Forest land camellia oleifera pruning equipment with height convenient to adjust

Abstract

The invention discloses woodland camellia oleifera pruning equipment with height convenient to adjust, which belongs to the field of agriculture and comprises a holding rod, a bearing rod, a pruning assembly and a pushing assembly. The trimming assembly is composed of a fixed first trimming knife and a sliding second trimming knife, and the pushing assembly drives the second trimming knife to linearly move to complete shearing. The core innovation lies in a cutting speed regulation and control system, cutter states (blade angle and corrosion) and branch parameters (radius, water content and included angle) are obtained through a data acquisition module, a cutter basic coefficient and a pruning condition coefficient are calculated through an evaluation module, a matching degree is generated by combining included angle indexes, and the cutting speed is dynamically adjusted according to the matching degree. The equipment can adapt to different branch conditions, improves the shearing efficiency and precision, prolongs the service life of a cutter, and is particularly suitable for a complex forest land environment. The problems that a traditional tool is inconvenient to adjust and insufficient in intelligence are solved, and reliable technical support is provided for efficient management of camellia oleifera.

Description

Technical Field

[0001] The invention belongs to the technical field of agriculture, and in particular relates to a woodland camellia pruning device which is convenient for adjusting the height. Background Art

[0002] In the cultivation and management of camellia oleifera, regular pruning is an important part of improving yield and quality. Traditional camellia oleifera pruning equipment mostly relies on manual operation, and has problems such as inconvenient height adjustment and low efficiency. Although existing electric pruning tools have partially solved the efficiency problem, they are not adaptable enough in complex forest environments. For example, they cannot dynamically adjust the cutting speed according to the branch diameter, water content and tool status, resulting in easy wear of the tool and unstable pruning effect. In addition, the lack of an intelligent control system makes the operation dependent on experience, and it is difficult to ensure pruning accuracy. Therefore, there is an urgent need for a new type of pruning equipment that can automatically adjust the height and intelligently control cutting parameters to meet diverse pruning needs and extend the service life of the tool. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the present invention provides a woodland camellia pruning device that is easy to adjust in height, thereby solving the above-mentioned problems.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: A woodland camellia pruning device that is easy to adjust in height, comprising a grip rod and a bearing rod, wherein a second linear motion member having an output shaft fixedly connected to the bearing rod is embedded in the grip rod, and further comprising: The trimming assembly includes a first trimming knife and a second trimming knife, wherein the first trimming knife is fixedly mounted on the upper side of the supporting rod, and the second trimming knife is slidably engaged with the supporting rod; A pushing assembly, mounted on the carrying rod, for pushing the second pruning knife to perform linear motion along the length direction of the carrying rod so as to enable the first pruning knife to cooperate with the second pruning knife to complete the pruning action; The cutting speed control system is used to adjust the speed at which the second trimming knife approaches the first trimming knife, including: Data acquisition module, used to collect basic tool data and branch pruning data; A tool basic evaluation module is used to construct a tool basic evaluation model based on tool basic data and output a tool basic evaluation coefficient; A pruning condition evaluation module is used to construct a pruning condition evaluation model based on branch pruning data and output a pruning condition evaluation coefficient; The tool-pruning matching analysis module builds a tool-pruning matching model based on the angle between the current branch and the horizontal direction, the tool basic evaluation coefficient, and the pruning condition evaluation coefficient to output the tool-pruning matching degree; The cutting speed adjustment module builds a cutting speed model based on the current tool-trim matching degree and the standard cutting speed to output the target cutting speed.

[0005] On the basis of the above technical solutions, the present invention also provides the following optional technical solutions: Further technical solution: The basic data of the tool includes the tool edge angle and the rust area on the blade surface; the branch pruning data includes the branch radius, the distance from the cutting point to the tool root, and the branch moisture content. The branch radius and the distance from the cutting point to the tool root can be obtained by a laser rangefinder installed on the support rod and the second pruning knife. The branch moisture content can be obtained by a near-infrared sensor installed on the first pruning knife. The tool rust area can be obtained in advance by an image sensor.

