Underwater plant pruning equipment, method and system

Abstract

The present invention relates to the technical field of environmental management, and specifically discloses underwater plant pruning equipment, including an equipment body, a collecting device and a pruning device. When it is necessary to prune underwater plants, the pruning equipment of this scheme is used, the collecting device collects plant information of underwater plants, and the pruning device cuts underwater plants. In this way, since the cutting and pruning of underwater plants is transformed from traditional manual underwater operations to mechanized operations of pruning equipment underwater operations, the difficulty of the operation is reduced and the work efficiency is effectively improved. In addition, since the equipment body is also provided with a collection box for collecting cut underwater plants, the cutting of underwater plants and the collection of cut underwater plants are carried out simultaneously, which can further improve work efficiency while avoiding environmental pollution. In addition, the present invention also discloses a method for pruning underwater plants and an underwater plant pruning system.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental management, and in particular to underwater plant pruning equipment, methods and systems. Background Art

[0002] During the operation and maintenance of rivers and lakes, manual control cutting machines are generally used to cut and prune underwater submerged plants. However, due to the different depths, widths and underwater plants of various rivers and lakes, it is difficult to prune submerged plants with manual control cutting machines, the operation time is long, the accuracy is difficult to guarantee, and there are safety hazards. Summary of the invention

[0003] The invention discloses underwater plant pruning equipment, a method and a system, which effectively improve the pruning efficiency and work safety of underwater plants.

[0004] In order to achieve the above-mentioned object, a first aspect of an embodiment of the present invention provides an underwater plant pruning device, comprising:

[0005] The equipment body is provided with a first control device and a first power mechanism, wherein the first power mechanism is electrically connected to the first control device and is used to provide walking power for the equipment body;

[0006] A collection device, which is disposed on the device body and is electrically connected to the first control device, and is used to collect plant information of underwater plants and send it to the first control device;

[0007] A trimming device, provided on the device body;

[0008] The trimming device is used to cut the underwater plants when the first power mechanism drives the device body to move, or,

[0009] The trimming device is electrically connected to the first control device and is used for cutting the underwater plants under the control of the first control device.

[0010] As an optional implementation, in the embodiment of the first aspect of the present invention, the device body includes a main body part and a walking part arranged on the main body part, the first control device is arranged in the main body part, the collection device and the trimming device are arranged on the main body part, and the first power device is arranged on the walking part;

[0011] Wherein, the walking part is a transmission track arranged on both sides of the main body part.

[0012] As an optional implementation, in the embodiment of the first aspect of the present invention, the collection device is arranged at the top of the main body part and is arranged adjacent to the front end of the main body part, or the collection device is arranged at the front end of the device body.

[0013] As an optional implementation, in the first embodiment of the present invention, the trimming device is disposed at the front end of the main body, and the trimming device is a long strip blade, or,

[0014] The trimming device comprises a second power mechanism, a telescopic arm and a cutter, wherein the second power mechanism is arranged in the main body and is electrically connected to the first control device, one end of the telescopic arm is rotatably arranged at the top of the main body, and the cutter is arranged at the other end of the telescopic arm;

[0015] The telescopic arm is used to rotate relative to the main body part and switch between a first state and a second state under the drive of the second power mechanism;

[0016] Wherein, the first state is a state in which the telescopic arm is telescoped relative to the main body portion, driving the cutter to be located at the top of the main body portion;

[0017] The second state is a state in which the telescopic arm is extended forward relative to the main body portion, driving the cutter to be located at the front end of the main body portion.

[0018] As an optional embodiment, in the embodiment of the first aspect of the present invention, the telescopic arm includes a rear arm and a forearm, the rear arm is rotatably connected to the main body portion, the forearm is rotatably connected to the rear arm, and the cutter is connected to the forearm;

[0019] The first state is a state in which the rear arm rotates relative to the main body portion to overlap the main body portion and the forearm rotates relative to the rear arm to overlap the rear arm;

[0020] The second state is a state in which the rear arm is rotated relative to the body portion to be extended forward relative to the body portion and the front arm is rotated relative to the rear arm to be extended forward.

[0021] As an optional implementation, in the embodiment of the first aspect of the present invention, the rotational connection between the forearm and the rear arm is located at the top of the main body portion, and the length ratio of the rear arm to the forearm is 1:1 to 1:1.3.

