the cutting device and realize convenient adjustment of the ground clearance of the cutting device.

[0004] In order to achieve the above purpose, the present application provides a cutting device in one aspect, which comprises:

[0005] A UAV;

[0006] A cutting mechanism connected to the UAV and comprising a support structure, a cutting structure and a cutting driving device, the cutting driving device being arranged on the support structure and used to drive the cutting structure to perform a cutting action; and

[0007] A power supply system for providing operating power for the UAV and the cutting mechanism.

[0008] In some embodiments, the cutting mechanism further comprises a pitch angle adjusting structure for adjusting the pitch angle of the cutting structure.

[0009] In some embodiments, the pitch angle adjusting structure comprises a first body hinge and a second body hinge connected to the UAV in transverse spacing, a first support hinge and a second support hinge connected to the support structure in transverse spacing, and a plurality of connecting rods with different lengths and selectively installed, the first body hinge and the first support hinge are respectively hinged with two ends of one of the connecting rods, and the second body hinge is hinged with the second support hinge.

[0010] In some embodiments, the pitch angle adjusting structure comprises a telescopic device, a first body hinge and a second body hinge which are transversely spaced connected to the unmanned aerial vehicle, and a first support hinge and a second support hinge which are transversely spaced connected to the support structure, the first body hinge and the first support hinge are respectively hinged to two ends of the telescopic device, and the second body hinge is hinged to the second support hinge.

[0011] In some embodiments, the tip cutting device is configured to adjust the pitch angle of the cutting structure by adjusting the posture of the unmanned aerial vehicle.

[0012] In some embodiments, the support structure is formed as a support cylinder, the cutting structure is formed as a cutting disc arranged at an end of the support cylinder, and the cutting driving device is formed as a rotary cutting driving device arranged in the support cylinder and configured to drive the cutting disc to rotate for cutting.

[0013] In some embodiments, the rotary cutting driving device comprises an electric motor and / or a hydraulic motor.

[0014] In some embodiments, a circumferential wall of the support cylinder is provided with a wire passing groove, the power supply system comprises a driving device power supply wire, one end of the driving device power supply wire is arranged to pass through the wire passing groove to connect the rotary cutting driving device, and the other end of the driving device power supply wire is configured to be externally connected to a power supply device.

[0015] In some embodiments, the power supply system comprises a power battery arranged on the unmanned aerial vehicle and configured to supply power to the unmanned aerial vehicle and the tip cutting mechanism.

[0016] In some embodiments, the power supply system comprises an unmanned aerial vehicle power supply wire and a driving device power supply wire, one end of the unmanned aerial vehicle power supply wire is connected to the unmanned aerial vehicle, and the other end of the unmanned aerial vehicle power supply wire is configured to be externally connected to a power supply device, one end of the driving device power supply wire is connected to the cutting driving device, and the other end of the driving device power supply wire is configured to be externally connected to a power supply device.

[0017] The second aspect of the present application further provides an agricultural machine, which comprises:

[0018] a vehicle body; and

[0019] at least one of the above-mentioned tip cutting devices;

[0020] The vehicle body is provided with a power supply device electrically connected to the tip cutting device and / or a controller in communication connection with the tip cutting device.

[0021] Through the above technical solution, the topping device of this application does not need to be mechanically connected to the vehicle body of agricultural machinery during use. Instead, the topping mechanism is carried by a drone, which adjusts the position of the topping mechanism. Compared with traditional topping cutters, the topping device of this application greatly reduces weight and vehicle load by eliminating the connecting arm and pin mechanism, effectively improving vehicle flexibility, while also reducing overall fuel consumption and maintenance costs. Furthermore, when dealing with crops with toppings of varying heights, the topping device of this application can quickly and conveniently adjust the topping mechanism's ground clearance via the drone's lift and lowering mechanism, thereby effectively improving topping accuracy, reducing over-cutting, under-cutting, or missed-cutting, and enhancing adaptability to different harvesting environments.

[0022] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0023] 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:

[0024] Figure 1 This is a schematic diagram of an agricultural machine according to a specific embodiment of this application;

[0025] Figure 2 For those who need to utilize Figure 1 A schematic diagram of the crop-cutting device cutting the target crop.

