CN114375711A

CN114375711A - Polar coordinate type crop processing device, crop processing equipment and crop processing method

Info

Publication number: CN114375711A
Application number: CN202111619029.4A
Authority: CN
Inventors: 黄敬易
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2022-04-22

Abstract

The embodiment of the application discloses a polar coordinate type crop processing device, crop processing equipment and a crop processing method. The technical scheme that this application embodiment provided is through first actuating mechanism, turn to actuating mechanism and second actuating mechanism, control crop processing mechanism is in the first direction, around the ascending removal in first direction and second direction, thereby realize the mobility control of crop processing mechanism on polar coordinate, when confirming the position of operation target, control crop processing mechanism removes to operation target department, carry out the operation to the operation target by crop processing mechanism, do not need the manual work to carry out the crop processing, effectively solve manpower resources shortage among the prior art, the problem that work efficiency is low, carry out the crop processing through the mode of machinery, the work efficiency of crop processing is improved, and the human cost is reduced.

Description

Polar coordinate type crop processing device, crop processing equipment and crop processing method

Technical Field

The embodiment of the application relates to the technical field of crop processing, in particular to a polar coordinate type crop processing device, crop processing equipment and a crop processing method.

Background

In the planting process of crops, the crops need to be treated on time, such as topping, picking and the like of cotton. At present, the treatment method for crops is generally manual treatment. For example, manual topping of cotton typically involves the removal of the top shoots of the crop manually by personnel above each crop.

However, because the window period for processing crops is short, for example, the window period for topping is only 15 days generally, the requirement on the efficiency of processing crops is high, and the manual processing mode has the problems of shortage of human resources and low working efficiency.

Disclosure of Invention

The embodiment of the application provides polar coordinate type crop processing device, crop processing equipment and crop processing method, solves the problems of manpower resource shortage and low working efficiency in the prior art, and improves the working efficiency of crop processing and reduces the labor cost by mechanically processing crops.

In a first aspect, embodiments of the present application provide a polar coordinate type crop processing apparatus, including a mounting base, a first driving mechanism, a steering driving mechanism, a second driving mechanism, and a crop processing mechanism, wherein:

the first driving mechanism is arranged on the mounting base, connected with the steering driving mechanism and used for driving the steering driving mechanism to move along a first direction;

the steering driving mechanism is connected with the second driving mechanism and is used for driving the second driving mechanism to rotate around the first direction;

the second driving mechanism is connected with the crop processing mechanism and used for driving the crop processing mechanism to move along a second direction, and an included angle exists between the first direction and the second direction.

In a second aspect, the present application provides a polar crop processing apparatus, comprising a control device, a spatial digitization detection device, and a polar crop processing device according to the first aspect, wherein the spatial digitization detection device is connected with the control device, a first driving mechanism, a steering driving mechanism, a second driving mechanism, and a crop processing mechanism in the polar crop processing device are connected with the control device, and wherein:

the spatial digital detection device is used for carrying out spatial digital acquisition on the operation area to obtain operation area information;

the control device is used for determining the operation position information of an operation target in the operation area according to the operation area information; and controlling the first driving mechanism, the steering driving mechanism and the second driving mechanism based on the operation position information so as to move the crop processing mechanism to an operation position and control the crop processing mechanism to operate the operation target.

In a third aspect, embodiments of the present application provide a crop processing method for controlling the polar coordinate type crop processing apparatus according to the second aspect, applied to a control device, the crop processing method including:

determining the operation position information of an operation target in the operation area according to the operation area information generated by the space digital detection device;

controlling the first driving mechanism, the steering driving mechanism and the second driving mechanism based on the operation position information to move the crop processing mechanism to the operation position;

and when the crop processing mechanism moves to the working position, controlling the crop processing mechanism to work on the working target.

The embodiment of the application controls the crop processing mechanism to move in the first direction and around the first direction and the second direction through the first driving mechanism, the steering driving mechanism and the second driving mechanism, so that the movement control of the crop processing mechanism on polar coordinates is realized, when the position of a working target is determined, the crop processing mechanism is controlled to move to the working target, the working target is operated by the crop processing mechanism, the manual crop processing is not needed, the problems of insufficient manpower resources and low working efficiency in the prior art are effectively solved, the crop processing is performed in a mechanical mode, the working efficiency of the crop processing is improved, and the labor cost is reduced.

Drawings

Fig. 1 is a schematic structural diagram of a polar coordinate type crop processing apparatus according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a crop handling mechanism according to an embodiment of the present disclosure;

fig. 3 is a block diagram of a polar coordinate type crop processing apparatus according to an embodiment of the present disclosure;

FIG. 4 is a flow chart of a method of crop treatment provided by an embodiment of the present application;

fig. 5 is a flow chart of another crop treatment method provided in the embodiments of the present application.

Reference numerals: 100. a polar coordinate crop processing apparatus; 1. mounting a base; 2. a first drive mechanism; 3. a steering drive mechanism; 4. a second drive mechanism; 5. a crop processing mechanism; 51. a work base; 52. a first grid; 53. a second grid; 54. an operation drive mechanism; 541. a first gear; 542. a second gear; 543. a drive motor; 55. a through hole; 56. mounting grooves; 200. a control device; 300. a spatial digital detection device; 400. an object detection device.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, specific embodiments of the present application will be described in detail with reference to the accompanying drawings. In the description of the embodiments of the present application, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present application are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

Fig. 1 shows a schematic structural diagram of a polar coordinate type crop processing apparatus according to an embodiment of the present disclosure, and as shown in fig. 1, the polar coordinate type crop processing apparatus according to the present disclosure includes a mounting base 1, a first driving mechanism 2, a steering driving mechanism 3, a second driving mechanism 4, and a crop processing mechanism 5.

The first driving mechanism 2 provided in this embodiment is mounted on the mounting base 1, and is connected to the steering driving mechanism 3, so as to drive the steering driving mechanism 3 to move along the first direction. The steering driving mechanism 3 is connected to the second driving mechanism 4 for driving the second driving mechanism 4 to rotate around the first direction. The second driving mechanism 4 is connected with the crop processing mechanism 5 and is used for driving the crop processing mechanism 5 to move along the second direction, and an included angle exists between the first direction and the second direction. The crop processing means 5 provided in the present embodiment is used for performing work on a work target.

