Automatic grapevine pruning device and automatic pruning method

Abstract

The present invention provides an automatic grapevine pruning device and an automatic pruning method, belonging to the technical field of grape cultivation, comprising a frame, a pruning mechanism, a self-balancing detection mechanism and a traction machine, wherein the pruning mechanism is arranged on the frame, the self-balancing detection mechanism is arranged on the traction machine and is electrically connected to the pruning mechanism, the traction machine is connected to the frame and is used to drive the frame to move; the self-balancing detection mechanism comprises a lifting cylinder, an extension rod, a self-balancing module, an infrared detection module and an elastic induction detection module, the device can adapt to various terrains, when encountering uneven terrain of a grape field, the pruning mechanism can realize automatic offset, keep flush with the forked branches on the side of the grapevine, can continuously prune the grapevine, and improve the pruning efficiency of the forked branches of the grapevine.

Description

Technical Field

[0001] The invention belongs to the technical field of grape cultivation, and in particular relates to an automatic grapevine pruning device and an automatic grapevine pruning method. Background Art

[0002] Grapes have a strong branching ability, so weaker branches should be removed in time, leaving only strong branches. Then the strong branches should be guided and fixed on the grape racks by tying. In the process of grape cultivation, during the new shoot growth period, flowering period, and berry growth period, we must always pay attention to the pruning of grape branches, prune the weaker forked branches, and ensure the reasonable distribution of grape branches to increase grape yield.

[0003] For orchards with a large grape planting area, if manual pruning is used, the labor intensity is high, so mechanical equipment is often used to prune the grape vines. For example, the invention patent with patent number CN202010843216.X provides an efficient grape vine automatic selection pruning device, which improves the pruning efficiency of grape branches. For example, the invention patent with patent number CN202121773598.X provides a grape pruning machine that can cut overly long branches with a fast cutting speed, thereby increasing work efficiency during cutting.

[0004] However, the two grape pruning devices provided above have the following problems: due to the uneven terrain of the grape field, there are highlands and low-lying terrains, which causes the pruning device to tilt to one side when walking in the grape field. As a result, when the shearing knife of the pruning device tilts toward the side of the grape vine, the knife will not only cut off the branches of the grape, but also cut off a part of the main branches of the grape, causing the branches of this part to die and fail to bear fruit. When the shearing knife of the pruning device tilts toward the opposite side of the grape vine, the knife will not cut off the branches of the grape, causing the protruding forked branches of the grape to continue to grow; therefore, when encountering an uneven terrain of the grape field, the grape pruning device will tilt, resulting in a low pruning efficiency of the forked branches of the grape vine. Summary of the invention

[0005] Based on this, the present invention provides an automatic grape vine pruning device and an automatic grape vine pruning method to solve the technical problem in the prior art that when the terrain of the grape field is uneven, the grape vine pruning device will tilt, resulting in low pruning efficiency of the forked branches of the grape vine.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] A grapevine automatic pruning device comprises a frame, a pruning mechanism, a self-balancing detection mechanism and a traction machine, wherein the pruning mechanism is arranged on the frame, the self-balancing detection mechanism is arranged on the traction machine and is electrically connected to the pruning mechanism, and the traction machine is connected to the frame to drive the frame to move;

[0008] The self-balancing detection mechanism includes a lifting cylinder, an extension rod, a self-balancing module, an infrared detection module and an elastic sensing detection module. The lifting cylinder is arranged on the tractor and can be lifted and lowered in the vertical direction. One end of the extension rod is connected to the lifting cylinder. The self-balancing module is arranged on the other end of the extension rod. The infrared detection module is arranged on the self-balancing module and is used for infrared detection of the flatness of the grape field in front of the frame. The elastic sensing detection module is arranged on the self-balancing module and is used for elastic sensing of the flatness of the grape field in front of the frame.

[0009] Preferably, the infrared detection module includes an infrared detector and a first signal transmission module, the infrared detector is used to periodically detect the flatness of the ground at a preset distance in front of the infrared detector and generate a first detection signal, the first signal transmission module is electrically connected to the infrared detector, the first signal transmission module is used to receive the first detection signal and transmit the signal to the self-balancing module.