[0006] Further technical solution: The working steps of the tool basic evaluation module are as follows: The blade surface rust index is obtained by performing a ratio process on the dilution area of ​​the blade surface and the maximum allowable rust area; According to the blade angle index and blade surface corrosion index, a tool basic evaluation model is constructed and the tool basic evaluation coefficient is output; The tool basic evaluation model is expressed as: in, Indicates the basic evaluation coefficient of the tool, Indicates the blade angle, represents the ideal blade angle, Indicates obtaining the blade surface rust index. represents the attenuation coefficient, 、 represents the weight and .

[0007] Further technical solution: The specific calculation formula of the penalty weight of the blade angle deviation on the tool basic evaluation coefficient is: , represents the ideal blade angle, The larger it is, the faster the exponential decay is, and the score drops rapidly. The smaller it is, the smoother the falloff is, allowing for a larger edge angle deviation.

[0008] Further technical solution: The working steps of the pruning condition evaluation module are as follows: The branch radius is ratioed to the maximum allowable branch radius to obtain the branch radius index; The distance between the point to be sheared and the base of the scissors is compared with the maximum allowable distance to obtain the distance index; The water content index is obtained by ratioing the number of branches to the maximum allowable branch water content; A pruning condition evaluation model is constructed based on the branch radius index, distance index and moisture index, and the branch radius index, distance index and moisture index are imported to output the pruning condition evaluation coefficient; The pruning condition evaluation model is expressed as: in, represents the pruning condition evaluation coefficient, represents the branch radius index, represents the distance index, represents the moisture content index, represents the weight and .

[0009] Further technical solution: The working steps of the tool-trim compatibility analysis module are as follows: The angle between the current branch and the horizontal direction is compared with the right angle to obtain the angle index; According to the tool basic evaluation coefficient under the current branch angle index and the pruning condition evaluation coefficient, a tool-pruning matching model is constructed to output the tool-pruning matching degree; The tool-trim matching model is expressed as: in, represents the tool-trim matching degree, Indicates the basic evaluation coefficient of the tool, represents the pruning condition evaluation coefficient, Represents the angle index.

[0010] Further technical solution: The specific steps of the cutting speed adjustment module are: A cutting speed model is constructed based on the current tool-trim matching degree and the standard cutting speed, and the current tool-trim matching degree and the standard cutting speed are imported to output the target cutting speed; The cutting speed model is expressed as: in, Indicates the target cutting speed, Indicates standard cutting speed, represents the velocity attenuation coefficient, Indicates the tool-trim matching degree.

[0011] Further technical solutions: The larger the value, the better the tool condition. The larger the value, the higher the difficulty of pruning. Larger values ​​indicate better matching.

[0012] Further technical solution: The pushing assembly includes a limit slider, a first linear motion part and a guide rail slot. The limit slider slides in cooperation with the guide rail slot provided on the supporting rod. The guide rail slot is embedded in the supporting rod and its output shaft is fixedly connected to the limit slider. The limit slider is fixedly connected to the second pruning knife.

[0013] The present invention provides a woodland camellia pruning device that is easy to adjust in height, which has the following advantages compared with the prior art: The height adjustment of the present invention is convenient. The extension and retraction of the first linear motion part can realize the rapid lifting and lowering of the bearing rod, which can adapt to the pruning needs of branches of different heights. Based on the tool status (blade angle, rust) and branch parameters (radius, moisture content, angle), a mathematical model is constructed to dynamically adjust the cutting speed, which not only improves pruning efficiency but also reduces tool wear. The matching degree is comprehensively calculated through the angle index and the evaluation coefficient, which optimizes the shearing stability and reduces the risk of tool jamming due to branch angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0015] Figure 2 It is a schematic diagram of the overall structure of the present invention.

[0016] Figure 3 It is a structural schematic diagram of the cutting speed control system of the present invention.