Optionally, the operation on the operation target may be topping operation, picking operation and the like on the crops, the operation target is determined according to the operation type, for example, topping bud topping, cotton picking and the like on the crops such as cotton and the like, and the corresponding operation target is the topping bud and the cotton on the crops. Accordingly, the crop processing means 5 is provided according to the type of work and the characteristics of the work target, for example, a cutting means for cutting off terminal buds, a picking means for picking off cotton, and the like are provided on the crop processing means 5.

When the polar coordinate type crop processing device provided by the embodiment works, the steering driving mechanism 3 is driven by the first driving mechanism 2 to move along the first direction, and the steering driving mechanism 3 drives the second driving mechanism 4 and the crop processing mechanism 5 to move in the first direction, so that the movement control of the crop processing mechanism 5 in the first direction is realized. Furthermore, the second driving mechanism 4 is driven to rotate around the first direction by the steering driving mechanism 3, and the crop processing mechanism 5 is driven to rotate around the first direction by the second driving mechanism 4, so that the movement control of the crop processing mechanism 5 on the rotation around the first direction is realized. Furthermore, the second driving mechanism 4 drives the crop processing mechanism 5 to move in the second direction, so that the movement control of the crop processing mechanism 5 in the second direction is realized. By the above control method, the movement control of the crop processing means 5 in the first direction, around the first direction, and in the second direction is realized, and the crop processing means 5 is moved to the position corresponding to the work target, and the work is performed on the work target by the crop processing means 5.

In one embodiment, the first driving mechanism 2 is provided in plurality, the plurality of first driving mechanisms 2 are evenly distributed along the circumferential direction of the mounting base 1, and the first driving mechanism 2, the steering driving mechanism 3, the second driving mechanism 4 and the crop processing mechanism 5 are in one-to-one correspondence. Specifically, the number of the first drive mechanisms 2 is 4, the installation base 1 is divided into installation ranges of 4 quadrants on average, one first drive mechanism 2 is installed per installation range, so that 4 crop processing mechanisms 5 are arranged at the installation ranges of 4 quadrants, and the turning angle range in which the steering drive mechanism 3 drives the second drive mechanism 4 is 90 ° or more. In other embodiments, the number of the first driving devices may also be 2, 3, 6, etc., and may be set according to actual requirements.

In a specific embodiment, the polar coordinate type crop processing apparatus is in an operating state, the first direction and the second direction are respectively a vertical direction and a horizontal direction, and correspondingly, the plane formed by the rotation of the second driving mechanism 4 around the first direction driven by the steering driving mechanism 3 is parallel to the horizontal plane. And controlling the first driving mechanism 2, the steering driving mechanism 3 and the second driving mechanism 4 according to the operation position information corresponding to the position of the operation target, and moving the crop processing mechanism 5 to the operation target for operation. For example, when polar coordinate information corresponding to the work target is determined, the polar coordinate information includes angle information, radius information, and height information, the steering drive mechanism 3 controls the crop processing mechanism 5 to horizontally rotate to an angle position corresponding to the angle information, the second drive mechanism 4 controls the crop processing mechanism 5 to horizontally move to a radius position corresponding to the radius information, and the first drive mechanism 2 controls the crop processing mechanism 5 to vertically move to a height position corresponding to the height information, so that the crop processing mechanism 5 moves to a position corresponding to the work target.

The movement of the crop processing mechanism 5 in the first direction and around the first direction and the second direction is controlled by the first driving mechanism 2, the steering driving mechanism 3 and the second driving mechanism 4, so that the movement control of the crop processing mechanism 5 on a polar coordinate is realized, when the position of a working target is determined, the crop processing mechanism 5 is controlled to move to the working target, the working target is operated by the crop processing mechanism 5, the manual crop processing is not needed, the problems of insufficient manpower resources and low working efficiency in the prior art are effectively solved, the crop processing is carried out in a mechanical mode, the working efficiency of the crop processing is improved, and the labor cost is reduced.

In a particular embodiment, the first drive mechanism 2 comprises a first motor controlled for movement in a first direction, the first motor comprising a stationary part (2 a in the figure) and a moving part (2 b in the figure), the moving part of the first motor moving in the direction of the axis when the first motor is in operation. Further, a fixed portion of the first motor is mounted on the mounting base 1, a moving portion of the first motor is connected to the steering drive mechanism 3, and an axial direction of the first motor is parallel to the first direction. Alternatively, the first motor may be a linear motor (e.g., a cylindrical linear motor), a telescopic cylinder, or the like.

Further, the steering drive mechanism 3 includes a joint motor controlled to rotate horizontally, the joint motor includes a fixed portion (3 a in the figure) and a moving portion (3 b in the figure), and when the joint motor is operated, the moving portion rotates around its axis as a rotation center, and a rotation plane formed is perpendicular to the first direction. The first driving mechanism 2 and the second driving mechanism 4 are respectively connected with a fixed part and a moving part of the joint motor, or respectively connected with the moving part and the fixed part of the joint motor. Specifically, the fixed part or the moving part of the joint motor is connected with the bottom of the moving part in the first motor, and the moving part or the fixed part of the joint motor is connected with the second driving mechanism 4.

The second drive mechanism 4 comprises a second motor controlled for movement in a second direction, the second motor comprising a stationary part (4 a in the figure) and a movable part (4 b in the figure), the movable part of the second motor moving in the direction of the axis when the second motor is in operation. Further, the fixed part of the second motor is connected with the steering driving mechanism 3, the moving part of the second motor is connected with the crop processing mechanism 5, and the axial direction of the second motor is parallel to the second direction. Specifically, one end of the second motor fixing part is connected with the fixing part or the moving part of the joint motor (that is, the bottom end of the moving part of the first motor and one end of the second motor fixing part are respectively connected with the fixing part and the moving part of the joint motor, or respectively connected with the moving part or the fixing part of the joint motor), and an included angle formed between the first motor and the second motor is a right angle. Alternatively, the second motor may be a linear motor (e.g., a flat type linear motor), a telescopic cylinder, or the like.