[0010] Preferably, the elastic sensing detection module includes a plurality of bending springs and sensing parts, one end of the bending spring is vertically arranged at the lower bottom of the self-balancing module, and the sensing part is arranged at the other end of the bending spring. The sensing part is electrically connected to the self-balancing module, and the sensing part is used to sense the flatness of the ground and generate a second detection signal.

[0011] Preferably, the self-balancing module includes a first detection module, a second detection module, a summary judgment module and a self-balancing signal generation module, the first detection module is used to detect a first detection signal, the second detection module is used to detect a second detection signal, the summary judgment module is electrically connected to the first detection module and the second detection module, and the self-balancing signal generation module is electrically connected to the summary judgment module;

[0012] The first detection module includes a first fitting module, a first judgment module and a first signal generating module, the first fitting module is electrically connected to the first signal transmission module, and is used to receive the first detection signal and simulate a first fitting image, the first judgment module is electrically connected to the first fitting module, the first judgment module is used to judge the first fitting image and generate a normal signal and an abnormal signal, and the first signal generating module is used to receive the abnormal signal and generate a first self-balancing signal;

[0013] The second detection module includes a second fitting module, a second judgment module and a second signal generating module. The second fitting module is electrically connected to the second signal transmission module and is used to receive the second detection signal and simulate a second fitting image. The second judgment module is electrically connected to the second fitting module. The second judgment module is used to judge the second fitting image and generate a normal signal and an abnormal signal. The second signal generating module is used to receive the abnormal signal and generate a second self-balancing signal.

[0014] Preferably, the trimming mechanism includes a driving mechanism, a transverse sliding mechanism, a tool mechanism and a transverse pushing mechanism, the driving mechanism is fixedly arranged on the frame, the transverse sliding mechanism is arranged on the frame and connected to the driving mechanism, the tool mechanism is vertically arranged, one end of the tool mechanism is rotatably connected to the transverse sliding mechanism, the transverse pushing mechanism is arranged on the frame, and the transverse pushing mechanism is rotatably connected to the other end of the tool mechanism.

[0015] Preferably, the driving mechanism includes a cross active driving member and a driven driving member, the cross active driving member is arranged on the frame, the driven driving member is arranged on the frame, one end of the driven driving member is connected to the cross active driving member, and the other end is connected to the horizontal sliding mechanism.

[0016] Preferably, the transverse sliding mechanism includes a sliding plate, a connecting shaft and a first hinge column, the sliding plate is fixedly arranged on the frame, a sliding groove is provided on the sliding plate, one end of the connecting shaft is connected to the driven driving member, the first hinge column is clamped in the sliding groove and can slide back and forth along the sliding groove, the first hinge column is connected to the other end of the connecting shaft, and the first hinge column is rotatably connected to the tool mechanism.

[0017] Preferably, the tool mechanism includes a vertical rod, a shearing knife, a freely retractable part and a tool driving part. The vertical rod is vertically arranged, one end of the vertical rod is rotatably connected to the first hinged column, the shearing knife is fixedly arranged on the vertical rod, one end of the freely retractable part is rotatably connected to the other end of the vertical rod, the other end of the freely retractable part is rotatably connected to the horizontal pushing mechanism, the freely retractable part can freely extend and contract, and the tool driving part is connected to the shearing knife for driving the shearing knife to prune grape branches.

[0018] Preferably, the lateral pushing mechanism includes a pushing cylinder and a second hinged column, the pushing cylinder is fixed at the lower end of the frame, the second hinged column is connected to one end of the pushing cylinder, and the second hinged column is rotatably connected to the tool mechanism.

[0019] The present invention provides an automatic pruning method, comprising:

[0020] S1: The infrared detector emits infrared radiation, regularly detects the flatness of the ground at a preset distance in front of the infrared detector, and generates and transmits a first detection signal;

[0021] S2: When the sensing element is in contact with the ground, the bending spring is in a bent state, and the sensing element periodically detects the flatness of the ground, generates and transmits a second detection signal;

[0022] S3: The first fitting module receives the first detection signal and simulates a first fitting image. The first judgment module compares the first fitting image with the standard fitting image. When the first fitting image is within the threshold range of the standard fitting image, a normal signal is generated, and the normal signal is not transmitted to the first signal generating module. When the first fitting image exceeds the threshold range of the standard fitting image, an abnormal signal is generated, and the abnormal signal is transmitted to the first signal generating module, and a first self-balancing signal is generated.