[0017] Notes on the accompanying drawings: 1. Grip; 2. Load-bearing rod; 3. First trimming knife; 4. Second trimming knife; 5. Pushing assembly; 501. Limiting slider; 502. First linear motion member; 503. Guide rail slot; 6. Second linear motion member; 7. Power supply; 8. Cutting speed control system; 801. Data acquisition module; 802. Tool basic evaluation module; 803. Trimming condition evaluation module; 804. Tool-trimming matching analysis module; 805. Cutting speed adjustment module. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0020] See also Figure 1, provided in one embodiment of the present invention, is a woodland camellia pruning device that is easy to adjust in height, comprising a grip rod 1 and a supporting rod 2, wherein a second linear motion member 6 having an output shaft fixedly connected to the supporting rod 2 is embedded in the grip rod 1, and further comprising: The trimming assembly includes a first trimming knife 3 and a second trimming knife 4. The first trimming knife 3 is fixedly mounted on the upper side of the supporting rod 2, and the second trimming knife 4 is slidably engaged with the supporting rod 2. The pushing assembly 5 is mounted on the supporting rod 2 and is used to push the second trimming knife 4 to perform linear motion along the length direction of the supporting rod 2 so as to enable the first trimming knife 3 to cooperate with the second trimming knife 4 to complete the trimming action; The cutting speed control system 8 is used to adjust the speed at which the second trimming knife 4 approaches the first trimming knife 3, and includes: Data acquisition module 801, used to collect basic tool data and branch pruning data; A tool basic evaluation module 802 is used to construct a tool basic evaluation model based on the tool basic data and output a tool basic evaluation coefficient; A pruning condition evaluation module 803 is used to construct a pruning condition evaluation model based on the branch pruning data and output a pruning condition evaluation coefficient; The tool-pruning compatibility analysis module 804 constructs a tool-pruning matching model based on the angle between the current branch and the horizontal direction, the tool basic evaluation coefficient, and the pruning condition evaluation coefficient to output the tool-pruning matching degree; The cutting speed adjustment module 805 constructs a cutting speed model according to the current tool-trim matching degree and the standard cutting speed and outputs a target cutting speed.

[0021] Specifically, when the equipment is working, the second linear motion part adjusts the length of the load-bearing rod according to the operating instructions so that the pruning assembly reaches the target height. The laser rangefinder measures the radius of the branch and the position of the cutting point in real time, and the near-infrared sensor detects the moisture content of the branch. The image sensor obtains the data of the rust area of ​​the blade, combines it with the blade angle measurement value, and inputs it into the basic tool evaluation module to calculate the tool performance coefficient. The pruning condition evaluation module generates the operation difficulty coefficient based on the comprehensive branch parameters. The matching analysis module introduces the branch angle parameter, corrects the evaluation result through the cosine function, and outputs a comprehensive matching index. The speed adjustment module adjusts the output power of the propulsion component according to the matching degree. When the matching degree decreases, the cutting speed is reduced exponentially to prevent the tool from overloading; when the matching degree increases, the speed is gradually increased to the standard value. Compared with existing technologies, traditional equipment relies on a fixed speed mode and cannot cope with tool wear and changes in branch characteristics. This solution builds a dynamic evaluation system through multi-sensor data fusion to achieve real-time matching of cutting speed and operating conditions. The existing technology does not involve matching degree calculation based on cosine correction of the angle, and cannot optimize the cutting efficiency of branches at different angles. This application combines the blade angle deviation penalty weight with the degree of rust to establish a two-factor tool evaluation model to effectively quantify the performance degradation trend. Through the above technical solution, this application can automatically adapt to the pruning needs of branches of different heights and reduce the frequency of manual adjustment. The dynamic speed adjustment mechanism avoids the risk of breakage caused by high-speed operation of the tool in a rusted state, thereby extending the service life of the tool. Based on real-time monitoring of the branch radius and moisture content, it ensures that the shear force matches the material strength, reducing the phenomenon of knife jamming or incomplete cutting. The angle cosine correction term optimizes the cutting trajectory control of oblique branches and improves the pruning accuracy in complex operation scenarios.