[0022] As an optional embodiment, in the embodiment of the first aspect of the present invention, a protrusion is provided at the top of the main body part near the rear end, the second power mechanism is arranged in the protrusion, a rotating groove is provided on the protrusion, and one end of the rear arm can be rotatably arranged in the rotating groove.

[0023] As an optional embodiment, in the embodiment of the first aspect of the present invention, the cutter includes a long strip slice and a connecting portion, the connecting portion extends upward from the long strip slice, the connecting portion is connected to the forearm, and the long strip slice is provided with cutting teeth along the side of its own length direction.

[0024] As an optional embodiment, in the embodiment of the first aspect of the present invention, the walking part is a transmission track arranged on both sides of the main body part, and a storage space is formed between the bottom of the main body part and the walking parts on both sides. A collection box opening forward is provided in the storage space, and the collection box is used to collect underwater plants cut by the pruning device.

[0025] As an optional implementation, in the embodiment of the first aspect of the present invention, a power pump is also provided in the storage space. The power pump is located behind the collection box and is electrically connected to the first control device, so as to provide suction force for the collection box.

[0026] As an optional implementation, in the embodiment of the first aspect of the present invention, the collection box is a hollow grid box body, and the collection box is rotatably provided with a collection cover, and the collection cover is used to cover or open the opening of the collection box.

[0027] In a second aspect, an embodiment of the present invention further provides a method for pruning underwater plants using an underwater plant pruning device, wherein the pruning device comprises an equipment body, a collection device and a pruning device, wherein the equipment body is provided with a first control device and a first power mechanism, wherein the first power mechanism is electrically connected to the first control device, and the collection device is provided on the equipment body and electrically connected to the first control device;

[0028] The trimming device is disposed on the device body, and the method comprises:

[0029] The collecting device collects plant information of underwater plants and sends it to the first control device;

[0030] The first control device controls the first power mechanism to drive the device body to move underwater according to the plant information;

[0031] The trimming device cuts the underwater plants when the device body moves;

[0032] or,

[0033] The trimming device is disposed on the device body and is electrically connected to the first control device;

[0034] The method comprises:

[0035] The collecting device collects plant information of underwater plants and sends it to the first control device;

[0036] The first control device controls the first power mechanism to drive the device body to move to the location of the underwater plants to be trimmed according to the plant information, and the first control device controls the trimming device to cut the underwater plants to be trimmed according to the plant information.

[0037] As an optional implementation, in an embodiment of the second aspect of the present invention, the collection device includes a collection component and an analysis component;

[0038] The collecting device collects plant information of underwater plants and sends it to the first control device, including:

[0039] The collecting component collects plant information of underwater plants and sends it to the analyzing component;

[0040] The analyzing component receives the plant information and sends the plant information to the first control device when the plant information matches the preset plant information;

[0041] The plant information includes plant height information, plant species information and location information.

[0042] As an optional implementation, in an embodiment of the second aspect of the present invention, a storage space is formed between the bottom of the main body and the walking parts on both sides, a collection box opening forward is provided in the storage space, the collection box is provided with a power pump, and the power pump is electrically connected to the first control device, and the method further includes:

[0043] The first control device detects the amount of underwater plants cut by the trimming device, and when the amount of cutting reaches a preset amount of cutting, controls the power pump to start sucking the cut underwater plants into the collection box.

[0044] In a third aspect, an embodiment of the present invention further provides an underwater plant pruning system, the system comprising a parking compartment and the above-mentioned pruning equipment, the parking compartment being provided with a parking area and a plant stacking area, the pruning equipment being parked in the parking area, and the plant stacking area being provided with a stacking box for stacking cut underwater plants.

[0045] Compared with the prior art, the underwater plant pruning device, method and system of the present invention have the following beneficial effects:

[0046] The present invention provides underwater plant pruning equipment, method and system. By setting a pruning equipment including an equipment body, a collection device and a pruning device, when underwater plants need to be pruned, the pruning equipment of the present solution is used, the collection device collects plant information of underwater plants, and the pruning device cuts underwater plants. In this way, since the cutting and pruning of underwater plants is transformed from traditional manual underwater operations to mechanized operations of pruning equipment underwater operations, the difficulty of the operation is reduced, and the work efficiency is effectively improved.