[0026] Figure 3 This is a schematic diagram of a tip-cutting mechanism according to a specific embodiment of this application;

[0027] 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;

[0028] 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 toFigure 5 the telescopic device in (a) is extended;

[0029] Figure 6 a flow chart of a cutting tip control method in the detailed description of the present application.

[0030] Legend of reference signs

[0031] 1 unmanned aerial vehicle 2 cutting tip mechanism

[0032] 3 power supply system 4 vehicle body

[0033] 21 support structure 22 cutting structure

[0034] 23 cutting driving device 24 first body articulation

[0035] 25 first support articulation 26 second support articulation

[0036] 27 connecting rod 28 telescopic device

[0037] 31 driving device power supply line 32 unmanned aerial vehicle power supply line

[0038] A tip growth position B tip cutting position DETAILED DESCRIPTION

[0039] The detailed description of the present application is described in detail below in combination with the drawings. It should be understood that the detailed description described herein is only used to illustrate and explain the present application, and is not used to limit the present application.

[0040] Referring to Figures 1 to 5 , the present application provides a cutting tip device, which comprises:

[0041] an unmanned aerial vehicle 1;

[0042] a cutting tip mechanism 2 connected to the unmanned aerial vehicle 1 (for example, the cutting tip mechanism 2 can be connected at the bottom of the unmanned aerial vehicle 1), and comprising a support structure 21, a cutting structure 22 and a cutting driving device 23, the cutting driving device 23 being arranged on the support structure 21 and being used to drive the cutting structure 22 to perform a cutting action; and

[0043] a power supply system 3 for providing operating power for the unmanned aerial vehicle 1 and the cutting tip mechanism 2.

[0044] Through the above arrangement, when the cutting tip device of the present application is used, it does not need to form a mechanical connection with the vehicle body 4 of the agricultural machine, but the cutting tip mechanism 2 is carried by the unmanned aerial vehicle 1, and the position of the cutting tip mechanism 2 is adjusted by the unmanned aerial vehicle 1. Compared with the traditional cutting tip device, the cutting tip device of the present application greatly reduces the weight due to the omission of the connecting arm and the latch mechanism, greatly reduces the load bearing of the vehicle body 4, effectively improves the flexibility of the vehicle body 4, and also reduces the overall fuel consumption and maintenance cost.

[0045] Moreover, the tip cutting device of the present application can quickly and conveniently adjust the height of the cutting mechanism 2 from the ground by the lifting of the unmanned aerial vehicle 1 when facing crops with different heights of the tips, thereby effectively improving the cutting precision and reducing the phenomenon of over-cutting, under-cutting or missing cutting, and also improving the adaptability to different harvesting environments.

[0046] Furthermore, the tip cutting device of the present application does not have any mechanical connection with the vehicle body 4 when using the unmanned aerial vehicle to lift, so it will not form any impact on the vehicle body 4 during lifting.

[0047] It should be noted that the tip cutting device of the present application can be used for cutting the cane tips of sugarcane, and can also be used for cutting the tips of other types of crops, in other words, the application does not limit the application scenarios of the tip cutting device. As an example, when the tip cutting device of the present application is used for cutting cane tips, it can cooperate with the vehicle body of the sugarcane harvester to work, and when the sugarcane harvesting operation is performed, the unmanned aerial vehicle 1 can obtain the real-time height of the unmanned aerial vehicle 1 and the relative distance between the unmanned aerial vehicle 1 and the front and rear by using the unmanned aerial vehicle laser radar and ultrasonic sensor provided by itself, and then the unmanned aerial vehicle 1 can adjust its position to a certain distance in front of the vehicle cab and a certain height from the ground, and maintain the initial position of safe operation, and when it is necessary to cut the cane tips with different heights, the unmanned aerial vehicle 1 adjusts the height of the cutting mechanism 2 from the ground by lifting.

[0048] In some embodiments, the cutting mechanism 2 can further include a pitch angle adjusting 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 to the crops can be adjusted, thereby further expanding the application range of the tip cutting device of the present application. For example, for crops with an inclined posture (such as sugarcane with lodging, etc.), the cutting angle of the cutting structure 22 to the crops can be adjusted to obtain more accurate cutting precision.

[0049] In some embodiments, referring to Figure 4 , the pitch angle adjusting structure can include a first body hinge 24 and a second body hinge (not shown in the figure) connected to the unmanned aerial vehicle 1 in transverse spacing, a first support hinge 25 and a second support hinge 26 connected to the support structure 21 in transverse spacing, and a plurality of connecting rods 27 with different lengths which can be selectively installed. 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 with different lengths, the pitch angle of the cutting structure 22 can be adjusted.