Further, taking the crop processing mechanism 5 provided in this embodiment as an example for performing a topping work, as shown in the schematic structural diagram of the crop processing mechanism 5 provided in fig. 2, the crop processing mechanism 5 includes a work base 51, a first grid 52, a second grid 53 and a work driving mechanism 54, the work base 51 is connected to the second driving mechanism 4, the first grid 52, the second grid 53 and the work driving mechanism 54 are mounted on the work base 51, the first grid 52 and the second grid 53 are horizontally and oppositely disposed, and the work driving mechanism 54 is configured to drive the first grid 52 and the second grid 53 to move in an alternating manner. Specifically, the work base 51 is fixedly connected to a movable portion of the second motor, through holes 55 are provided on the work base 51, and first and second meshes through which work targets pass are provided at the through holes 55. The crop processing mechanism 5 of the present embodiment is used for topping, and correspondingly, the mesh is set to allow the terminal bud of the crop to pass through and to block the size of the leaf below the terminal bud. In the standby state, the crop processing means 5 causes the meshes of the first and second grids to be in a relative state, and in the working state, the work target (top bud) is passed through the meshes, and the first grid 52 and the second grid 53 are determined to move in a staggered manner by the work driving means 54, so that the work target is cut off from the crop, and the topping work for the crop is realized.

Specifically, the work driving mechanism 54 includes a first gear 541, a second gear 542, and a driving motor 543, the first gear 541 is coaxially and fixedly connected to the first grid 52 or the second grid 53, an axial direction of the driving motor 543 is parallel to the first direction, a fixed portion of the driving motor 543 is fixedly connected to the work base 51, and the second gear 542 is coaxially and fixedly connected to a movable portion of the driving motor 543 and is engaged with the first gear 541. Specifically, the shapes of the first mesh 52 and the second mesh 53 can be set according to actual needs, and the embodiment is described by taking a circle as an example. The first grid 52 or the second grid 52 is fixedly installed on the work base 51, when the first grid 52 is fixedly installed on the work base 51, the first gear 541 is coaxially and fixedly connected with the first grid 52, and when the second grid 52 is fixedly installed on the work base 51, the first gear 541 is coaxially and fixedly connected with the second grid 53, the embodiment is described by taking the case that the first grid 52 is fixedly installed on the work base 51, and the second grid 53 is rotatably connected to the work base 51 (for example, the second grid 53 is installed by a bearing, or an arc-shaped or circular installation groove 56 for installing and guiding the rotation of the second grid 53 is provided on the installation base 1). The first gear 541 is provided in the shape of a ring gear having teeth protruding outward, and an inner ring of the first gear 541 is coaxially and fixedly connected to an outer ring of the second mesh 53.

In one embodiment, the first grid 52 is disposed below the second grid 53, and the cross section of the first grid 52 is provided with a guide surface protruding downwards from the middle, wherein the cross-sectional shape of the guide surface can be an arc surface, a triangular surface or a trapezoidal surface. By providing the bottom of the first mesh 52 as a guide surface, the first mesh 52 may first contact with the terminal bud or the blade during the fall of the crop processing mechanism 5, and when the first mesh 52 first contacts with the blade, the first mesh 52 will guide the blade to the outside of the second mesh 53 via the guide surface, reducing the resistance to the terminal bud entering the mesh, and reducing the resistance caused by the blade during the fall of the crop processing mechanism 5, so that the crop processing mechanism 5 can more smoothly reach the working position.

The second motor and the crop processing mechanism 5 are driven to horizontally rotate around the axis of the first motor by controlling the rotation controlled by the joint motor, the second motor and the crop processing mechanism 5 are driven to vertically move by controlling the movable part of the first motor to vertically move, and the crop processing mechanism 5 is driven to horizontally move by horizontally moving the movable part of the second motor, so that the movement control of the crop processing mechanism 5 on the spatial position is realized. After the position of the operation target is determined, the crop processing mechanism 5 is moved to the horizontal position corresponding to the operation target, the through hole 55 on the operation base 51 is positioned above the operation target, the crop processing mechanism 5 is moved downwards, after the operation target passes through the first grid 52 and the second grid 53, the operation driving mechanism 54 drives the first grid 52 and the second grid 53 to move in a staggered mode, so that the operation target is cut, manual topping operation is not needed, the problems of lack of manpower resources and low working efficiency in the prior art are effectively solved, crop processing is performed in a mechanical mode, the working efficiency of crop processing is improved, and the labor cost is reduced.

Fig. 3 shows a block diagram of a polar coordinate type crop processing apparatus provided in an embodiment of the present application, and as shown in fig. 3, the polar coordinate type crop processing apparatus includes a control device 200, a spatial digitization detection device 300, and the polar coordinate type crop processing apparatus 100 provided in the above embodiment, the spatial digitization detection device 300 is connected with the control device 200, and the first driving mechanism 2, the steering driving mechanism 3, the second driving mechanism 4, the crop processing mechanism 5, and the control device 200 in the polar coordinate type crop processing apparatus 100 are connected. Wherein the spatial digitizer sensor 300 is disposed directly above, laterally above, or laterally to the polar coordinate processing apparatus 100.

The spatial digital detection device 300 is configured to perform spatial digital acquisition on a work area, obtain work area information, and send the work area information to the control device 200. The acquisition sensor corresponding to the spatial digital detection device 300 may be one or a combination of more of an RGBD camera, a binocular camera, a millimeter wave radar, a laser radar, an ultrasonic radar, and the like. Taking an RGBD camera as an example, the work area information obtained by performing spatial digital acquisition on the work area includes an RGB image and a depth map, and the horizontal position of the work target can be identified according to the RGB image, and the height position of the work target can be determined according to the depth map.

The control device 200 is configured to determine, based on the work area information, work position information of a work target in the work area; and controlling the first driving mechanism 2, the steering driving mechanism 3 and the second driving mechanism 4 based on the working position information to move the crop processing mechanism 5 to the working position and to control the crop processing mechanism 5 to perform work on the working target.