[0047] Furthermore, since the device body is also provided with a collection box for collecting cut underwater plants, the cutting of underwater plants and the collection of cut underwater plants can be performed simultaneously, which can further improve work efficiency while avoiding environmental pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 is a schematic structural diagram of a trimming device provided in Embodiment 1 of the present invention in a first state;

[0050] Figure 2 is a schematic structural diagram of the trimming device provided in the first embodiment of the present invention in the second state;

[0051] Figure 3 is a flow chart of a pruning method provided in Embodiment 2 of the present invention;

[0052] Figure 4 is a flow chart of a pruning method provided in Embodiment 3 of the present invention;

[0053] Figure 5 is the state of the pruning system provided by the fourth embodiment of the present invention Figure 1 ;

[0054] Figure 6 is the state of the pruning system provided by the fourth embodiment of the present invention Figure 2 . DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] In the present invention, the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0057] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0058] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0060] The invention discloses underwater plant pruning equipment, a method and a system, which effectively improve the pruning efficiency and work safety of underwater plants.

[0061] The technical solution of the present invention will be further described below in conjunction with embodiments and drawings.

[0062] Embodiment 1

[0063] Please also read Figure 1 , Figure 2Embodiment 1 of the present invention provides an underwater plant pruning device, including an equipment body 1, a collecting device 2 and a pruning device 3. The equipment body 1 is provided with a first control device and a first power mechanism. The first power mechanism is electrically connected to the first control device and is used to provide walking power for the equipment body 1. The collecting device 2 is provided on the equipment body 1 and is electrically connected to the first control device. The collecting device 2 is used to collect plant information of underwater plants and send it to the first control device. The pruning device 3 is provided on the equipment body 1. The pruning device 3 is used to cut underwater plants when the first power mechanism drives the equipment body 1 to move, or the pruning device 3 is electrically connected to the first control device and is used to cut underwater plants under the control of the first control device.

[0064] In this embodiment, the pruning device 10 is mainly used for the maintenance and pruning of underwater submerged plants in water environments such as rivers, lakes, reservoirs and bays. When it is necessary to prune underwater plants, the pruning device 10 of this solution is used, the collection device 2 collects plant information of underwater plants, and the pruning device 3 cuts underwater plants. In this way, since the cutting and pruning of underwater plants is transformed from traditional manual underwater operations to mechanized operations of the pruning device 10 underwater operations, the difficulty of the operation is reduced, and the work efficiency is effectively improved.

[0065] In this embodiment, the equipment body 1 includes a main body part 11 and a walking part 12 arranged on the main body part 11, the first control device is arranged in the main body part 11, the collection device 2 and the trimming device 3 are arranged on the main body part 11, and the first power device is arranged on the walking part 12.

[0066] As can be seen from the foregoing, the pruning device 10 of the present invention is mainly used for the maintenance and pruning of underwater submerged plants in water environments such as rivers, lakes, reservoirs and bays. The plants on the bottom of the water are usually disorderly, which brings a very large obstacle to the pruning device 10 during the pruning process. Therefore, the walking part 12 of the embodiment of the present invention adopts a transmission crawler provided on both sides of the main body part 11. The main body part 11 can run smoothly on the bottom mud under the drive of the transmission crawlers on both sides. In addition, due to the use of the transmission crawler walking method, the pruning device 10 walks close to the bottom of the river and lake, which can effectively reduce the disturbance of the bottom mud.

[0067] Furthermore, in order to further improve the stability of the trimming device 10 when operating underwater, the walking part 12 and the main body part 11 together form a device body 1 that is approximately rectangular. Since the center of gravity of a rectangular structure can move in a relatively large range, the device body 1 is set in a rectangular shape, which can increase the stability of the trimming device 20 and reduce the risk of rollover during operation. Preferably, the length, width, and height of the device body 1 are 2.1 m, 1.3 m, and 0.64 m.

[0068] In this embodiment, in order to facilitate the collection of plant information, the collection device 2 is arranged at the top of the main body 11 and is arranged near the front end of the main body 11, or the collection device 2 is arranged at the front end of the device body 1. Preferably, the collection component is a camera arranged on the main body 11, and the collection device 2 is preferably arranged at the top of the main body 11 and is arranged near the front end of the main body 11 to increase the information collection range of the collection device 2.

[0069] Furthermore, the collection device 2 includes a collection component and an analysis component, the analysis component is electrically connected to the collection component, the plant information includes plant height information, species information and position information, the collection component collects the plant height information, species information and position information, and sends the height information, species information and position information to the first control device when the height information matches the preset height information.