[0050] For example, if the initial pitch angle adjusting structure uses Figure 4(a) the relatively short length of the connecting rod 27, the cutting structure 22 is in a horizontal state. When it is necessary to cut crops with an inclined posture, the connecting rod 27 in (a) is removed, and the support structure 21 is rotated around the hinge point of the second body hinge 24 and the second support hinge 26, and then the connecting rod 27 in (b) is installed. Figure 4 (a) the relatively short length of the connecting rod 27, the cutting structure 22 is in a horizontal state. When it is necessary to cut crops with an inclined posture, the connecting rod 27 in (a) is removed, and the support structure 21 is rotated around the hinge point of the second body hinge 24 and the second support hinge 26, and then the connecting rod 27 in (b) is installed. Figure 4 (b) the relatively long length of the connecting rod 27, so that the cutting structure 22 can be adjusted to an inclined state.

[0051] 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 can be connected at the bottom of the unmanned aerial vehicle 1, and the first support hinge 25 and the second support hinge 26 can be connected at the top of the support structure 21.

[0052] In some embodiments, with reference to Figure 5 , the pitch angle adjusting structure can include a telescopic device 28, and the first body hinge 24 and the second body hinge of the unmanned aerial vehicle 1 are connected in transverse spacing, and the first support hinge 25 and the second support hinge 26 of the support structure 21 are connected in transverse spacing. Among them, the first body hinge 24 and the first support hinge 25 are respectively hinged with two ends of the telescopic device 28, and the second body hinge is hinged with the second support hinge 26. At this time, by the extension (such as the length of the telescopic device 28 shown in (a) is extended to the length of the telescopic device 28 shown in (b)) and the contraction of the telescopic device 28, the support structure 21 can be rotated around the hinge point of the second body hinge and the second support hinge 26, so that the pitch angle adjustment of the cutting structure 22 can be realized, and real-time adjustment can be performed during operation, which is beneficial to improve the adaptability of the cutting device to complex working conditions. Figure 5 (a) the relatively short length of the connecting rod 27, the cutting structure 22 is in a horizontal state. When it is necessary to cut crops with an inclined posture, the connecting rod 27 in (a) is removed, and the support structure 21 is rotated around the hinge point of the second body hinge 24 and the second support hinge 26, and then the connecting rod 27 in (b) is installed. Figure 5 (b) the relatively long length of the connecting rod 27, so that the cutting structure 22 can be adjusted to an inclined state.

[0053] It should be noted that the present application does not limit the specific type of the telescopic device 28, such as electric push rod, linear motor, hydraulic rod, etc.

[0054] In some embodiments, the cutting device can also adjust the pitch angle of the cutting structure 22 by adjusting the posture of the unmanned aerial vehicle 1, at which time the aforementioned pitch angle adjusting structure can not be provided, so as to further reduce the weight of the cutting device and reduce the production and manufacturing cost. In the same cutting device, the two functions can also be combined, that is, the cutting device can be provided with the pitch angle adjusting structure, and the pitch angle of the cutting structure 22 can also be adjusted by adjusting the posture of the unmanned aerial vehicle 1.

[0055] In some embodiments, with reference to Figure 3The 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 driving device 23 is formed as a rotary cutting driving device arranged in the support cylinder and used to drive the cutting disc to rotate and cut. By driving the cutting disc to rotate and cut through the rotary cutting driving device, the cutting capacity can be enhanced, and the power provided by the unmanned aerial vehicle does not need to be relied on more to ensure the cutting effect, thereby reducing the power requirement for the unmanned aerial vehicle.

[0056] In some embodiments, the rotary cutting driving device described above can adopt different types of devices such as electric motors and / or hydraulic motors. For example, when facing crops with higher planting density (such as sugarcane), the cutting resistance is relatively larger, and therefore the rotary cutting driving 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 the rotary cutting driving device, so as to better adapt to high-load working occasions and ensure the cutting effect on crops. The electric motor does not need to be configured with hydraulic pipelines, oil tanks and other hydraulic elements, and is relatively lighter in weight, which is beneficial to improve the flexibility of the unmanned aerial vehicle 1.