[0022] Preferably, the pushing assembly 5 includes a limit slider 501, a first linear motion member 502 and a guide rail slot 503. The limit slider 501 slides in cooperation with the guide rail slot 503 provided on the supporting rod 2. The guide rail slot 503 is embedded in the supporting rod 2 and its output shaft is fixedly connected to the limit slider 501. The limit slider 501 is fixedly connected to the second pruning knife 4. The purpose of this arrangement is to use the first linear motion member 502 to push the limit slider 501 to drive 4 to perform linear motion along the length direction of the supporting rod 2, thereby prompting the second pruning knife 4 to cooperate with the first pruning knife 3 to cut the branches.

[0023] Specifically, during pruning, the first linear motion element drives the limit slider to move axially along the guide rail slot. Because the limit slider is rigidly connected to the second pruning blade, this linear motion is transmitted to the pruning blade seamlessly. The geometric precision of the guide rail slot constrains the slider's motion trajectory, preventing radial offset of the blade during the shearing process. The layout of the guide rail slot embedded within the support rod optimizes the structural force distribution, ensuring that the support rod does not elastically deform during reciprocating motion while maintaining the device's lightweight. An interference-fit sliding bearing is used between the limit slider and the guide rail slot to effectively absorb the vibration generated by the shear reaction force.

[0024] Compared to existing technologies, the sliding mechanisms of traditional pruning equipment often utilize open guide rails or simple sleeve structures, which suffer from large cumulative clearance errors and weak lateral load resistance. This solution, through the coordinated design of closed guide rail slots and limit sliders, increases the contact area of ​​the kinematic pair and significantly improves torsional resistance. While the hinge-link transmission method commonly used in existing technologies generates transmission backlash, this solution directly transmits motion through a rigid connection.

[0025] Through the above technical solution, this application achieves high-precision linear motion of the second pruning shear in complex working environments, solving the problem of burrs on the shearing surface caused by the instability of the motion mechanism. The coordinated design of the guide rail slide and the limit slider can effectively suppress the vibration of the equipment caused by the shear reaction force, ensuring the consistency of movement when pruning branches at different angles. The direct connection between the first linear motion part and the slider reduces power transmission losses. The overall structure extends the service life of key moving components while maintaining the portability of the equipment.

[0026] Preferably, the basic data of the tool include the tool edge angle and the rust area on the blade surface, and the branch pruning data include the branch radius, the distance from the point to be pruned to the root of the tool, and the moisture content of the branch. The branch radius and the distance from the point to be pruned to the root of the tool can be obtained by a laser rangefinder installed on the supporting rod 2 and the second pruning knife 4. The branch moisture content can be obtained by a near-infrared sensor installed on the first pruning knife 3, and the tool rust area can be obtained in advance by an image sensor.

[0027] Specifically, a laser rangefinder measures the branch radius and the location of the pruning point, while a near-infrared sensor measures the branch moisture content. When the device is in standby mode, the image sensor automatically triggers blade surface image acquisition, using grayscale threshold segmentation to identify the contours of the rusted area and generate a rust area percentage parameter. After preprocessing, multi-source data is input into the evaluation model. The degree of deviation of the tool blade angle from the ideal value and the rusted area together constitute a quantitative indicator of the tool condition. The branch radius, distance, and moisture content data form a comprehensive pruning condition parameter, providing real-time input for subsequent speed control.

[0028] Compared to existing technologies, traditional pruning equipment relies on manual experience to determine tool status and branch characteristics, lacking the ability to simultaneously sense multiple parameters. Existing power tools are equipped with only a single distance sensor and fail to account for the nonlinear effect of moisture content on shear resistance. Through multi-sensor fusion and collaborative data processing, comprehensive dynamic monitoring of tool wear, branch physical properties, and spatial position is achieved, addressing the one-sided and delayed parameter acquisition issues inherent in existing technologies.