[0023] S4: the second fitting module receives the second detection signal and simulates a second fitting image, the second judgment module compares the second fitting image with the standard fitting image, generates a normal signal when the second fitting image is within the threshold range of the standard fitting image, and the normal signal is not transmitted to the second signal generating module, and generates an abnormal signal when the second fitting image exceeds the threshold range of the standard fitting image, and the abnormal signal is transmitted to the second signal generating module, and a second self-balancing signal is generated;

[0024] S5: When the summary judgment module receives the first self-balancing signal and the second self-balancing signal, it generates an abnormal signal and transmits it to the self-balancing signal generating module. The self-balancing signal generating module receives the abnormal signal and generates a self-balancing movement signal. When the summary judgment module receives the first self-balancing signal or the second self-balancing signal, it generates a normal signal and transmits it to the self-balancing signal generating module. The self-balancing signal generating module receives the normal signal and does not generate a self-balancing movement signal.

[0025] S6: The driven driving member receives the self-balancing signal and responds to drive the lateral sliding mechanism to move.

[0026] Preferably, the standard fitting image is a sinusoidal distribution graph, a maximum threshold and a minimum threshold are set on the sinusoidal distribution graph, the first fitting image and the second fitting image are sinusoidal distribution graphs, when the partial images in the first fitting image and the second fitting image are greater than the maximum threshold, the first judgment module and the second judgment module generate a concave abnormal signal, and when the partial images in the first fitting image and the second fitting image are less than the minimum threshold, the first judgment module and the second judgment module generate a convex abnormal signal.

[0027] Compared with the prior art, the present invention has at least the following advantages:

[0028] The device can adapt to various terrains. When the terrain of the grape field is uneven, the pruning mechanism can automatically deviate to keep it flush with the forked branches on the side of the grape vine, and can continuously prune the grape vine, thereby improving the pruning efficiency of the forked branches of the grape vine. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 First axonometric view of the automatic grapevine pruning device.

[0030] Figure 2 Second axonometric view of the automatic grapevine pruning device.

[0031] Figure 3 for Figure 2 Partial schematic diagram of A in the figure.

[0032] Figure 4 for Figure 2 Partial schematic diagram of B in the figure.

[0033] Figure 5 This is the front view of the automatic grapevine pruning device.

[0034] Figure 6 This is the left view of the automatic grapevine pruning device.

[0035] Figure 7 A top view of the automatic grapevine pruning device.

[0036] Figure 8 Schematic diagram of the self-balancing module.

[0037] Fig. 9 This is a schematic diagram of the first detection module.

[0038] Fig.10 Schematic diagram of the second detection module.

[0039] Fig.11 Schematic diagram of normal signal and abnormal signal.

[0040] In the figure: frame 10, trimming mechanism 20, driving mechanism 210, cross active driving member 211, driven driving member 212, lateral sliding mechanism 220, sliding plate 221, connecting shaft 222, first hinge column 223, tool mechanism 230, vertical rod 231, shear knife 232, free telescopic member 233, tool driving member 234, lateral pushing mechanism 240, pushing cylinder 241, second hinge column 242, self-balancing detection mechanism 30, lifting cylinder 310, extension rod 320, self-balancing module 330, first A detection module 331, a first fitting module 3311, a first judgment module 3312, a first signal generating module 3313, a second detection module 332, a second fitting module 3321, a second judgment module 3322, a second signal generating module 3323, a summary judgment module 333, a self-balancing signal generating module 334, an infrared detection module 340, an infrared detector 341, a first signal transmission module 342, an elastic sensing detection module 350, a bending spring 351, a sensing component 352, and a traction machine 40. Implementation

[0041] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The technical solution of the present invention will be further described below in conjunction with the drawings of the embodiments of the present invention, and the present invention is not limited to the following specific implementation methods.