[0057] In some embodiments, the power supply system 3 can include an unmanned aerial vehicle power line 32 and a driving device power line 31. One end of the unmanned aerial vehicle power line 32 is connected to the unmanned aerial vehicle 1, and the other end is used to externally connect a power supply device. One end of the driving device power line 31 is connected to the cutting driving device 23, and the other end is used to externally connect a power supply device.

[0058] The power supply device described in the embodiment is generally arranged on the vehicle body 1 of the agricultural machine, so as to ensure that the unmanned aerial vehicle 1 and the driving device power line 31 are continuously powered for a long time during the cutting operation, and the cutting device supports long-time operation.

[0059] When the pitch angle adjusting structure described above is further arranged in the cutting device, and the pitch angle adjusting structure is arranged with an electrically controlled telescopic device 28, the power supply system 3 can further include a telescopic device power line (not shown in the figure). One end of the telescopic device power line is connected to the cutting telescopic device 28, and the other end is used to externally connect a power supply device, so as to continuously power the electrically controlled telescopic device 28 for a long time through the power supply device.

[0060] In some embodiments, a wire passing groove can be arranged on the peripheral wall of the support cylinder. At this time, one end of the driving device power line 31 can pass through the wire passing groove to connect the rotary cutting driving device, so as to ensure that the rotary cutting driving device can be continuously powered for a long time even when the rotary cutting driving device is installed in the support cylinder to realize compact installation.

[0061] In some embodiments, the power supply system 3 can further include a power battery (e.g., a large-capacity battery pack) arranged on the UAV 1 and used to supply power to the UAV 1 and the tip-cutting mechanism 2. In the case of the power battery, the aforementioned power supply line 32 of the UAV, the power supply line 31 of the driving device, and the power supply line of the telescopic device can be omitted, so that the flight range of the UAV 1 is not limited by the power supply line, thereby further improving the autonomy and operation flexibility of the UAV 1.

[0062] Of course, the power battery and the various power supply lines described above can also be used in the same tip-cutting device at the same time. For example, the power battery can be used preferentially, and when the power battery is depleted, the power supply line can be connected to continue to provide operating power for the tip-cutting device. Even an additional power supply line can be added to charge the power battery.

[0063] In some embodiments, the tip-cutting device can include a processing device that is communicatively connected to the UAV 1 and the tip-cutting mechanism 2 and is configured to:

[0064] determine the height from the ground of the tip-cutting position B of the target crop;

[0065] determine the target height from the ground of the UAV 1 according to the height from the ground of the tip-cutting position B, the real-time height from the ground of the UAV 1, and the preset height difference between the UAV 1 and the cutting structure 22;

[0066] move the UAV 1 to the target height from the ground so that the cutting structure 22 can cut the target crop from the tip-cutting position B.

[0067] It should be noted that, based on the foregoing, the UAV 1 can monitor the real-time height from the ground of itself, and thus the processing device, which is communicatively connected to the UAV 1, can obtain the real-time height from the ground of the UAV 1 from the UAV laser radar or the flight controller of the UAV 1. The height from the ground of the tip-cutting position B can be pre-stored in the processing device, input into the processing device in real time by a user, or detected in real time by a sensor, and the present application does not limit this. In addition, the preset height difference between the UAV 1 and the cutting structure 22 is determined after the tip-cutting device is shipped, and thus can be pre-stored in the processing device.

[0068] If the real-time height from the ground of the UAV 1 is set as H1, and the preset height difference between the UAV 1 and the cutting structure 22 is set as H2, then the real-time height from the ground of the cutting structure 22 is H1-H2. In the case of determining the height from the ground of the tip-cutting position B and the real-time height from the ground of the cutting structure 22, the height difference between the cutting structure 22 and the tip-cutting position B can be obtained by difference, and further, the target height from the ground of the UAV 1 can be obtained according to the real-time height from the ground of the UAV 1 and the height difference.

[0069] Through the arrangement of the embodiment, the tip cutting device can adaptively adjust the real-time ground clearance of the unmanned aerial vehicle 1 according to different tip cutting positions B, so that the cutting structure 22 can cut the tip at the tip cutting position B, which can ensure cutting accuracy and improve the position adjustment efficiency of the cutting structure 22.

