Multi-arm tobacco topping machine and topping operation method

Abstract

This invention discloses a multi-arm tobacco topping machine and a topping operation method. The topping machine includes a mobile vehicle body; the mobile vehicle body includes a frame, and the frame includes two parallel side sections, left and right, with a channel between the two side sections for tobacco crops to pass through; each side section has three topping robotic arms installed at its front, middle, and rear positions; for each side section, the topping assembly composed of the front and rear topping robotic arms is used to operate on the planting rows outside the side section; the topping assembly composed of the two topping robotic arms in the middle of the two side sections is used to operate on the planting rows within the channel; the topping robotic arms include a first arm and a second arm; the first arm is connected to the side section, and the second arm is equipped with a topping mechanism; the topping robotic arms can switch between an operating state and a retracted state. In the retracted state, both the first and second arms extend in the front-rear direction, and the first and second arms do not exceed the contour range of the side section in the front-rear direction.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a multi-arm tobacco topping machine and a topping operation method. Background Technology

[0002] During tobacco cultivation, it is necessary to regularly prune the top of the plant to eliminate the dominance of the top bud and promote the growth of lateral leaves.

[0003] To improve the efficiency of topping operations, existing technologies generally employ multiple topping devices to perform topping operations in parallel. For example, CN109526441A discloses a typical multi-row topping machine, which includes a walking component with a large span and a large central channel. Multiple robotic arms are installed in parallel within the channel. These robotic arms are typical parallel robotic arms, and the installation space for these robotic arms is large. When so many robotic arms are not needed, in order to avoid the idle robotic arms interfering with the crops, the extra robotic arms need to be removed. This will cause great inconvenience to use and cannot dynamically meet the changing topping needs. Furthermore, the walking component in this patent has a large span and poor walking flexibility. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a multi-arm tobacco topping machine and a topping operation method with a reasonable structural layout, a lightweight and retractable robotic arm structure.

[0005] Technical Solution: To achieve the above objectives, the present invention provides a multi-robotic arm tobacco topping machine, which includes a mobile vehicle body and multiple topping robotic arms; the mobile vehicle body includes a frame and wheels mounted on the bottom of the frame; all the topping robotic arms are mounted on the frame; the frame includes two parallel frame-like sides, left and right, with a channel between the two sides for tobacco crops to pass through; the frame also includes a control box, a battery, and a camera for acquiring images of the working rows;

[0006] Each of the sides has three of the top-attacking robotic arms installed at its front, middle and rear positions;

[0007] For each side, a top-applying assembly consisting of two top-applying robotic arms at the front and rear is used to operate on the planting rows on the outer side of that side; a top-applying assembly consisting of two top-applying robotic arms in the middle of the two sides is used to operate on the planting rows within the channel;

[0008] The top-attacking robotic arm includes two arms that are always horizontal and rotatably connected to each other, namely a first arm and a second arm; the first arm is connected to the side, and the top-attacking mechanism is installed on the second arm;

[0009] The top-mounting robotic arm can switch between working state and storage state. When it is in storage state, both the first arm and the second arm extend in the front-back direction, and the first arm and the second arm do not exceed the contour range of the side in the front-back direction.

[0010] Furthermore, the vehicle frame is equipped with cameras at positions above the channel and on the outer side of each of the sides.

[0011] Furthermore, the vehicle frame is equipped with cameras on both the front and rear sides corresponding to the upper part of the channel, and cameras are also installed on both the front and rear sides corresponding to the outer side position of each side.

[0012] Furthermore, a solar panel is mounted on the top of the vehicle frame, and the solar panel is connected to the battery.

[0013] Furthermore, the vehicle frame includes two inverted U-shaped support frames arranged in a front and rear configuration, and also includes a top frame fixed to the top of the support frames, with the solar panel mounted above the top frame.

[0014] Furthermore, the top frame is I-shaped and includes two front and rear crossbeams, as well as multiple longitudinal beams connecting the crossbeams and the support frame and connecting the two support frames.

[0015] Furthermore, the top-attacking mechanism includes a drive unit, on which two drive clamps that can open and close relative to each other are symmetrically mounted; each drive clamp is equipped with a clamping plate that slides elastically relative to it and a cutting blade that is fixed relative to it.