Specifically, the control device 200 is provided with a target detection model constructed based on a convolutional neural network. Upon receiving the work area information transmitted from the spatial digitizer sensor 300, the controller 200 inputs the work area information into the trained object detection model, and identifies the image coordinates of each work object in the work area by the object detection model, and determines the image height corresponding to the image coordinates. It is understood that the image coordinates and the image height are in the coordinate system corresponding to the spatial digital detection device 300, and it is necessary to convert the image coordinates and the image height to the coordinate system corresponding to the polar coordinate type crop processing device 100, obtain the position information and the height information of the image coordinates and the image height corresponding to the coordinate system of the polar coordinate type crop processing device 100, and use the position information and the height information as the work position information. After the work position information is determined, the control device 200 controls the first drive mechanism 2, the steering drive mechanism 3, and the second drive mechanism 4 to move the crop processing mechanism 5 to the work position, and controls the crop processing mechanism 5 to perform work on the work target.

In one embodiment, the polar crop processing apparatus 100 is provided in plurality and arranged at intervals of a set distance. For example, a plurality of polar coordinate type crop processing apparatuses 100 are arranged at intervals of a set distance in a planting direction of crops, and the number of polar coordinate type crop processing apparatuses 100 may be set according to the size of the area of the working area and the working coverage area of each polar coordinate type crop processing apparatus 100.

In one embodiment, the detection area of the spatial digitization detection device 300 includes a first work area and a second work area following the first work area, and correspondingly, the work area information includes first work area information and second work area information. Specifically, the first work area is a current work area where work is currently performed, and the second work area is a next work area, that is, after the work on the first work area is completed, the work is moved to the second work area to perform work, and at this time, the second work area is converted into the first work area. Correspondingly, the operation area information generated by the spatial digital detection device 300 performing spatial digital collection on the first operation area and the second operation area includes the first operation area information and the second operation area information.

Further, the control device 200, upon receiving the first work area information and the second work area information, identifying a work target and corresponding work position information in first work area information and second work area information, respectively, the work position information corresponding to the first work area information to be used for performing work processing for the first work area, the work position information corresponding to the second work area information to be used for performing work processing for the second work area, by extending the detection range of the spatial digital detection device 300 to the next working area, the working position information of the working target of the next working area can be analyzed in advance, when the polar coordinate type crop processing equipment moves to the second working area, the polar coordinate type crop processing device 100 can be directly controlled according to the corresponding working position information, and the working efficiency of crops is improved.

The first working area information and the second working area information may be acquired by different acquisition sensors, or may be acquired by the same acquisition sensor, for example, a shooting range corresponding to the spatial digital detection device 300 covers the first working area information and the second working area.

Alternatively, the polar crop processing apparatus may be mounted in a mobile device, for example on a vehicle or other mobile carrier, and moved between different work areas with the polar crop processing apparatus by the mobile device.

In one embodiment, the polar crop processing apparatus further comprises an object detection device 400, and the object detection device 400 is connected with the control device 200. The target detection device 400 is configured to detect a work target of the crop processing mechanism 5, and generate target detection information indicating whether the work target enters the crop processing mechanism 5. Accordingly, the control device 200 controls the crop processing mechanism 5 to perform work on the work target when the crop processing mechanism 5 is moved to the work position and the target detection information indicates that the work target enters the crop processing mechanism 5.

The target detection device 400 may be an RGBD camera, a binocular camera, an infrared camera, a millimeter wave radar, a laser radar, an ultrasonic radar, an infrared sensor, a pressure sensor, a vibration sensor, or the like. Such as detecting whether the volume of the work object passing through first grid 52 or second grid 53 reaches a volume threshold, or whether the work object passes through first grid 52 or second grid 53, and if so, generating an object detection signal indicating that the work object entered crop handling mechanism 5.

The polar coordinate type crop processing equipment is moved to a working area, the working area is subjected to spatial digital acquisition through the spatial digital detection device 300 to obtain working area information, the control device 200 is used for determining the working position information of a working target in the working area according to the working area information, and the first driving mechanism 2, the steering driving mechanism 3 and the second driving mechanism 4 are controlled based on the working position information, so that the crop processing mechanism 5 is moved to the working position, the working target passes through the first grid 52 and the second grid 53, the first grid 52 and the second grid 53 are driven to move in a staggered manner through the working driving mechanism 54, the working target is cut, manual topping operation is not needed, the problems of manpower resource shortage and low working efficiency in the prior art are effectively solved, crop processing is carried out in a mechanical manner, and the working efficiency of crop processing is improved, the labor cost is reduced. Meanwhile, the target detection device 400 detects whether the operation target enters the crop processing mechanism 5 or not so as to determine the timing for driving the crop processing mechanism 5 to perform the operation, thereby improving the crop processing effect and reducing the condition that the timing for performing the operation on the operation target is too early or too late.

Fig. 4 is a flowchart of a crop processing method according to an embodiment of the present application, which is used to control a polar coordinate type crop processing apparatus according to the embodiment and is applied to a control device of the polar coordinate type crop processing apparatus.

The following description will be given taking as an example a method of controlling a device to perform crop processing. Referring to fig. 4, the crop treatment method includes:

s101: and determining the working position information of the working target in the working area according to the working area information generated by the space digital detection device.

Illustratively, after the polar coordinate type crop processing equipment moves above the working area, the working area information generated by the spatial digital acquisition of the working area by the spatial digital detection device is received, all working targets in the working area information are identified, the initial position information of each working target in the working area information is determined, and the working position information of each working target in the working area is further determined.

S102: and controlling the first driving mechanism, the steering driving mechanism and the second driving mechanism based on the operation position information so as to move the crop processing mechanism to the operation position.

For example, after determining the work position information corresponding to each work target in the current work area, the first driving mechanism, the steering driving mechanism and the second driving mechanism are controlled to move the crop processing mechanism to the work position. For example, the first driving mechanism drives the steering driving mechanism to move along the first direction, and the steering driving mechanism drives the second driving mechanism and the crop processing mechanism to move along the first direction, so that the movement control of the crop processing mechanism in the first direction is realized. Furthermore, the second driving mechanism is driven to rotate around the first direction by the steering driving mechanism, and the crop processing mechanism is driven to rotate around the first direction by the second driving mechanism, so that the movement control of the crop processing mechanism on the rotation around the first direction is realized. Furthermore, the second driving mechanism drives the crop processing mechanism to move in the second direction, so that the movement control of the crop processing mechanism in the second direction is realized. Through the control mode, the movement control of the crop processing mechanism in the first direction, the second direction and the first direction is realized, so that the crop processing mechanism is moved to the position corresponding to the operation target.