[0070] In some embodiments, with reference to Figure 2 , the processing device can be further configured to:

[0071] determine the ground clearance of the tip growth position A of the target crop;

[0072] determine the ground clearance of the tip cutting position B according to the ground clearance of the tip growth position A and the preset cutting distance.

[0073] It should be noted that the ground clearance of the tip growth position A can be pre-stored in the processing device, can be input into the processing device in real time by the user, or can be detected in real time by a sensor, and the present application does not limit this. In addition, the preset cutting distance can be pre-stored in the processing device or input into the processing device in real time by the user, and the present application does not limit this.

[0074] Through the arrangement of the embodiment, in order to determine the ground clearance of the tip cutting position B, the ground clearance of the tip growth position A is first determined, and then the ground clearance of the tip cutting position B is determined in combination with the preset cutting distance. This is because the position of the tip growth position A is relatively easier to identify in actual operation.

[0075] In some embodiments, the tip cutting device can further include an identification system in communication connection with the processing device, and the identification system is configured to:

[0076] construct an initial three-dimensional model of the farmland containing the target crop and determine the height of the target crop;

[0077] obtain a depth map of the target crop and identify the tip growth position A;

[0078] generate a corrected three-dimensional model by aligning the initial three-dimensional model and the depth map;

[0079] determine the ground clearance of the tip growth position A according to the position of the tip growth position A in the corrected three-dimensional model and the position of the ground of the farmland in the corrected three-dimensional model.

[0080] By the arrangement of the embodiment, the initial three-dimensional model and the depth map are aligned to generate the corrected three-dimensional model, so that a more accurate three-dimensional model can be obtained, and more accurate data can be obtained when the height of the shoot growth position A from the ground is calculated next, which is beneficial to ensure the cutting accuracy. In addition, the shoot cutting device can automatically and accurately identify different shoot growth positions A, and then the shoot cutting position B can be determined according to the shoot growth position A, and the real-time height of the unmanned aerial vehicle 1 from the ground is adjusted adaptively to ensure that the cutting structure 22 can cut at the shoot cutting position B, which can not only ensure the cutting accuracy, but also improve the position adjustment efficiency of the cutting structure 22.

[0081] Further, the recognition system can also be configured to:

[0082] obtain measurement data of an inertial measurement unit and a global positioning system of the unmanned aerial vehicle 1;

[0083] generate a corrected three-dimensional model by fusing the measurement data of the inertial measurement unit and the global positioning system, the initial three-dimensional model and the depth map.

[0084] As an example, the above-mentioned recognition system can be configured as a multi-sensor fusion measurement and control system, which can include a binocular vision camera, a laser radar (which can be a laser radar of the unmanned aerial vehicle, or can be additionally provided), an inertial measurement unit and a global positioning system (i.e. Global Positioning System, generally referred to as GPS) arranged on the unmanned aerial vehicle 1.

[0085] Specifically, the point cloud data of the farmland containing the target crop can be obtained by the laser radar to construct the initial three-dimensional model of the farmland, and the height of the target crop can be obtained. In addition, the depth information (i.e. depth map) of the two-dimensional image of the target crop can be obtained by the binocular vision camera, and the shoot growth position A can be determined by using feature point matching and parallax calculation.

[0086] Then, the attitude and motion state information of the unmanned aerial vehicle 1 is provided by the inertial measurement unit to ensure that the data deviation of the laser radar and the binocular vision camera is corrected in the case of complex terrain or unstable flight, and the global positioning system can be used to register the absolute position of the laser radar and the binocular vision camera. The above-mentioned data is fused by a multi-sensor information fusion algorithm model, i.e. 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 that the initial three-dimensional model is corrected to generate a more accurate corrected three-dimensional model.

[0087] Finally, the growth point cloud corresponding to the top growth position A is extracted from the corrected three-dimensional model, and the lowest point cloud in the corrected three-dimensional model, i.e. the ground point cloud of the farmland, is extracted, so that the height difference between the growth point cloud and the ground point cloud can be used to calculate the height of the top growth position A from the ground.

[0088] In some embodiments, the topping device can further comprise an identification system capable of identifying the inclination angle of the target crop, and the processing device is in communication connection with the identification system, and the processing device can be configured to:

[0089] determine a target pitch angle of the cutting structure 22 according to the inclination angle of the target crop;

[0090] adjust the pitch angle of the cutting structure 22 to the target pitch angle by adjusting the attitude of the unmanned aerial vehicle 1.