[0016] Furthermore, a medicated sponge is installed below the cutting blade, and the medicated sponge absorbs a sprout inhibitor.

[0017] A method for topping tobacco products using a multi-robotic arm tobacco topping machine, based on the aforementioned multi-robotic arm tobacco topping machine, the method comprising:

[0018] The camera is used to acquire an image of each of the planting rows;

[0019] The position information of the bud tip in each planting row is obtained from the image;

[0020] The number of topping robotic arms required for each topping assembly to participate in the topping operation is determined based on the bud tip position information and the topping machine's travel speed.

[0021] The system controls the robotic arm participating in the top-setting operation to perform the top-setting operation, and controls the robotic arm not participating in the operation to switch to the storage state.

[0022] Furthermore, the control requires the jacking robotic arm participating in the jacking operation to perform the jacking operation, specifically including:

[0023] When the number of top-pinching robotic arms participating in the top-pinching operation in the top-pinching assembly is 1, the top-pinching robotic arm is controlled to top the bud tip sequentially according to the bud tip position information;

[0024] When there are two topping robotic arms participating in the topping operation in the topping assembly, the topping task is assigned to the two topping robotic arms according to the bud tip position information.

[0025] Beneficial effects: The multi-robotic arm tobacco topping machine and topping operation method of the present invention have the following beneficial effects:

[0026] (1) The span of the mobile vehicle is small. Three sets of top-suppressing components are distributed in the channel and on both sides of the channel. For each top-suppressing operation, there are two top-suppressing robotic arms with front and rear layouts. In actual operation, the number of top-suppressing robotic arms participating in the operation in each set of top-suppressing components can be determined according to the intensity of the operation, or all top-suppressing robotic arms can be stored and the top-suppressing machine can be used as an inspection robot. The first arm and the second arm of the top-suppressing robotic arm in the stored state extend in the front and rear direction, so they will not interfere with the tobacco crops. This can ensure the effective height of the channel at the installation position and facilitate the passage of tobacco.

[0027] (2) All the top-pinching robotic arms are installed in a reasonable layout, which can simultaneously perform three-way top-pinching operations on the plants inside the channel and the plants on both sides outside the channel, greatly improving the work efficiency.

[0028] (3) The topping robotic arm with double flat arms is quick to respond, small in size and has a large working width. It can handle the topping work of all bud tips within its arm span and is easy to store. When stored, it can extend along the front and back direction to minimize the interference to tobacco plants.

[0029] (4) The topping mechanism has a reasonable structure, which can clamp and fix the plant before cutting, improve the success rate of topping, and avoid topping failure caused by plant shaking.

[0030] (5) The frame has a reasonable structural design, and its top frame can effectively support large-area solar panels. It is also lightweight and can stably install cameras.

[0031] (6) The top-hitting operation method can dynamically control the number of top-hitting robotic arms that need to participate in the top-hitting operation as needed, and can reasonably coordinate and control the top-hitting robotic arms when two top-hitting robotic arms in the same group are working at the same time, so that the top-hitting robotic arms in the same group can perform top-hitting operations efficiently. Attached Figure Description

[0032] Figure 1 A front view of the multi-robotic arm tobacco topping machine;

[0033] Figure 2 A 3D structural diagram of a multi-robotic arm tobacco topping machine excluding solar panels;

[0034] Figure 3 A 3D structural diagram of a multi-robotic arm tobacco topping machine;

[0035] Figure 4 A top view of a multi-arm tobacco topping machine excluding solar panels;

[0036] Figure 5 This is a top view of the top-loading machine when the robotic arm is in the retracted state;

[0037] Figure 6 This is a structural diagram of the top-loading robotic arm;

[0038] Figure 7 This is a structural diagram of the top-loading mechanism and the drive mechanism;

[0039] Figure 8 This is a structural diagram of the top-loading mechanism.

[0040] In the diagram: a-channel; 1-moving vehicle body; 11-frame; 11a-side; 111-support frame; 112-crossbeam; 113-longitudinal beam; 12-wheel; 2-top-attacking robotic arm; 21-first arm; 22-second arm; 23-top-attacking mechanism; 231-drive unit; 232-drive clamping plate; 233-clamping plate; 234-cutting blade; 235-guide rod; 236-compression spring; 237-medication sponge; 24-first motor; 25-second motor; 26-third motor; 27-drive box; 28-fourth motor; 29-first gearbox; 210-guide sleeve; 220-second gearbox; 230-drive nut; 240-drive rod; 3-camera; 4-control box; 5-solar panel. Detailed Implementation

[0041] The invention will now be further described with reference to the accompanying drawings.