S103: and when the crop processing mechanism moves to the working position, controlling the crop processing mechanism to work on the working target.

For example, when the crop processing mechanism is moved to the work position corresponding to the work target, the crop processing mechanism is controlled to perform work on the work target at the work position. It should be explained that the work for the work target may be a topping work, a picking work, or the like for the crop, for example, topping of terminal buds of cotton, cotton picking, tea leaf terminal bud picking, or the like for the cotton, and the corresponding work target is a terminal bud of the crop, cotton, tea leaf terminal bud, or the like. The present embodiment is described by taking a topping operation as an example. When the crop processing mechanism moves to the operation position, the crop processing mechanism is controlled to cut the operation target, and topping operation is achieved.

After finishing the operation on one operation target, further determining other operation targets waiting for operation in the same operation area, determining the operation position information of the operation target, and controlling the crop processing mechanism to move to the operation position corresponding to the new operation position information according to the control mode to operate on the new operation target; or after finishing the operation of the operation target in the operation area, moving the polar coordinate type crop processing equipment to the next operation area, and repeating the operation flow of the operation target in the new operation area.

The polar coordinate type crop processing equipment is moved to the working area, the working area is subjected to spatial digital acquisition through the spatial digital detection device to obtain the working area information, the control device is utilized to determine the working position information of the working target in the working area according to the working area information, and controls the first driving mechanism, the steering driving mechanism and the second driving mechanism based on the operation position information, so that the crop processing mechanism moves to a working position, a working target passes through the first grid and the second grid, the first grid and the second grid are driven to move in a staggered manner by the working driving mechanism, thereby cutting the operation target without manual topping operation, effectively solving the problems of manpower resource shortage and low working efficiency in the prior art, the crop treatment is carried out in a mechanical mode, so that the working efficiency of the crop treatment is improved, and the labor cost is reduced.

On the basis of the above embodiments, fig. 5 is a flowchart of another crop treatment method provided in the embodiments of the present application, which is an embodiment of the crop treatment method. Referring to fig. 5, the crop treatment method includes:

s201: and determining the working position information of the working target in the working area according to the working area information generated by the space digital detection device.

In a specific embodiment, the trained work target recognition model is used to recognize the work target in the work area information, and based on this, step S201 includes S2011-S2012:

s2011: and performing operation target identification on operation area information generated by the space digital detection device by using a trained operation target identification model, and identifying initial coordinate information of an operation target in the operation area under a first coordinate system, wherein the first coordinate system is established on the basis of the space digital detection device.

Specifically, a work target recognition model is established based on a neural network, and the work target recognition model is trained by using sample region information of initial coordinate information of the marked work target as a training sample. After the polar coordinate type crop processing equipment is moved to a working area, working area information generated by the space digital detection device is obtained, the working area information is input into a trained working target recognition model, a working target in the working area information is recognized by the working target recognition model, and initial coordinate information of the working target in the working area under a first coordinate system is confirmed. Wherein the first coordinate system is established based on the spatial digital detection device.

Taking an RGBD camera as an acquisition sensor of a spatial digitization detection device as an example, assuming that a work target is a terminal bud, the spatial digitization detection device uses the RGBD camera to shoot the work area to obtain image information corresponding to the work area (including an RGB image and a depth map, which can identify the horizontal position of the work target according to the RGB image and determine the height position of the work target according to the depth map), and inputs the image information into a work target identification model, the terminal bud in the image information is identified by the work target identification model, image coordinates (x, y) of the terminal buds in the RGB image are determined, and image height y corresponding to each image coordinate is determined according to the depth map, and at this time, initial coordinate information of the work target in a first coordinate system is (x, y, z).

S2012: and converting the initial coordinate information by a coordinate system to obtain the operation position information of the initial coordinate information in a second coordinate system, wherein the second coordinate system is established based on the polar coordinate type crop processing device.

The second coordinate system provided in this embodiment is established based on the polar coordinate type crop processing apparatus, and a conversion relationship between the first coordinate system and the second coordinate system is recorded in advance. Specifically, after the initial coordinate information of each work target is obtained, coordinate system conversion is performed on the initial coordinate information according to a conversion relation between a first coordinate system and a second coordinate system, so that work position information of the initial coordinate information in the second coordinate system is obtained. The object processing mechanism provided by the embodiment can move in the horizontal direction, the radial direction and the vertical direction, and can correspondingly record the working position information in the form of polar coordinates, for example, the initial coordinate information (x, y, z) in the first coordinate system based on the space digital detection device is converted into the working position information (rho, theta, z') in the second coordinate system based on the polar coordinate type crop processing device. It will be appreciated that to ensure that the work object may pass through the object handling mechanism (e.g. the first grid and the second grid) normally after falling down according to the height information z ', the height indicated by z ' is greater than the height indicated by z, for example adding a set height to z ' on the basis of z.

In one embodiment, the detection area of the spatial digitizer sensor includes a first work area and a second work area subsequent to the first work area, and correspondingly, the work area information includes first work area information and second work area information. Based on this, step S201 may also include S2013-S2014:

s2013: according to the first work area information generated by the space digital detection device, work position information of a work target in the first work area is determined.

S2014: and determining position information to be operated of the operation target in the second operation area according to the second operation area information generated by the space digital detection device, wherein the position information to be operated is used as operation position information in the next crop processing.

Specifically, the operation area information generated by the spatial digital detection device performing spatial digital acquisition on the first operation area and the second operation area includes the first operation area information and the second operation area information. After receiving the first work area information and the second work area information, the control device identifies the work targets and the corresponding initial coordinate information in the first work area information and the second work area information respectively by using the work target identification model, and converts the initial coordinate information into work position information.

The work position information corresponding to the first work area information is used for carrying out work processing of the first work area, the work position information corresponding to the second work area information is used for carrying out work processing of the second work area, and namely when the polar coordinate type crop processing equipment moves to the second work area, the polar coordinate type crop processing device can be directly controlled according to the corresponding work position information.