[0091] With the arrangement of the present embodiment, the topping device can automatically adjust the pitch angle of the cutting structure 22 according to the inclination angle of the target crop, so as to better adapt to the cutting operation of the target crop with different inclination attitudes, such as the sugarcane with lodging, and is conducive to improving the cutting precision and cutting efficiency.

[0092] In some embodiments, the topping device can further comprise an identification system capable of identifying the inclination angle of the target crop, and the topping mechanism 2 can further comprise a pitch angle adjusting structure for adjusting the pitch angle of the cutting structure 22, and the processing device is in communication connection with the pitch angle adjusting structure and the identification system, and the processing device is further configured to:

[0093] determine a target pitch angle of the cutting structure 22 according to the inclination angle of the target crop;

[0094] adjust the pitch angle of the cutting structure 22 to the target pitch angle by controlling the pitch angle adjusting structure.

[0095] Similarly, with the arrangement of the present embodiment, the topping device can automatically adjust the pitch angle of the cutting structure 22 according to the inclination angle of the target crop, so as to better adapt to the cutting operation of the target crop with different inclination attitudes, and is conducive to improving the cutting precision and cutting efficiency.

[0096] For example, when the pitch angle adjusting structure adopts the telescopic device 28, the processing device can be in communication connection with the telescopic device 28, so as to realize the automatic control of the telescopic device 28 by the processing device.

[0097] Referring to Figure 1 , the present application also provides an agricultural machine, which comprises:

[0098] a vehicle body 4; and

[0099] at least one of the above-mentioned topping devices;

[0100] The vehicle body 4 is provided with a power supply device electrically connected to the tip cutting device and / or a controller in communication connection with the tip cutting device, which can control the unmanned aerial vehicle 1 and the cutting driving device 23 in the tip cutting mechanism 2, the telescopic device 28 in the pitch angle adjusting structure, etc.

[0101] In some embodiments, for a complex harvesting area (for example, a sugarcane planting area with high planting density or a sugarcane area with complex distribution of sugarcane stalks with large height span), multiple tip cutting devices can be configured in the same agricultural machine to cooperatively perform the tip cutting operation, thereby improving the adaptability and cutting efficiency of the agricultural machine.

[0102] With reference to Figure 6 The application also provides a tip cutting control method for controlling the unmanned aerial vehicle 1 and the tip cutting mechanism 2 connected to the unmanned aerial vehicle 1, and the method comprises the following steps:

[0103] Step S1: determining the height of the tip cutting position B of the target crop from the ground;

[0104] Step S2: determining the target height of the unmanned aerial vehicle 1 from the ground according to the height of the tip cutting position B from the ground, the real-time height of the unmanned aerial vehicle 1 from the ground, and the preset height difference between the unmanned aerial vehicle 1 and the cutting structure 22 in the tip cutting mechanism 2;

[0105] Step S3: moving the unmanned aerial vehicle 1 to the target height from the ground to enable the cutting structure 22 to cut the target crop from the tip cutting position B.

[0106] In some embodiments, step S1 can comprise:

[0107] Step S11: determining the height of the tip growth position A of the target crop from the ground;

[0108] 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 the preset cutting distance.

[0109] In some embodiments, step S11 can comprise:

[0110] Step S111: constructing an initial three-dimensional model of the farmland containing the target crop and determining the height of the target crop;

[0111] Step S112: obtaining a depth map of the target crop and identifying the tip growth position A;

[0112] Step S113: generating a corrected three-dimensional model by aligning the initial three-dimensional model and the depth map;

[0113] 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 corrected three-dimensional model and the position of the ground of the farmland in the corrected three-dimensional model.

[0114] In some embodiments, step S113 can comprise:

[0115] Step S1131: acquiring measurement data of an inertial measurement unit and a global positioning system of the unmanned aerial vehicle 1;

[0116] Step S1132: generating a corrected three-dimensional model by fusing the measurement data of the inertial measurement unit and the global positioning system, the initial three-dimensional model, and the depth map.

[0117] In some embodiments, the tip pruning method can further comprise:

[0118] Step S1': determining a target pitch angle of the cutting structure 22 according to the inclination angle of the target crop;

[0119] Step S2': adjusting the pitch angle of the cutting structure 22 to the target pitch angle by adjusting the attitude of the unmanned aerial vehicle 1 and / or by controlling the pitch angle adjusting structure in the tip pruning mechanism 2.