[0042] like Figure 1-4 The multi-arm tobacco topping machine shown includes a mobile vehicle body 1 and multiple topping robotic arms 2; the mobile vehicle body 1 includes a frame 11 and wheels 12 mounted on the bottom of the frame 11; all the topping robotic arms 2 are mounted on the frame 11; the frame 11 includes two parallel frame-like sides 11a, with a channel a between the two sides 11a for tobacco crops to pass through; the frame 11 is also equipped with a control box 4, a battery, and a camera 3 for acquiring images of the working rows.

[0043] Each of the sides 11a has three of the top-tapping robotic arms 2 installed at its front, middle and rear positions;

[0044] For each side 11a, a top-applying assembly consisting of two top-applying robotic arms 2 at the front and rear is used to operate on the planting rows on the outer side of the side 11a; a top-applying assembly consisting of two top-applying robotic arms 2 in the middle of the two sides 11a is used to operate on the planting rows in the channel a.

[0045] like Figure 6 As shown, the top-attacking robotic arm 2 includes two arms that are always horizontal and rotatably connected to each other, namely a first arm 21 and a second arm 22; the first arm 21 is connected to the side part 11a, and the top-attacking mechanism 23 is installed on the second arm 22; a first motor 24 is provided between the first arm 21 and the frame 11, a second motor 25 is provided between the first arm 21 and the second arm 22, and a third motor 26 for driving the top-attacking mechanism 23 to rotate is installed at the end of the second arm 22;

[0046] The top-mounting robotic arm 2 can switch between working and storage modes, such as... Figure 5 As shown, when it is in the storage state, the first arm 21 and the second arm 22 both extend in the front-back direction, and the first arm 21 and the second arm 22 do not exceed the outline range of the side portion 11a in the front-back direction.

[0047] The above structure includes three sets of topping components. Each set includes two topping robotic arms 2 arranged in a front and rear configuration. These three sets of topping components can simultaneously topping the plants inside the channel a and on the outer sides of the two side sections 11a, thus enabling three-way topping operations and improving efficiency. Each set of topping components can perform topping operations on only one planting row, or simultaneously on multiple planting rows. Specifically, during topping operations, only one planting row can pass through the channel a, and topping can be performed on one planting row on the outer side of each of the two side sections 11a. Alternatively, each set of topping components can simultaneously topping two planting rows, meaning two planting rows simultaneously pass through the channel a between the two side sections 11a, and topping can be performed on two planting rows on the outer side of each side section 11a. Similarly, each set of topping components can correspond to three or more planting rows. The number of planting rows corresponding to the topping operation of each set of topping components is determined by the planting row spacing of the tobacco crop and the width of the channel a. In a preferred embodiment, the spacing between the two sides 11a of the frame 11 can be adjusted to allow for adjustment of the number of planting rows that can be topped simultaneously.

[0048] In the aforementioned topping machine, two topping robotic arms 2 are arranged in a front-rear layout for each topping operation. During actual operation, the number of topping robotic arms 2 participating in each topping assembly can be determined based on the intensity of the operation. When only one topping robotic arm 2 is needed, the other topping robotic arm 2 in the same group is in a retracted state. When the density of the tops of the plants to be toppled is high, both topping robotic arms 2 of the topping assembly can participate in the topping operation. Furthermore, the topping machine of this invention can also be used as a field inspection robot to facilitate remote observation of the growth status of tobacco crops. In this case, all topping robotic arms 2 are not needed and are in a retracted state. Figure 5 As shown. When the top-tapping robotic arm 2 is in its retracted state, both the first arm 21 and the second arm 22 extend in the front-to-back direction, thus not interfering with the tobacco crop and ensuring the effective height of the channel a at the installation position, facilitating the passage of tobacco.

[0049] Preferably, the frame 11 is equipped with cameras 3 at positions above the channel a and on the outer side of each side 11a. This allows for the individual acquisition of images for each planting row targeted by the topping components, enabling more precise determination of the position of each plant bud tip, facilitating accurate topping and improving the success rate of topping.