[0029] Through the above technical solutions, this application realizes the synchronous and precise measurement of the tool blade angle, degree of rust, branch size, spatial position and water content, and establishes a complete data foundation for the intelligent control of cutting speed. The double-end arrangement of the laser rangefinder eliminates single-point measurement errors and ensures the accurate calculation of the branch diameter. Near-infrared non-contact detection avoids damage to the branch tissue structure and ensures the real-time and reliability of the water content data. Offline detection of the image sensor reduces system power consumption while providing high-precision rust assessment. Multi-dimensional data forms a closed-loop feedback, which effectively supports the dynamic prediction of the shear resistance by the subsequent evaluation model, provides reliable input parameters for the adaptive adjustment of the cutting speed, and reduces the risk of abnormal tool wear.

[0030] Preferably, the working steps of the tool basic evaluation module 802 are: The blade surface rust index is obtained by performing a ratio process on the dilution area of ​​the blade surface and the maximum allowable rust area; According to the blade angle index and blade surface corrosion index, a tool basic evaluation model is constructed and the tool basic evaluation coefficient is output; The tool basic evaluation model is expressed as: in, Indicates the basic evaluation coefficient of the tool, Indicates the blade angle, represents the ideal blade angle, Indicates obtaining the blade surface rust index. represents the attenuation coefficient (used to quantify the intensity of the impact of the deviation of the cutting edge angle from the ideal value on the tool performance), 、 represents the weight and , The larger the value, the better the tool condition; The specific calculation formula of the penalty weight of the blade angle deviation on the tool basic evaluation coefficient is: , represents the ideal blade angle, the control index function (blade angle scoring item ) decay rate, The larger it is, the faster the exponential decay is, and the score drops rapidly. The smaller it is, the smoother the falloff is, allowing for a larger edge angle deviation.

[0031] Through the above technical solution, the data of the tool's blade angle and rust area are collected, and a mathematical model is constructed by combining the preset ideal blade angle and the maximum allowable rust area. , quantify the current status of the tool and output the basic evaluation coefficient of the tool The closer this coefficient is to 1, the better the tool condition. This allows for real-time assessment of tool wear and corrosion, reminding users to promptly maintain or replace blades to avoid decreased trimming efficiency or the risk of tool jamming due to tool aging. Furthermore, through the attenuation coefficient and weight, the impact of blade angle deviation on performance is scientifically quantified, providing an accurate basis for subsequent cutting speed adjustments.

[0032] Preferably, the working steps of the pruning condition evaluation module 803 are: The branch radius is ratioed to the maximum allowable branch radius to obtain the branch radius index; The distance between the point to be sheared and the base of the scissors is compared with the maximum allowable distance to obtain the distance index; The water content index is obtained by ratioing the number of branches to the maximum allowable branch water content; A pruning condition evaluation model is constructed based on the branch radius index, distance index and moisture index, and the branch radius index, distance index and moisture index are imported to output the pruning condition evaluation coefficient; The pruning condition evaluation model is expressed as: in, represents the pruning condition evaluation coefficient, represents the branch radius index, represents the distance index, represents the moisture content index, represents the weight and , Larger values ​​indicate greater pruning difficulty.

[0033] The above technical solution is based on the branch radius, the distance ($d$) from the cutting point to the cutter root and the water content, and then compares them with the preset thresholds (such as the maximum allowable radius, distance, and water content) to generate the branch radius index, distance index, and water content index. , and then through the model Output the pruning condition evaluation coefficient. The larger the coefficient, the more difficult the pruning is. This technical solution can accurately identify the physical characteristics of branches (such as thickness, position, and humidity), dynamically evaluate the difficulty of pruning, and avoid insufficient shearing force or tool jamming due to branches that are too thick or too wet. At the same time, through weight distribution, key factors are given priority (such as the greater impact of radius on shearing force), thereby improving the scientific nature of the pruning strategy.