[0070] Furthermore, since the underwater plants in the same area grow in basically the same way, and the heights of the underwater plants after pruning and maintenance remain basically the same, in order to avoid incomplete pruning or repeated pruning, the first control device is also used to generate a preset moving route that matches the preset plant information. After receiving the location information of the plant information, the first control device can automatically match the preset moving route corresponding to the location information. The first control device controls the first power mechanism to drive according to the preset moving route, so that the device body 1 moves on the preset moving route, thereby achieving plant pruning in the entire area.

[0071] In this embodiment, the trimming device 3 includes the following two configuration modes:

[0072] The first type: the trimming device 3 is arranged on the equipment body 1, and the trimming device 3 is used to cut underwater plants when the first power mechanism drives the equipment body 1 to move. Specifically, the trimming device 3 is arranged at the front end of the main body part 11, and the trimming device 3 is a long strip slice 321. The long strip slice 321 is provided with cutting teeth along the side of its own length direction. When the long strip slice 321 is arranged at the front end of the main body part 11, the cutting teeth of the long strip slice 321 are arranged forward. When the moving part 12 moves forward, the cutting teeth of the long strip slice 321 cut the underwater plants.

[0073] The second type: the trimming device 3 is arranged in the device body 1 and is electrically connected to the first control device, and is used to cut underwater plants under the control of the first control device. The first control device is used to control the trimming device 3 to cut underwater plants according to plant information. Specifically, the trimming device 3 includes a second power mechanism, a telescopic arm 31 and a cutter 32. The second power mechanism is arranged in the main body 11 and is electrically connected to the first control device. One end of the telescopic arm 31 can be rotatably arranged at the top of the main body 11. The cutter 32 is arranged at the other end of the telescopic arm 31. The telescopic arm 31 is used to rotate relative to the main body 11 in a first state (such as Figure 1 as shown) and the second state (as Figure 2 As shown in the figure, the telescopic arm 31 switches between the two states, wherein the first state is that the telescopic arm 31 is extended relative to the main body 11, driving the cutter 32 to be located at the top of the main body 11, and the second state is that the telescopic arm 31 is extended forward relative to the main body 11, driving the cutter 32 to be located at the front end of the main body 11.

[0074] The front end of the main body 11 refers to the front end of the main body 11 moving forward (such as Figure 2 As shown in the figure, the direction indicated by the arrow is the direction in which the main body part 11 moves forward, and the end thereof faces the front.

[0075] It can be seen from the above two configurations that the first configuration can simplify the structure of the entire trimming device 10 because the trimming device 3 has a relatively simple structure. Moreover, the trimming device 3 can simultaneously cut underwater plants while the main body 11 is moving, which helps to keep the height of the cut underwater plants consistent and also makes the cutting and trimming of underwater plants more orderly.

[0076] With the second arrangement, since the cutter 32 is connected to the main body 11 via the telescopic arm 31, the position of the cutter 32 can be changed by adjusting the state of the telescopic arm 31, so that the cutter 32 can meet different cutting requirements. For example, if different underwater plants need to be kept at different heights after pruning, the height of the cutter 32 can be adjusted by adjusting the state of the telescopic arm 31, so that the cutter 32 is at a height that matches the height, thereby cutting the plant height that needs to be retained. Therefore, with this arrangement, the flexibility of the pruning device 3 can be improved and the scope of application of the pruning device 3 can be expanded.

[0077] The second setting method is introduced in detail below.

[0078] In this embodiment, the telescopic arm 31 includes a rear arm 311 and a forearm 312, the rear arm 311 is rotatably connected to the main body portion 11, the forearm 312 is rotatably connected to the rear arm 311, and the cutter 32 is connected to the forearm 312, wherein the first state is that the rear arm 311 rotates relative to the main body portion 11 to be overlapped with the main body portion 11 and the forearm 312 rotates relative to the rear arm 311 to be overlapped with the rear arm 311, and the second state is that the rear arm 311 rotates relative to the main body portion 11 to be forwardly extended relative to the main body portion 11 and the forearm 312 rotates relative to the rear arm 311 to be forwardly extended.

[0079] Further, the rear arm 311 is connected to the position near the rear end of the main body 11, and the rotation connection between the front arm 312 and the rear arm 311 is located at the top of the main body 11. Specifically, due to the different growth heights of underwater plants, in order to be able to trim plants of different growth heights, the length ratio of the rear arm 311 to the front arm 312 is 1:1 to 1:1.3, so that when the rear arm 311 is superimposed on the main body 11 and the front arm 312 is superimposed on the rear arm 311, the front arm 312 and the rear arm 311 are completely located above the main body 11. Among them, the ratio of the rear arm 311 to the front arm 312 can be 1:1.08, 1:1.1, 1:1.5 and other values. Preferably, the length of the rear wall is 1.3m, and the length of the front arm 312 is 1.4m.