[0120] The present application also provides a machine readable storage medium having instructions stored thereon for causing a machine to perform the tip pruning control method according to any one of claims 1 to 4.

[0121] In the description of the present application, it is to be understood that the terms "first", "second", "third" and the like, are used only for descriptive purposes and do not necessarily imply relative importance or a number of the indicated technical features. Thus, features defined with "first", "second", "third" can include at least one of the features, explicitly or implicitly. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0122] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrated; can be mechanically connected, or electrically connected or can communicate with each other; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0123] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0124] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. Tip cutting device, characterized in that The application relates to a cutting tip device for unmanned aerial vehicle (1), comprising: a cutting tip mechanism (2) connected to the unmanned aerial vehicle (1) and comprising a support structure (21), a cutting structure (22) and a cutting driving device (23), wherein the cutting driving device (23) is arranged on the support structure (21) and used for driving the cutting structure (22) to perform a cutting action; and a power supply system (3) used for providing operation power for the unmanned aerial vehicle (1) and the cutting tip mechanism (2). The cutting tip mechanism (2) further comprises a pitch angle adjusting structure used for adjusting a pitch angle of the cutting structure (22). The pitch angle adjusting structure comprises a first body hinge (24) and a second body hinge which are laterally spaced and connected to the unmanned aerial vehicle (1), a first support hinge (25) and a second support hinge (26) which are laterally spaced and connected to the support structure (21), and a plurality of connecting rods (27) which are selectively installed and have different lengths, wherein the first body hinge (24) and the first support hinge (25) are respectively hinged to two ends of one of the connecting rods (27), and the second body hinge is hinged to the second support hinge (26).

2. The tipper device of claim 1, wherein The pitch angle adjusting structure comprises a telescopic device (28), a first body hinge (24) and a second body hinge which are laterally spaced and connected to the unmanned aerial vehicle (1), and a first support hinge (25) and a second support hinge (26) which are laterally spaced and connected to the support structure (21), wherein the first body hinge (24) and the first support hinge (25) are respectively hinged to two ends of the telescopic device (28), and the second body hinge is hinged to the second support hinge (26).

3. The tipper device of claim 2, wherein The cutting tip device is arranged to be capable of adjusting the pitch angle of the cutting structure (22) by adjusting the posture of the unmanned aerial vehicle (1).

4. The tipper device of claim 2, wherein The support structure (21) is formed as a support cylinder, the cutting structure (22) is formed as a cutting cutter arranged at an end of the support cylinder, and the cutting driving device (23) is formed as a rotary cutting driving device arranged in the support cylinder and used for driving the cutting cutter to rotate and cut.

5. The tipper device of claim 1, wherein The rotary cutting driving device comprises an electric motor and / or a hydraulic motor.

6. The tipper device of claim 1, wherein A circumferential wall of the support cylinder is provided with a wire passing groove, the power supply system (3) comprises a driving device power supply wire (31), one end of the driving device power supply wire (31) passes through the wire passing groove to connect the rotary cutting driving device, and the other end of the driving device power supply wire (31) is used for connecting an external power supply device.

7. A tipper device according to claim 6, wherein The power supply system (3) comprises a power battery arranged on the unmanned aerial vehicle (1) and used for supplying power for the unmanned aerial vehicle (1) and the cutting tip mechanism (2); 8. The tipper device of claim 6, wherein and / or, the power supply system (3) comprises an unmanned aerial vehicle power supply wire (32) and a driving device power supply wire (31), one end of the unmanned aerial vehicle power supply wire (32) is connected to the unmanned aerial vehicle (1), the other end of the unmanned aerial vehicle power supply wire (32) is used for connecting an external power supply device, one end of the driving device power supply wire (31) is connected to the cutting driving device (23), and the other end of the driving device power supply wire (31) is used for connecting an external power supply device.

9. The tipper device of claim 1, wherein The application further relates to a vehicle (4) comprising: a vehicle body (4); and 10. An agricultural machine characterized by, ​ ​ ​ At least one tip cutting device according to any one of claims 1 to 9; Wherein the vehicle body (4) is provided with a power supply device electrically connected with the tip cutting device and / or a controller in communication connection with the tip cutting device.

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