[0050] Preferably, the vehicle frame 11 is equipped with cameras 3 on both the front and rear sides corresponding to the upper part of the channel a, and cameras 3 are also installed on both the front and rear sides corresponding to the outer side position of each side 11a. During operation, the images captured by the front camera 3 can be used by the controller to confirm the coordinate position of the plant bud tip, and the images captured by the rear camera 3 can be used by the controller to confirm the topping effect. The controller can record the results.

[0051] Preferably, a solar panel 5 is mounted on the top of the frame 11, and the solar panel 5 is connected to the battery.

[0052] Preferably, the frame 11 includes two inverted U-shaped support frames 111 arranged in a front and rear configuration, and also includes a top frame fixed to the top of the support frames 111, with the solar panel 5 mounted above the top frame. Each side 11a is formed by two support frames 111 with legs on the same side; the front of each leg of the front support frame 111 is connected to a top-mounting mechanical arm 2, and the rear of each leg of the rear support frame 111 is connected to a top-mounting mechanical arm 2; furthermore, two top-mounting mechanical arms 2 acting on the passage a are respectively mounted on both sides of the passage a and on the front and rear frames 11 respectively.

[0053] Preferably, the top frame is I-shaped, comprising two crossbeams 112 at the front and rear, and multiple longitudinal beams 113 connecting the crossbeams 112 and the support frame 111, as well as connecting the two support frames 111. Front and rear cameras 3 are respectively mounted on the front and rear crossbeams 112, thus each crossbeam 112 has three cameras 3 (left, center, and right). This structure ensures the lightweight and reliable nature of the vehicle frame 11, while also allowing for its support of a larger solar panel 5. The larger solar panel 5 not only collects more solar energy but also provides shelter and protection for the overhead robotic arm 2 and the cameras 3 below.

[0054] Preferably, such as Figure 8 As shown, the top-tapping mechanism 23 includes a drive unit 231. Two drive clamping plates 232, capable of opening and closing relative to each other, are symmetrically mounted on the drive unit 231. The opening and closing movement of the two drive clamping plates 232 is driven by the drive unit 231. The drive unit 231 can be a gripper cylinder or an electric opening and closing gripper. Each drive clamping plate 232 is equipped with a clamping plate 233 that slides elastically relative to it, and a cutting blade 234 fixed relative to it. Specifically, the clamping plate 233 is mounted on the inward-facing side of the drive clamping plate 232. A guide rod 235, fixed relative to the drive clamping plate 232, is fixed on the clamping plate 233. A compression spring 236 is threaded onto the guide rod 235, causing the clamping plate 233 to have a tendency to move away from the drive clamping plate 232. During the topping process, the two drive clamping plates 232 move closer to each other, and the two clamping plates 233 first contact the plant and clamp it. As the two drive clamping plates 232 continue to move closer to each other, the two clamping plates 233 compress the spring 236 to maintain the clamping state on the plant. On the other hand, the two cutting blades 234 move closer to each other to cut the top of the plant. With the above structure, the plant can be clamped and fixed before the cutting blades 234 act on the plant, ensuring the success rate of topping and suppressing the influence of plant shaking on topping.

[0055] Preferably, a medicated sponge 237 is installed below the cutting blade 234, and the medicated sponge 237 absorbs a bud-inhibiting agent. In this way, the medicated agent can be applied to the cutting area during the topping process, and the bud-inhibiting agent can inhibit the growth of the plant's top.

[0056] In addition, such as Figure 6 As shown, a drive box 27 is installed at the end of the second arm 22, and a drive structure is installed inside the drive box 27, specifically, as shown... Figure 7As shown, the drive structure includes the aforementioned third motor 26 and a fourth motor 28. The third motor 26 is connected to a first reduction gearbox 29, and the output end of the first reduction gearbox 29 is connected to a guide sleeve 210, which is offset relative to the central axis of the third motor 26. The fourth motor 28 is connected to a second reduction gearbox 220, and the output end of the second reduction gearbox 220 is connected to a drive nut 230, which is offset relative to the central axis of the fourth motor 28. The third motor 26 and the fourth motor 28 are coaxially arranged vertically. A drive rod 240 is fixed on the top-attacking mechanism 23. The drive rod 240 has a threaded portion that mates with the drive nut 230 and a guide groove that mates with the guide sleeve 210. The drive rod 240 can only slide axially relative to the guide sleeve 210 and cannot rotate relative to the guide sleeve 210. With the above structure, the top-attacking mechanism 23 can be driven to rotate and move up and down. When the top-attacking mechanism 23 needs to rotate, the third motor 26 and the fourth motor 28 operate synchronously so that the guide sleeve 210 and the drive nut 230 rotate in the same direction and at the same speed. When the lifting mechanism 23 needs to move up and down, the third motor 26 does not rotate, while the fourth motor 28 rotates, causing the lifting mechanism 23 to move up and down through the screw drive.