It can be understood that when the spatial digital acquisition is just started, the first operation area information and the second operation area information corresponding to the first operation area and the second operation area are acquired, in the subsequent spatial digital acquisition, because the second operation area corresponds to the first operation area acquired by the latest spatial digital acquisition in the last spatial digital acquisition, the second operation area information corresponding to the second operation area is acquired, and the polar coordinate type crop processing device is controlled to operate after the acquisition of the operation area information and the identification of the operation target are not required to be waited for the subsequent operation, so that the operation efficiency of crops is effectively improved.

S202: the work target is assigned to the crop processing means based on the work position information of each work target.

The polar coordinate type crop processing apparatus provided by the present embodiment is provided with a plurality of crop processing mechanisms. Taking cotton planting as an example, the cotton is generally distributed in a manner of extending two plants and two plants along the row direction, taking 4 crop processing mechanisms as an example, the 4 crop processing mechanisms are arranged on 4 quadrants of the mounting base, and the range formed by driving the crop processing mechanisms to horizontally move by the second driving mechanism and the steering driving mechanism covers a rectangular area enclosed by the 4 cotton plants, so that the polar coordinate type crop processing device can simultaneously operate the 4 cotton plants.

Specifically, each crop treatment mechanism corresponds to a different working range, for example, when 4 crop treatment mechanisms are provided, the working range corresponding to each crop treatment mechanism corresponds to an angle of 90 °. After the operation position information of each operation target in the operation area is determined, the operation range corresponding to each operation target is determined according to the operation position information according to the principle of near distribution, and each operation target is distributed to the crop processing mechanism corresponding to the operation range, so that the moving distance of the crop processing mechanism during crop operation is reduced, and the operation efficiency is improved.

S203: and controlling the first driving mechanism, the steering driving mechanism and the second driving mechanism corresponding to each crop processing mechanism based on the operation position information so as to enable the crop processing mechanisms to move to the operation positions corresponding to the distributed operation targets.

After the operation target distributed to each crop processing mechanism is determined, the first driving mechanism, the steering driving mechanism and the second driving mechanism corresponding to each crop processing mechanism are controlled separately according to the operation position information corresponding to each operation target, so that the crop processing mechanisms move to the operation positions corresponding to the distributed operation targets.

In a particular embodiment, the work position information includes angle information, radius information, and height information, and the work position includes an angle position, a radius position, and a height position. Accordingly, when the first drive mechanism, the steering drive mechanism, and the second drive mechanism are controlled to move the crop processing mechanism to the working position based on the working position information, S2031 to S2033 are included:

s2031: and controlling a steering mechanism to drive a second driving mechanism to rotate around a first direction based on the angle information in the operation position information so as to enable the crop processing mechanism to rotate to an angle position corresponding to the angle information.

According to the angle information in the operation position information, the steering mechanism is controlled to drive the second driving mechanism to rotate around the first direction, and more specifically, the rotation controlled by the joint motor is controlled to drive the second motor and the crop processing mechanism to horizontally rotate around the axis of the first motor, so that the crop processing mechanism rotates to the angle position corresponding to the angle information. At this time, the corresponding work target is located on a straight line corresponding to the orthographic projection of the second motor.

S2032: and controlling a first driving mechanism to drive a steering driving mechanism to move along a first direction based on the radius information in the operation position information so as to enable the crop processing mechanism to move to a radius position corresponding to the radius information.

And controlling the first driving mechanism to drive the steering driving mechanism to move along the first direction according to the radius information in the operation position information, more specifically, controlling the movable part of the second motor to horizontally move to drive the crop processing mechanism to horizontally move so that the crop processing mechanism moves to the radius position corresponding to the radius information. The corresponding work target is located directly below the crop handling mechanism.

S2033: and controlling a second driving mechanism to drive the crop processing mechanism to move along a second direction based on the height information in the operation position information so as to enable the crop processing mechanism to move to a height position corresponding to the height information.

And controlling the second driving mechanism to drive the crop processing mechanism to move along the second direction according to the height information in the operation position information, and more specifically, controlling the movable part of the first motor to move downwards (the crop processing mechanism is located at the highest point in the initial state or the state to be operated) to drive the second motor and the crop processing mechanism to move downwards so that the crop processing mechanism moves to the height position corresponding to the height information. At this point, the work target passes from bottom to top through the first and second grids of the crop handling mechanism.

S204: and when the crop processing mechanism moves to the working position, controlling the crop processing mechanism to work on the working target.

And controlling the crop processing mechanism to perform operation on the operation target when the crop processing mechanism moves to the operation position. For example, the first grid and the second grid are driven to move in a staggered mode through the operation driving mechanism, the operation target is cut, and topping operation of crops is achieved.

In one embodiment, an object detection device is provided on the polar coordinate type crop processing apparatus for detecting whether a work object enters the crop processing mechanism. Specifically, the object detection device is mounted on the crop processing mechanism, for example, an infrared reflection sensor is mounted on the crop processing mechanism, and detects the blocking object on the second mesh, and when the work object passes through the second mesh and blocks the infrared reflection sensor, it is considered that the work object has entered the crop processing mechanism, and object detection information indicating that the work object has entered the crop processing mechanism is generated. Or the ultrasonic radar is installed on the crop processing mechanism, the target volume of the shelter passing through the second grid is detected, when the target volume reaches a set volume threshold value, the operation target is considered to enter the crop processing mechanism, and target detection information indicating that the operation target enters the crop processing mechanism is generated.

Based on this, after the crop processing means moves to the work position corresponding to the assigned work target or before the crop processing means is controlled to perform work on the work target, the method further includes: determining that the target detection information indicates that the job target enters the crop handling mechanism. The method includes waiting for a target detection device to transmit target detection information until target detection information indicating that a work target enters a crop processing means is received, and continuing to control the crop processing means to move down or to resume the position of the crop processing means and re-detecting work position information of the work target if the target detection information is not received within a set time. And controlling the crop processing mechanism to perform work on the work target when target detection information indicating that the work target enters the crop processing mechanism is received. Whether the operation target enters the crop processing mechanism or not is detected through the target detection device, the action time of the crop processing mechanism is accurately judged, and the condition that the operation time of the operation target is too early or too late is reduced.

In one embodiment, after controlling the crop processing mechanism to perform the work on the work target, the method further includes step S205:

s205: and controlling the first driving mechanism, the steering driving mechanism and/or the second driving mechanism according to the set moving direction and speed so as to enable the crop processing mechanism to carry out material throwing action.