[0042] It should be understood that the same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components. In the description of the present invention, it should be understood that if the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0043] Please see Figure 1A grapevine automatic pruning device includes a frame 10, a pruning mechanism 20, a self-balancing detection mechanism 30 and a tractor 40. The pruning mechanism 20 is arranged on the frame 10, the self-balancing detection mechanism 30 is arranged on the tractor 40 and is electrically connected to the pruning mechanism 20, and the tractor 40 is connected to the frame 10 to drive the frame 10 to move; the self-balancing detection mechanism 30 includes a lifting cylinder 310, an extension rod 320, a self-balancing module 330, an infrared detection module 340 and an elastic induction detection module 350. 0, the lifting cylinder 310 is arranged on the tractor 40 and can be lifted up and down in the vertical direction, one end of the extension rod 320 is connected to the lifting cylinder 310, the self-balancing module 330 is arranged on the other end of the extension rod 320, the infrared detection module 340 is arranged on the self-balancing module 330, and is used for infrared detection of the flatness of the grape field in front of the frame 10, and the elastic sensing detection module 350 is arranged on the self-balancing module 330, and is used for elastic sensing of the flatness of the grape field in front of the frame 10.

[0044] The movement process is, see Figure 1 and Figure 2The tractor 40 moves along the rows of grape vines, driving the frame 10 to move and starting the pruning mechanism 20. The pruning mechanism 20 prunes the bifurcated branches on one side of the grape vine. The lifting cylinder 310 descends, driving the infrared detection module 340 and the elastic sensing detection module 350 to descend. The infrared detection module 340 infrared detects the flatness of the ground at a preset distance in front, and the preset distance is the flatness of the ground 2-5 meters in front of the infrared detection module 340, and detects whether the ground is concave or convex. The elastic sensing detection module 350 contacts the ground and is in an elastic bending state. When the ground between the rows of grape vines is concave, the device as a whole shifts toward the low-lying side, so that the pruning mechanism 20 cannot contact the bifurcated branches on the side of the grape vine. When the infrared detection module 340 detects that the ground between the rows of grape vines in front of the infrared detection module 340 is concave, a signal is sent and transmitted. When the tractor 40 moves into the self-balancing module 330, it drives the elastic sensing detection module 350 to continue to move forward. After a preset time, the elastic sensing detection module 350 moves to the ground detected by the infrared detection module 340. When the elastic sensing detection module 350 moves from a bent state to a vertical state, it indicates that the ground of the grape field at that location is concave and low-lying. Then, the elastic sensing detection module 350 also sends a signal to the self-balancing module 330. When the self-balancing module 330 receives the signals sent by the infrared detection module 340 and the elastic sensing detection module 350 at the same time, the self-balancing module 330 generates a self-balancing movement signal and transmits it to the pruning mechanism 20. The pruning mechanism 20 deviates toward one side of the bifurcated branches of the grape vine, and can continue to prune the bifurcated branches on one side of the grape vine. When encountering an upward convex protrusion in front, the pruning mechanism 20 deviates toward the side away from the bifurcated branches of the grape vine.

[0045] The device can adapt to various terrains. When the terrain of the grape field is uneven, the pruning mechanism 20 can automatically offset and keep it flush with the forked branches on the side of the grape vine, so that the grape vine can be pruned continuously, thereby improving the pruning efficiency of the forked branches of the grape vine.

[0046] As a further description, the infrared detection module 340 includes an infrared detector 341 and a first signal transmission module 342. The infrared detector 341 is used to periodically detect the flatness of the ground at a preset distance in front of the infrared detector 341 and generate a first detection signal. The first signal transmission module 342 is electrically connected to the infrared detector 341. The first signal transmission module 342 is used to receive the first detection signal and transmit the signal to the self-balancing module.

[0047] Specifically, the infrared detector 341 is a type of infrared distance measuring sensor, which detects the distance of obstacles by using the principle that the intensity of reflection of infrared signals varies with the distance of obstacles. The infrared distance measuring sensor has a pair of infrared signal transmitting and receiving diodes. The transmitting tube transmits infrared signals of a specific frequency, and the receiving tube receives infrared signals of this frequency. When the infrared detection direction encounters an obstacle, the infrared signal is reflected back and received by the receiving tube.