[0080] Furthermore, during actual use, the cutter can reach a desired cutting height by controlling the rotation angle of the rear arm 311 relative to the main body 11 and the rotation angle of the front arm 312 relative to the rear arm 311 .

[0081] In this embodiment, in order to facilitate the rotational connection between the rear arm 311 and the main body part 11, a protrusion 111 is provided at the top of the main body part 11 near the rear end, the second power mechanism is arranged in the protrusion 111, and a rotation groove is provided on the protrusion 111. One end of the rear arm 311 can be rotatably arranged in the rotation groove.

[0082] In this embodiment, the cutter 32 includes a long strip slice 321 and a connecting portion 322, the connecting portion 322 extends upward from the long strip slice 321, the connecting portion 322 is connected to the forearm 312, the long strip slice 321 is provided with cutting teeth along the side of its own length direction, and the cutting teeth of the long strip slice 321 are arranged forward when the connecting portion 322 is connected to the front end of the forearm 312. Preferably, the length of the long strip slice 321 is 1.1m.

[0083] In this embodiment, in order to prevent the cut underwater plants from accumulating in large quantities at the bottom of the water and causing environmental pollution, the pruning device 10 is also provided with a device for collecting the cut underwater plants. Specifically, a storage space is formed between the bottom of the body part 11 and the walking parts 12 on both sides, and a collection box 4 with a forward opening 41 is provided in the storage space. The collection box 4 is used to collect the underwater plants cut by the pruning device 3. Since the device body 1 is also provided with a collection box 4 for collecting the cut underwater plants, cutting the underwater plants and collecting the underwater plants are performed simultaneously, which can further improve the work efficiency while avoiding environmental pollution.

[0084] Furthermore, in order to better collect the underwater plants into the collection box 4, a power pump (not shown) is also provided in the storage space, and the power pump is located behind the collection box 4 and is electrically connected to the first control device, and is used to provide suction force for the collection box 4. The first control device is also used to control the start of the power pump according to the plant information, so that the cutting and collection of underwater plants can be carried out simultaneously.

[0085] In this embodiment, the collecting box 4 is a hollow grid box. When the power pump sucks the underwater plants into the collecting box 4, the underwater plants and water enter the absorption collecting box 4 together. Since the collecting box 4 is a hollow grid box, the water in the collecting box 4 can be discharged from the end of the collecting box 4, and the remaining underwater plants will continue to be stored in the box.

[0086] Further, when the collection box 4 is full of underwater plants, the device body 1 will move to the underwater plant collection position to guide the underwater plants out for another round of collection. In order to prevent the underwater plants from falling out of the collection box 4 full of underwater plants, the collection box 4 is rotatably provided with a collection cover 42, and the collection cover 42 is used to cover or open the opening 41 of the collection box 4. When the collection box 4 is in the collection state, the collection cover 42 opens the opening 41 of the collection box 4, and when the collection box 4 is full of underwater plants, the collection box 4 covers the opening 41 of the collection box 4.

[0087] The following briefly describes the trimming process of the trimming device 10:

[0088] The collecting device collects plant information and sends it to the first control device. The first control device controls the first power mechanism to drive the device body 1 to move to the location of the underwater plants to be trimmed according to the location information of the plant information. The first control device then controls the telescopic arm 31 to adjust to the second state according to the height information, so that the cutter 32 is located at a height corresponding to the height information. The first control device continues to control the first power mechanism to drive the device body 1 to move according to the preset moving route and starts the power pump at the same time. The trimming device 3 cuts the underwater plants while the device body 1 is moving. At the same time, the cut underwater plants are sucked into the collection box 4.

[0089] The underwater plant pruning device provided in the first embodiment of the present invention is provided with a pruning device including a collecting device and a pruning device. By using the pruning device, the cutting and pruning of underwater plants is transformed from a traditional manual underwater operation to a mechanized operation of the pruning device underwater operation, so the difficulty of the operation is reduced and the work efficiency is effectively improved. In addition, the pruning device is also provided with a collection box for collecting underwater plants, which can avoid environmental pollution caused by the cut underwater plants. Cutting underwater plants and collecting underwater plants are performed simultaneously, which can further improve work efficiency while avoiding environmental pollution.