It can be understood that after the work is performed on the work target, there is a case where the material remains on the crop processing means, for example, when the topping work is performed, the dropped top bud may remain on the first grid or the second grid after the work target (top bud) is cut, and in order to ensure the normal performance of the next topping work, it is necessary to remove the remaining material from the crop processing means to ensure the normal performance of the next work on the work target. Illustratively, the first driving mechanism, the steering driving mechanism and/or the second driving mechanism are controlled according to the set moving direction and speed to drive the crop processing mechanism to move according to the set moving direction and speed so as to enable the crop processing mechanism to perform material throwing action (for example, enabling the crop processing mechanism to quickly lift the working surface and quickly descend and rotate so as to throw residual materials away from the working surface).

Optionally, the controlling the first driving mechanism, the steering driving mechanism, and the second driving mechanism according to the set moving direction and speed provided in this embodiment includes at least one of S2051 to S2053:

s2051: and controlling the first driving mechanism to drive the steering driving mechanism to move along the first direction according to a set first direction movement strategy, wherein the first direction movement strategy is used for indicating the speed and time for driving the steering driving mechanism to move along the first direction.

Specifically, according to the speed and time of the movement in the first direction indicated by the first direction movement strategy, the movable part of the first motor in the first driving mechanism is controlled to move in the first direction so as to drive the steering driving mechanism, the second driving mechanism and the crop processing mechanism to move in the first direction. The speed and time indicated by the first direction movement strategy may be a combination of speeds and times, for example, the speed may be speeds in different directions (distinguished by signs of the speeds). For example, the speed and time indicated by the first direction movement strategy may be set to indicate a rapid rise followed by a rapid fall of the first drive mechanism, or a combination of rapid up and down movements.

S2052: and controlling the steering driving mechanism to drive the second driving mechanism to rotate around the first direction according to a set rotating direction movement strategy, wherein the rotating direction movement strategy is used for indicating the speed and time for driving the second driving mechanism to rotate around the first direction.

Specifically, according to the speed and time of rotation around the first direction indicated by the rotation direction movement strategy, a joint motor in the steering driving mechanism is controlled to rotate along the rotation direction so as to drive the second driving mechanism and the crop processing mechanism to rotate along the rotation direction. The speed and time indicated by the rotating direction movement strategy can be a combination of various speeds and times, for example, the speeds can be speeds in different clockwise directions (distinguished by signs of the speeds). For example, the speed and time indicated by the turn direction movement strategy may be set to indicate a rapid clockwise rotation followed by a rapid counterclockwise rotation of the steer-drive, or a combination of two clockwise repetitions.

S2053: and controlling the second driving mechanism to drive the crop processing mechanism to move along the second direction according to a set second direction movement strategy, wherein the second direction movement strategy is used for indicating the speed and time for driving the crop processing mechanism to move along the second direction.

Specifically, the movable part of the second motor in the second driving mechanism is controlled to move along the second direction according to the speed and time of the movement along the second direction indicated by the second direction movement strategy so as to drive the crop processing mechanism to move along the second direction. The speed and time indicated by the second direction movement strategy may be a combination of speeds and times, for example, the speed may be speeds in different directions (distinguished by signs of the speeds). For example, the speed and time indicated by the second direction movement strategy may be set to indicate that the second drive mechanism is moving quickly backwards and forwards, or a combination of moving quickly backwards and forwards.

The polar coordinate type crop processing equipment is moved to the working area, the working area is subjected to spatial digital acquisition through the spatial digital detection device to obtain the working area information, and the control device is used for determining the working position information of the working target in the working area according to the working area information. And according to the operation range of each crop processing mechanism and the operation range corresponding to each operation target, the operation targets are distributed to the crop processing mechanisms, the moving distance of the crop processing mechanisms is reduced, and the operation efficiency is improved. And based on the operation position information, the first driving mechanism, the steering driving mechanism and the second driving mechanism are controlled, so that the crop processing mechanism moves to the operation position, the operation target passes through the first grid and the second grid, the first grid and the second grid are driven to move in a staggered mode through the operation driving mechanism, the operation target is cut, manual topping operation is not needed, the problems of insufficient manpower resources and low working efficiency in the prior art are effectively solved, crop processing is carried out in a mechanical mode, the working efficiency of crop processing is improved, and the labor cost is reduced. Meanwhile, whether the operation target enters the crop processing mechanism or not is detected through the target detection device so as to determine the time for driving the crop processing mechanism to operate, the crop processing effect is improved, and the condition that the time for operating the operation target is too early or too late is reduced. The spatial digital detection device simultaneously acquires first operation area information and second operation area information corresponding to a first operation area and a second operation area, identifies and analyzes an operation target on the next operation area in advance, and subsequently controls the polar coordinate type crop processing device to operate without waiting for the acquisition of the operation area information and the identification of the operation target, so that the operation efficiency of crops is effectively improved. And after the operation target is operated, the crop processing mechanism is controlled to throw away residual materials, so that the normal operation of the next operation target is ensured, and the operation quality is ensured.

The foregoing is considered as illustrative of the preferred embodiments of the invention and the technical principles employed. The present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. The utility model provides a polar coordinate formula crop processing apparatus which characterized in that, includes mounting base, first actuating mechanism, turns to actuating mechanism, second actuating mechanism and crop processing mechanism, wherein:

2. The polar coordinate type crop processing apparatus according to claim 1, wherein the first driving mechanism is provided in plurality, the plurality of first driving mechanisms are evenly distributed along the circumferential direction of the mounting base, and the first driving mechanism, the steering driving mechanism, the second driving mechanism and the crop processing mechanism are in one-to-one correspondence.

3. The polar coordinate crop processing apparatus of claim 1, wherein the first drive mechanism comprises a first motor controlled for movement in a first direction, a fixed portion of the first motor being mounted to the mounting base, and a moving portion of the first motor being coupled to the steering drive mechanism.

4. The polar coordinate type crop processing apparatus according to claim 1, wherein the steering driving mechanism comprises a joint motor controlled in horizontal rotation, and the first driving mechanism and the second driving mechanism are connected to a fixed portion and a moving portion of the joint motor, respectively, or to a moving portion and a fixed portion of the joint motor, respectively.