[0057] A method for topping tobacco using a multi-robotic arm tobacco topping machine, based on the aforementioned multi-robotic arm tobacco topping machine, includes the following steps S101-S104:

[0058] Step S101: Acquire an image of each planting row using the camera 3;

[0059] Step S102: Obtain the bud tip position information for each planting row based on the image;

[0060] Step S103: Determine the number of topping robotic arms 2 that need to participate in the topping operation for each group of topping components based on the bud tip position information and the traveling speed of the topping machine.

[0061] Step S104: Control the top-hiding robotic arm 2 participating in the top-hiding operation to perform the top-hiding operation, and control the top-hiding robotic arm 2 not participating in the operation to switch to the storage state.

[0062] Preferably, the control requires the jacking robotic arm 2, which participates in the jacking operation, to perform the jacking operation, specifically including:

[0063] When the number of top-pinching robotic arms 2 participating in the top-pinching operation in the top-pinching assembly is 1, the top-pinching robotic arm 2 is controlled to top the bud tip sequentially according to the bud tip position information;

[0064] When there are two topping robotic arms 2 participating in the topping operation in the topping assembly, the topping task is assigned to the two topping robotic arms 2 according to the bud tip position information.

[0065] When a set of the topping components targets only one work row, the topping robot arm 2 in front controls the topping at intervals (that is, only the tops of plants numbered 1, 2, 3...), while the topping robot arm 2 behind tops the remaining plants.

[0066] When a set of the topping components targets multiple planting rows, if the number of planting rows N is even, the topping robot 2 in front topping the nearest N / 2 rows, and the topping robot 2 behind topping the remaining planting rows; if the number of planting rows N is odd, the topping robot 2 in front topping the nearest (N-1) / 2 rows, and topping the central planting row at intervals, and the topping robot 2 behind topping the tops of the remaining plants in the central planting row and the remaining planting rows.

[0067] For example, when N=2, for the side-mounted topping components, the front topping robotic arm 2 is responsible for topping its nearest planting row, while the rear topping robotic arm 2 is responsible for topping the row further away. Since the tops of the plants in the nearest row have already been processed by the front topping robotic arm 2, the rear topping robotic arm 2 will not be disturbed by the nearby rows when topping the plants in the farthest row. For the middle topping component targeting channel a, the front and rear topping robotic arms 2 perform topping operations on their respective nearest planting rows.

[0068] When N=3, for the pruning components on the sides, the front pruning robot arm 2 is responsible for pruning the nearest row and pruning the central planting row at intervals. The rear pruning robot arm 2 first prunes the remaining buds in the central planting row and then prunes the buds in the furthest planting row. For the pruning component in the middle targeting channel a, the two pruning robots 2 prune the nearest planting rows respectively, with the front pruning robot arm 2 pruning the central planting row at intervals and the rear pruning robot arm 2 pruning the remaining buds in the central planting row.

[0069] Using the above method, the top-shaving operation method can dynamically control the number of top-shaving robotic arms that need to participate in the top-shaving operation as needed, and can reasonably coordinate and control the top-shaving robotic arms when two top-shaving robotic arms in the same group are working at the same time, so that the top-shaving robotic arms in the same group can perform top-shaving operations efficiently.