[0090] Embodiment 2

[0091] See also Figure 3 The embodiment of the present invention further provides a method for pruning underwater plants using the pruning device of the first embodiment, wherein the pruning device comprises a device body, a collection device and a pruning device, wherein the device body is provided with a first control device and a first power mechanism, wherein the first power mechanism is electrically connected to the first control device, the collection device is provided on the device body and electrically connected to the first control device, and the pruning device is provided on the device body, wherein the method comprises:

[0092] 201. A collecting device collects plant information of underwater plants and sends the information to a first control device.

[0093] In this embodiment, the collection device includes a collection component and an analysis component.

[0094] The collecting device collects plant information of underwater plants and sends it to the first control device, including:

[0095] 2011. The collecting component collects plant information of underwater plants and sends it to the analyzing component.

[0096] 2012. The analyzing component receives the plant information and sends the plant information to the first control device when the plant information matches the preset plant information.

[0097] Furthermore, the plant information includes height information, species information and location information of the plant.

[0098] 202. The first control device controls the first power mechanism to drive the device body to move underwater according to the plant information.

[0099] Specifically, before the first control device controls the first power mechanism to drive the device body to move underwater, the first control device also determines a preset walking route matching the plant information based on the plant information, so that the first control device controls the first power mechanism to drive the device body to move underwater along the preset walking route according to the preset walking route.

[0100] 203. The trimming device cuts underwater plants when the device body moves.

[0101] In this embodiment, a storage space is formed between the bottom of the main body and the walking parts on both sides, and a collection box opening forward is provided in the storage space. The collection box is provided with a power pump, and the power pump is electrically connected to the first control device. The pruning method of the present invention also includes:

[0102] The first control device detects the cutting amount of underwater plants cut by the trimming device, and when the cutting amount reaches a preset cutting amount, controls the power pump to start sucking the cut underwater plants into the collection box.

[0103] Embodiment 2 of the present invention provides a method for pruning underwater plants. By using pruning equipment to prune underwater plants, compared with traditional artificial underwater operations, the method of this solution reduces the difficulty of operation and improves work efficiency.

[0104] Embodiment 3

[0105] See also Figure 4 The third embodiment of the present invention further provides a method for pruning underwater plants. The difference between this embodiment and the second embodiment is that the pruning device is provided on the device body and is electrically connected to the first control device. The method of this embodiment includes:

[0106] 301. A collecting device collects plant information of underwater plants and sends the information to a first control device.

[0107] 302. The first control device controls the first power mechanism to drive the device body to move to the location of the underwater plants to be pruned according to the plant information, and the first control device controls the pruning device to cut the underwater plants to be pruned according to the plant information.

[0108] The following is a brief description of the pruning process after collecting plant information:

[0109] The collecting device sends the plant information to the first control device. The first control device controls the first power mechanism to drive the device body to move to the position of the underwater plants to be trimmed according to the position information of the plant information. The first control device then controls the telescopic arm to adjust the state according to the height information so that the cutter reaches the height corresponding to the height information. The first control device continues to control the first power mechanism to drive the device body to move and controls the power pump to start. The trimming device cuts the underwater plants while the device body is moving, and the cut underwater plants are sucked into the collection box.

[0110] The underwater plant pruning method provided in the third embodiment of the present invention uses a pruning device to prune underwater plants. Compared with traditional artificial underwater operations, the method of this scheme reduces the difficulty of operation and improves work efficiency.

[0111] Embodiment 4

[0112] See also Figure 5 , Figure 6 Embodiment 4 of the present invention further provides an underwater plant pruning system, the system includes a parking compartment 20 and the pruning device 10 of embodiment 1, the parking compartment 20 is provided with a parking area and a plant stacking area, the pruning device 10 is parked in the parking area, and the plant stacking area is provided with a stacking box for stacking the cut underwater plants.

[0113] In this embodiment, the trimming device 10 is parked in the parking area, and the collecting device on the trimming device 10 collects plant information of underwater plants. When the collecting device collects plant information that matches the preset plant information, the trimming device 10 moves to the location of the underwater plants to trim the plants.

[0114] Specifically, the first control device is used to control the first power mechanism to drive the device body to move according to the plant information, so that the device body moves from the parking compartment 20 to the position where the underwater plants are to be trimmed. In addition, the first control device is also provided with a preset moving route corresponding to the plant species information. The first control device determines the preset moving route according to the plant species information, and controls the trimming device 10 to trim the underwater plants from the starting point along the preset moving route.