[0034] Preferably, the working steps of the tool-trim compatibility analysis module 804 are: The angle between the current branch and the horizontal direction is compared with the right angle to obtain the angle index; According to the tool basic evaluation coefficient under the current branch angle index and the pruning condition evaluation coefficient, a tool-pruning matching model is constructed to output the tool-pruning matching degree; The tool-trim matching model is expressed as: in, represents the tool-trim matching degree, Indicates the basic evaluation coefficient of the tool, represents the pruning condition evaluation coefficient, represents the angle index, The larger the value, the better the match. Convert pruning difficulty into a positive indicator of matching degree, The larger the angle (closer to vertical), the lower the match, as gravity affects shear stability.

[0035] The above technical solution constructs a matching model by integrating the basic evaluation coefficient of the tool, the evaluation coefficient of the pruning condition and the angle between the branch and the horizontal direction. , output tool-pruning matching degree, the closer the matching degree is to 1, the better the adaptability of the current tool state and the pruning condition is. This technical solution uses the angle cosine function Quantify the effect of branch angle on shear stability (vertical branches have low matching, horizontal branches have high matching), reduce the risk of shear deviation caused by gravity, and simultaneously match the cutting speed model Linkage, dynamic adjustment of cutting speed. For example, when the matching degree is high, speed up to improve efficiency, and when the matching degree is low, speed down to ensure cutting accuracy and tool protection. Preferably, the specific steps of the cutting speed adjustment module 805 are: A cutting speed model is constructed based on the current tool-trim matching degree and the standard cutting speed, and the current tool-trim matching degree and the standard cutting speed are imported to output the target cutting speed; The cutting speed model is expressed as: in, Indicates the target cutting speed, Indicates standard cutting speed, represents the velocity attenuation coefficient, Indicates the tool-trim matching degree.

[0036] The above technical solution dynamically adjusts the target cutting speed according to the matching degree (using the exponential decay model The lower the matching degree, the more significant the speed reduction. This allows for intelligent speed regulation, automatically reducing speed to protect the cutter under complex conditions (such as aging cutters or hard branches), while maintaining efficient operation in highly matched scenarios. This balances pruning efficiency and equipment safety, reducing the need for manual intervention.

[0037] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0038] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A woodland camellia pruning device that is easy to adjust in height, comprising a gripping rod (1) and a bearing rod (2), wherein a second linear motion member (6) having an output shaft fixedly connected to the bearing rod (2) is embedded in the gripping rod (1), characterized in that: Also includes: A trimming assembly comprises a first trimming knife (3) and a second trimming knife (4), wherein the first trimming knife (3) is fixedly mounted on the upper side of the carrying rod (2), and the second trimming knife (4) is slidably engaged with the carrying rod (2); A pushing assembly (5) is mounted on the supporting rod (2) and is used to push the second pruning knife (4) to perform linear motion along the length direction of the supporting rod (2) so as to enable the first pruning knife (3) to cooperate with the second pruning knife (4) to complete the pruning action; A cutting speed control system (8) for adjusting the speed of the second trimming knife (4) approaching the first trimming knife (3) includes: A data acquisition module (801) is used to collect basic tool data and branch pruning data; A tool basic evaluation module (802) is used to construct a tool basic evaluation model based on the tool basic data and output a tool basic evaluation coefficient; A pruning condition evaluation module (803) is used to construct a pruning condition evaluation model based on branch pruning data and output a pruning condition evaluation coefficient; The tool-pruning matching analysis module (804) constructs a tool-pruning matching model based on the angle between the current branch and the horizontal direction, the tool basic evaluation coefficient and the pruning condition evaluation coefficient, and outputs the tool-pruning matching degree; The cutting speed adjustment module (805) constructs a cutting speed model based on the current tool-trim matching degree and the standard cutting speed to output the target cutting speed.