5. The polar coordinate crop processing apparatus of claim 1, wherein the second drive mechanism includes a second motor that is motion controlled in a second direction, a stationary portion of the second motor being coupled to the steering drive mechanism, and a moving portion of the second motor being coupled to the crop processing mechanism.

6. The polar coordinate crop processing apparatus of claim 1, wherein the crop processing mechanism comprises a work base, a first grid, a second grid, and a work driving mechanism, the work base is connected to the second driving mechanism, the first grid, the second grid, and the work driving mechanism are mounted on the work base, the first grid and the second grid are horizontally and oppositely disposed, and the work driving mechanism is configured to drive the first grid and the second grid to move in a staggered manner.

7. The polar coordinate crop processing apparatus of claim 6, wherein the working drive mechanism comprises a first gear, a second gear and a drive motor, the first gear is coaxially and fixedly connected with the first grid or the second grid, a fixed portion of the drive motor is fixedly connected with the working base, and the second gear is coaxially and fixedly connected with a movable portion of the drive motor and is meshed with the first gear.

8. The polar crop processing apparatus according to claim 6, wherein the first grid is disposed below the second grid, and the first grid has a cross section with a guide surface protruding downward from the middle.

9. Polar crop processing apparatus, comprising a control device, a spatial digitizer sensor device and a polar crop processing device according to any one of claims 1-8, the spatial digitizer sensor device being connected to the control device, the first drive mechanism, the steering drive mechanism, the second drive mechanism and the crop processing mechanism of the polar crop processing device being connected to the control device, wherein:

10. The polar crop processing apparatus according to claim 9, wherein the polar crop processing apparatus is provided in plurality and arranged at intervals of a set distance.

11. The polar crop processing apparatus according to claim 9, wherein the detection area of the spatial digitizer sensor includes a first work area and a second work area following the first work area, and wherein the work area information includes first work area information and second work area information.

12. Polar crop processing apparatus according to claim 9, further comprising target detection means, which target detection means are connected to the control means, wherein:

the target detection device is used for detecting the operation target of the crop processing mechanism and generating target detection information, and the target detection information is used for indicating whether the operation target enters the crop processing mechanism or not;

the control device controls the crop processing mechanism to work on the work target when the crop processing mechanism moves to a work position and the target detection information indicates that the work target enters the crop processing mechanism.

13. A crop treatment method for controlling a polar crop treatment apparatus according to any one of claims 9 to 12, for use in a control device, the crop treatment method comprising:

14. The crop processing method according to claim 13, wherein the determining the operation position information of the operation target in the operation area based on the operation area information generated by the spatial digitization detecting device comprises:

utilizing a trained operation target identification model to identify an operation target of operation area information generated by a space digital detection device, and identifying initial coordinate information of the operation target in the operation area under a first coordinate system, wherein the first coordinate system is established based on the space digital detection device;

and converting the initial coordinate information by a coordinate system to obtain the operation position information of the initial coordinate information in a second coordinate system, wherein the second coordinate system is established based on the polar coordinate type crop processing device.

15. A method of crop treatment as claimed in claim 13, wherein the polar crop treatment apparatus is provided with a plurality of crop treatment means;

the controlling a first drive mechanism, a steering drive mechanism, and a second drive mechanism based on the work position information to move a crop handling mechanism to a work position includes:

assigning a work target to the crop handling mechanism based on the work position information for each work target;

and controlling the first driving mechanism, the steering driving mechanism and the second driving mechanism corresponding to each crop processing mechanism based on the operation position information so as to enable the crop processing mechanisms to move to the operation positions corresponding to the distributed operation targets.

16. The crop processing method according to claim 13, wherein the working position information includes angle information, radius information, and height information, and the working position includes an angle position, a radius position, and a height position;

controlling a steering mechanism to drive a second driving mechanism to rotate around a first direction based on angle information in the operation position information so as to enable the crop processing mechanism to rotate to an angle position corresponding to the angle information;

controlling a first driving mechanism to drive a steering driving mechanism to move along a first direction based on the radius information in the operation position information so as to enable the crop processing mechanism to move to a radius position corresponding to the radius information;

and controlling a second driving mechanism to drive the crop processing mechanism to move along a second direction based on the height information in the operation position information so as to enable the crop processing mechanism to move to a height position corresponding to the height information.

17. The crop processing method according to claim 13, characterized in that the polar crop processing apparatus is provided with a target detection device;

before the controlling the crop processing mechanism to operate the operation target, the method comprises the following steps:

determining that the target detection information indicates that the job target enters the crop handling mechanism.

18. The method of crop processing according to claim 13, wherein the detection area of the spatial digitizer sensor arrangement includes a first work area and a second work area following the first work area, and wherein the work area information includes first work area information and second work area information;

the method for determining the operation position information of the operation target in the operation area according to the operation area information generated by the space digital detection device comprises the following steps:

determining the operation position information of an operation target in a first operation area according to the first operation area information generated by the space digital detection device;

and determining position information to be operated of the operation target in the second operation area according to the second operation area information generated by the space digital detection device, wherein the position information to be operated is used as operation position information in the next crop processing.

19. The method of claim 13, wherein after controlling the crop handling mechanism to work on the work target, further comprising:

and controlling the first driving mechanism, the steering driving mechanism and/or the second driving mechanism according to the set moving direction and speed so as to enable the crop processing mechanism to carry out material throwing action.

20. The method of claim 19, wherein the controlling the first drive mechanism, the steering drive mechanism, and the second drive mechanism according to the set direction and speed of movement comprises at least one of:

controlling the first driving mechanism to drive the steering driving mechanism to move along a first direction according to a set first direction movement strategy, wherein the first direction movement strategy is used for indicating the speed and time for driving the steering driving mechanism to move along the first direction;

controlling the steering driving mechanism to drive the second driving mechanism to rotate around the first direction according to a set rotating direction moving strategy, wherein the rotating direction moving strategy is used for indicating the speed and time for driving the second driving mechanism to rotate around the first direction;

and controlling the second driving mechanism to drive the crop processing mechanism to move along the second direction according to a set second direction movement strategy, wherein the second direction movement strategy is used for indicating the speed and time for driving the crop processing mechanism to move along the second direction.