[0115] Furthermore, after the pruning is completed, the pruning device 10 returns to the parking area of ​​the parking bin 20 and continues to collect plant information through the collection device.

[0116] In this embodiment, the collecting box 4 is detachably mounted on the main body of the pruning device 10. Preferably, the stacking box is a plurality of collecting boxes 4 that can be accommodated in the storage space of the main body of the device. Each collecting box 4 can be detachably mounted on the pruning device 10. The collecting box 4 filled with underwater plants can be returned to the plant stacking area of ​​the parking compartment 20 to be replaced with an empty collecting box 4, and then the pruning and collection of underwater plants can be continued. In this way, the underwater plants collected in the collecting box 4 can be transported to a fertilizer production plant as raw materials for organic fertilizers, making it a new resource that can be developed and utilized, thereby improving resource utilization efficiency.

[0117] Furthermore, the cutter is detachably connected to the forearm, and cutters of different sizes, i.e., long blades of different lengths, are placed in the parking compartment 20. Before the pruning device 10 is launched into the water, the cutter can be replaced to a specification that matches the plants to be pruned to meet the pruning needs of different underwater plants, thereby increasing the applicability of the pruning device 10.

[0118] In this embodiment, a second control device is also provided in the parking compartment 20, and the second control device is electrically connected to the first control device. When people observe with the naked eye that the underwater plants need to be trimmed, they can click on the trimming device start icon on the second control device and select the preset moving route corresponding to the underwater plants. After receiving the start information, the second control device sends it to the first control device. After receiving the start information, the first control device starts to trim the underwater plants.

[0119] The following is the working process of the trimming device 10:

[0120] Collect plant information of underwater plants → The trimming device 10 moves out of the parking compartment 20 to the underwater plants to be trimmed → Cut the underwater plants from beginning to end along the preset moving route (automatically adjust the height of the trimming device and perform trimming, and the trimmed underwater plants will be collected by the collection box 4) → After the collection box 4 is full, return to the parking compartment 20 to replace the empty collection box 4 → Return and continue the underwater plant cutting work → Feedback information after completing the work → Return to the parking compartment 20.

[0121] In addition, the specific structural design of the trimming device 10 can be found in the description of the first embodiment, which will not be repeated here.

[0122] Embodiment 4 of the present invention provides an underwater plant pruning system, which comprises arranging a pruning device and a parking compartment, wherein a plurality of collection boxes are placed in the parking compartment, and the collection boxes are detachably arranged on the pruning device body, so that the collection boxes full of underwater plants can be returned to the plant stacking area of ​​the parking compartment to be replaced with empty collection boxes, so as to continue pruning and collecting underwater plants. The cutter is detachably connected to the forearm, and cutters of different sizes are also placed in the parking compartment, so that the cutter can be replaced to a specification matching the plants to be pruned, so as to meet the pruning requirements of different underwater plants and increase the applicability of the pruning device.

[0123] The underwater plant pruning equipment, method and system disclosed in the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the underwater plant pruning equipment, method and system of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An underwater plant pruning device, characterized in that: include The equipment body is provided with a first control device and a first power mechanism, wherein the first power mechanism is electrically connected to the first control device and is used to provide walking power for the equipment body; A collection device, which is disposed on the device body and is electrically connected to the first control device, and is used to collect plant information of underwater plants and send it to the first control device; A trimming device, provided on the device body; The trimming device is used to cut the underwater plants when the first power mechanism drives the device body to move, or, The trimming device is electrically connected to the first control device and is used to cut the underwater plants under the control of the first control device; The equipment body includes a main body part and a walking part arranged on the main body part, the first control device is arranged in the main body part, the collecting device and the trimming device are arranged on the main body part, and the first power mechanism is arranged on the walking part, wherein the walking part is a transmission crawler arranged on both sides of the main body part; A storage space is formed between the bottom of the main body and the walking parts on both sides, and a forward-opening collecting box is provided in the storage space, and the collecting box is used to collect underwater plants cut by the trimming device; The collecting device is arranged at the top of the main body and is arranged near the front end of the main body, or the collecting device is arranged at the front end of the device body; The trimming device is arranged at the front end of the main body, and the trimming device is a long strip blade, or, The trimming device comprises a second power mechanism, a telescopic arm and a cutter, wherein the second power mechanism is arranged in the main body and is electrically connected to the first control device, one end of the telescopic arm is rotatably arranged at the top of the main body, and the cutter is arranged at the other end of the telescopic arm; The telescopic arm is used to rotate relative to the main body part and switch between a first state and a second state under the drive of the second power mechanism; Wherein, the first state is a state in which the telescopic arm is telescoped relative to the main body portion, driving the cutter to be located at the top of the main body portion; The second state is a state in which the telescopic arm is extended forward relative to the main body portion, driving the cutter to be located at the front end of the main body portion.