2. The height-adjustable woodland camellia pruning equipment according to claim 1, characterized in that: The basic data of the tool include the tool edge angle and the rust area of ​​the blade surface; the branch pruning data include the branch radius, the distance from the point to be pruned to the tool root, and the water content of the branch; the branch radius and the distance from the point to be pruned to the tool root can be obtained by a laser rangefinder installed on the bearing rod (2) and the second pruning knife (4); the branch water content can be obtained by a near-infrared sensor installed on the first pruning knife (3); and the tool rust area can be obtained in advance by an image sensor.

3. The height-adjustable woodland camellia pruning equipment according to claim 2, characterized in that: The working steps of the tool basic evaluation module (802) are: The blade surface rust index is obtained by performing a ratio process on the dilution area of ​​the blade surface and the maximum allowable rust area; According to the blade angle index and the blade surface corrosion index, a tool basic evaluation model is constructed and the tool basic evaluation coefficient is output; The tool basic evaluation model is expressed as: in, Indicates the basic evaluation coefficient of the tool, Indicates the blade angle, represents the ideal blade angle, Indicates obtaining the blade surface rust index. represents the attenuation coefficient, 、 represents the weight and .

4. The height-adjustable woodland camellia pruning equipment according to claim 3, characterized in that: The specific calculation formula of the penalty weight of the blade angle deviation on the tool basic evaluation coefficient is: , represents the ideal blade angle, The larger it is, the faster the exponential decay is, and the score drops rapidly. The smaller it is, the smoother the falloff is, allowing for a larger edge angle deviation.

5. The height-adjustable woodland camellia pruning equipment according to claim 4, characterized in that: The working steps of the pruning condition evaluation module (803) are: The branch radius is ratioed to the maximum allowable branch radius to obtain the branch radius index; The distance between the point to be sheared and the base of the scissors is compared with the maximum allowable distance to obtain the distance index; The water content index is obtained by ratioing the number of branches to the maximum allowable branch water content; A pruning condition evaluation model is constructed based on the branch radius index, distance index and moisture index, and the branch radius index, distance index and moisture index are imported to output the pruning condition evaluation coefficient; The pruning condition evaluation model is expressed as: in, represents the pruning condition evaluation coefficient, represents the branch radius index, represents the distance index, represents the moisture content index, represents the weight and .

6. The height-adjustable woodland camellia pruning equipment according to claim 5, characterized in that: The working steps of the tool-trim compatibility analysis module (804) are: The angle between the current branch and the horizontal direction is compared with the right angle to obtain the angle index; According to the tool basic evaluation coefficient under the current branch angle index and the pruning condition evaluation coefficient, a tool-pruning matching model is constructed to output the tool-pruning matching degree; The tool-trim matching model is expressed as: in, represents the tool-trim matching degree, Indicates the basic evaluation coefficient of the tool, represents the pruning condition evaluation coefficient, Represents the angle index.

7. The height-adjustable woodland camellia pruning equipment according to claim 6, characterized in that: The specific steps of the cutting speed adjustment module (805) are: A cutting speed model is constructed based on the current tool-trim matching degree and the standard cutting speed, and the current tool-trim matching degree and the standard cutting speed are imported to output the target cutting speed; The cutting speed model is expressed as: in, Indicates the target cutting speed, Indicates standard cutting speed, represents the velocity attenuation coefficient, Indicates the tool-trim matching degree.

8. The height-adjustable woodland camellia pruning equipment according to claim 7, characterized in that: described The larger the value, the better the tool condition. The larger the value, the higher the difficulty of pruning. Larger values ​​indicate better matching.

9. The height-adjustable woodland camellia pruning device according to any one of claims 1 to 9, characterized in that: The pushing assembly (5) includes a limiting slider (501), a first linear motion member (502) and a guide rail slot (503), wherein the limiting slider (501) is slidably engaged with the guide rail slot (503) provided on the supporting rod (2), the guide rail slot (503) is embedded in the supporting rod (2) and its output shaft is fixedly connected to the limiting slider (501), and the limiting slider (501) is fixedly connected to the second trimming knife (4).

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