[0070] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A multi-robot tobacco topping machine, comprising a moving vehicle body (1) and a plurality of topping robots (2); the moving vehicle body (1) comprises a vehicle frame (11) and wheels (12) installed at the bottom of the vehicle frame (11); all the topping robots (2) are installed on the vehicle frame (11); the vehicle frame (11) comprises left and right two parallel frame-type side parts (11a), and a channel (a) for tobacco plants to pass through is formed between the two side parts (11a); the vehicle frame (11) is further provided with a control box (4), a battery and a camera (3) for collecting images of working rows; characterized in that: each of the side parts (11a) is provided with three topping robots (2) installed at three positions of front, middle and rear thereof; for each of the side parts (11a), the two topping robots (2) at the front and rear thereof form a topping assembly for working on the planting rows outside the side part (11a); and the two topping robots (2) at the middle of the two side parts (11a) form a topping assembly for working on the planting rows in the channel (a); the topping robot (2) comprises two arms (21 and 22) always lying flat and connected relative to each other, wherein the first arm (21) is connected to the side part (11a), and the second arm (22) is provided with a topping mechanism (23); the topping robot (2) can be switched between a working state and a storage state, when in the storage state, the first arm (21) and the second arm (22) both extend along the front-rear direction, and the first arm (21) and the second arm (22) do not exceed the outline range of the side part (11a) in the front-rear direction; during topping work, the number of topping robots (2) participating in work in each topping assembly is determined according to the intensity of work, when only one topping robot (2) is needed for work, the other topping robot (2) in the same group is in the storage state; when the density of plant tops to be removed is high, both of the two topping robots (2) of the topping assembly participate in the topping work; when the number of topping robots (2) participating in the topping work in the topping assembly is two, the two topping robots (2) are assigned topping tasks according to bud tip position information; at this time, when one topping assembly is only for one working row, the front topping robot (2) is controlled to interval topping, and the rear topping robot (2) is controlled to remove the plant tops of the remaining rows; when one topping assembly is for multiple planting rows, when the number N of planting rows is even, the front topping robot (2) is controlled to remove the closest N / 2 rows, and the rear topping robot (2) is controlled to remove the remaining planting rows; when the number N of planting rows is odd, the front topping robot (2) is controlled to remove the closest (N-1) / 2 rows and interval topping on the middle planting row, and the rear topping robot (2) is controlled to remove the plant tops of the remaining rows in the middle planting row and other remaining planting rows. The multi-arm tobacco topping machine can also be adapted as a field inspection robot, in which case all the topping arms (2) do not need to work and are in the storage state.

2. The multi-arm tobacco topping machine of claim 1, wherein, The camera (3) is arranged on the frame (11) corresponding to the upper position of the passage (a) and the outer position of each side portion (11a).

3. The multi-arm tobacco topping machine of claim 1, wherein, The camera (3) is arranged on the frame (11) corresponding to the upper position of the passage (a) and the outer position of each side portion (11a).

4. The multi-arm tobacco topping machine of claim 1, wherein, The top of the frame (11) is provided with a solar panel (5) connected to the battery.

5. The multi-arm tobacco topping machine of claim 4, wherein, The frame (11) comprises two inverted U-shaped support frames (111) arranged in front and back, and a top frame fixed to the top of the support frame (111), and the solar panel (5) is arranged above the top frame.

6. The multi-arm tobacco topping machine of claim 5, wherein, The top frame is in the shape of an I-beam, comprising two front and rear cross beams (112), and a plurality of longitudinal beams (113) connected between the cross beams (112) and the support frame (111) and between the two support frames (111).

7. The multi-arm tobacco topping machine of claim 1, wherein, The topping mechanism (23) comprises a driving unit (231) on which two driving clamping plates (232) capable of opening and closing relative to each other are symmetrically arranged; each driving clamping plate (232) is provided with a clamping plate (233) elastically sliding relative thereto and a cutting blade (234) fixed relative thereto.

8. The multi-arm tobacco topping machine of claim 7, wherein, A medicine applying sponge (237) is arranged below the cutting blade (234), and the medicine applying sponge (237) absorbs the bud inhibiting agent.

9. A topping method of a multi-arm tobacco topping machine, based on the multi-arm tobacco topping machine according to any one of claims 1 to 8, characterized in that, The method comprises: Obtaining an image of each planting row through the camera (3); Obtaining bud tip position information of each planting row according to the image; Determining the number of the topping arms (2) of each group of the topping assemblies that need to participate in the topping operation according to the bud tip position information and the driving speed of the topping machine; Controlling the topping arms (2) participating in the topping operation to implement the topping operation, and controlling the topping arms (2) not participating in the operation to switch to the storage state.

Images