2. The trimming device according to claim 1, characterized in that The telescopic arm comprises a rear arm and a forearm, the rear arm is rotatably connected to the body portion, the forearm is rotatably connected to the rear arm, and the cutter is connected to the forearm; The first state is a state in which the rear arm rotates relative to the main body portion to overlap the main body portion and the forearm rotates relative to the rear arm to overlap the rear arm; The second state is a state in which the rear arm is rotated relative to the body portion to be extended forward relative to the body portion and the front arm is rotated relative to the rear arm to be extended forward.

3. The trimming device according to claim 2, characterized in that The rotation connection point between the front arm and the rear arm is located at the top of the main body part, and the length ratio of the rear arm to the front arm is 1:1 to 1:1.

3.

4. The trimming device according to claim 2 or 3, characterized in that A bulge is provided at the top of the main body part near the rear end, the second power mechanism is arranged in the bulge, a rotation groove is provided on the bulge, and one end of the rear arm can be rotatably arranged in the rotation groove.

5. The trimming device according to claim 2 or 3, characterized in that The cutter comprises a long strip slice and a connecting portion, wherein the connecting portion extends upward from the long strip slice and is connected to the forearm. The long strip slice is provided with cutting teeth along the side edge of its own length direction.

6. The trimming device according to claim 1, characterized in that A power pump is also provided in the storage space. The power pump is located behind the collection box and is electrically connected to the first control device for providing suction force for the collection box.

7. The trimming device according to claim 1, characterized in that The collection box is a hollow grid box body, and the collection box is rotatably provided with a collection cover, and the collection cover is used to cover or open the opening of the collection box.

8. A method for pruning underwater plants using underwater plant pruning equipment, characterized in that: The trimming device comprises a device body, a collection device and a trimming device, wherein the device body is provided with a first control device and a first power mechanism, and the first power mechanism is electrically connected to the first control device; the collection device is provided on the device body and is electrically connected to the first control device; The trimming device is disposed on the device body, and the method comprises: The collecting device collects plant information of underwater plants and sends it to the first control device; The first control device controls the first power mechanism to drive the device body to move underwater according to the plant information; The trimming device cuts the underwater plants when the device body moves; or, The trimming device is disposed on the device body and is electrically connected to the first control device; The method comprises: The collecting device collects plant information of underwater plants and sends it to the first control device; The first control device controls the first power mechanism to drive the device body to move to the location of the underwater plant to be pruned according to the plant information, and the first control device controls the pruning device to cut the underwater plant to be pruned according to the plant information; The equipment body includes a main body part and a walking part arranged on the main body part, the first control device is arranged in the main body part, the collecting device and the trimming device are arranged on the main body part, and the first power mechanism is arranged on the walking part, wherein the walking part is a transmission crawler arranged on both sides of the main body part; A storage space is formed between the bottom of the main body and the walking parts on both sides. A forward-opening collecting box is provided in the storage space. The collecting box is used to collect underwater plants cut by the trimming device.

9. The method according to claim 8, characterized in that The collection device includes a collection component and an analysis component; The collecting device collects plant information of underwater plants and sends it to the first control device, including: The collecting component collects plant information of underwater plants and sends it to the analyzing component; The analyzing component receives the plant information and sends the plant information to the first control device when the plant information matches the preset plant information; The plant information includes plant height information, plant species information and location information.

10. The method according to claim 8, characterized in that The collection box is provided with a power pump, and the power pump is electrically connected to the first control device. The method further comprises: The first control device detects the amount of underwater plants cut by the trimming device, and when the amount of cutting reaches a preset amount of cutting, controls the power pump to start sucking the cut underwater plants into the collection box.

11. An underwater plant pruning system, characterized in that: The system includes a parking compartment and the pruning device as described in any one of claims 1 to 7, wherein the parking compartment is provided with a parking area and a plant stacking area, wherein the pruning device is parked in the parking area, and wherein the plant stacking area is provided with a stacking box for stacking cut underwater plants.

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