[0048] As a preference, see Figure 2 The elastic sensing detection module 350 includes a plurality of bending springs 351 and a sensing member 352. One end of the bending spring 351 is vertically arranged at the lower end of the self-balancing module 330. The sensing member 352 is arranged at the other end of the bending spring 351. The sensing member 352 is electrically connected to the self-balancing module 330. The sensing member 352 is used to sense the flatness of the ground and generate a second detection signal. The sensing member 352 is in contact with the ground, and the bending spring 351 is in a bent state. By setting the distance between the sensing member 352 and the lower bottom end of the self-balancing module 330 to be a fixed distance, the bending spring 351 is made to have a fixed bending degree. When the sensing member 352 moves to a low-lying area, the sensing member 352 contacts the low-lying ground, and the bending spring 351 moves from a bent state to a vertical state. At this time, the distance between the sensing member 352 and the lower bottom end of the self-balancing module 330 becomes longer, and the distance signal in this state is transmitted to the self-balancing module 330.

[0049] For further information, see Figure 8 The self-balancing module 330 includes a first detection module 331, a second detection module 332, a summary judgment module 333 and a self-balancing signal generation module 334, wherein the first detection module 331 is used to detect a first detection signal, the second detection module 332 is used to detect a second detection signal, the summary judgment module 333 is electrically connected to the first detection module 331 and the second detection module 332, and the self-balancing signal generation module 334 is electrically connected to the summary judgment module 333;

[0050] See also Fig. 9 , the first detection module includes a first fitting module 3311, a first judgment module 3312 and a first signal generating module 3313, the first fitting module 3311 is electrically connected to the first signal transmission module 342, and is used to receive the first detection signal and simulate a first fitting image, the first judgment module 3312 is electrically connected to the first fitting module 3311, the first judgment module 3312 is used to judge the first fitting image and generate a normal signal and an abnormal signal, and the first signal generating module 3313 is used to receive the abnormal signal and generate a first self-balancing signal;

[0051] See also Fig.10 The second detection module includes a second fitting module 3321, a second judgment module 3322 and a second signal generating module 3323. The second fitting module 3321 is electrically connected to the second signal transmission module for receiving the second detection signal and simulating a second fitting image. The second judgment module 3322 is electrically connected to the second fitting module 3321. The second judgment module 3322 is used to judge the second fitting image and generate a normal signal and an abnormal signal. The second signal generating module 3323 is used to receive the abnormal signal and generate a second self-balancing signal.

[0052] For further information, see Figure 1 and Figure 7 The pruning mechanism 20 includes a driving mechanism 210, a transverse sliding mechanism 220, a cutter mechanism 230 and a transverse pushing mechanism. The driving mechanism 210 is fixedly arranged on the frame 10. The transverse sliding mechanism 220 is arranged on the frame 10 and connected to the driving mechanism 210. The cutter mechanism 230 is arranged vertically. One end of the cutter mechanism 230 is rotatably connected to the transverse sliding mechanism 220. The transverse pushing mechanism is arranged on the frame 10 and is rotatably connected to the other end of the cutter mechanism 230. The cutter mechanism 230 is pushed to move by moving the transverse sliding mechanism 220 and the transverse pushing mechanism. According to different grape row spacings, the cutter mechanism 230 can be adjusted to be close to the side branches of the grape vine, and the forked branches on the side of the grape vine can be pruned.

[0053] Furthermore, the driving mechanism 210 includes a cross active driving member 211 and a driven driving member 212, the cross active driving member 211 is arranged on the frame 10, the driven driving member 212 is arranged on the frame 10, one end of the driven driving member 212 is connected to the cross active driving member 211, and the other end is connected to the horizontal sliding mechanism 220. The cross active driving member 211 is a gear box body and is extended with three connecting shafts 222. The first connecting shaft 222 is connected to the motor, and the rotation of the motor drives the gear box body to rotate. The second connecting shaft 222 is sleeved on the frame body 10 to maintain the stable rotation of the gear box body. The third connecting shaft 222 is connected to the driven driving member 212 to drive the driven driving member 212 to rotate. The driven driving member 212 drives the horizontal sliding mechanism 220 to extend or contract. When the end of the horizontal sliding mechanism 220 moves to be flush with the side of the grape vine, it stops moving. At this time, the cross active driving member 211 is locked and no longer moves.

[0054] For further information, see Figure 3The lateral sliding mechanism 220 includes a sliding plate 221, a connecting shaft 222 and a first hinge column 223. The sliding plate 221 is fixedly arranged on the frame 10. A sliding groove is provided on the sliding plate 221. One end of the connecting shaft 222 is connected to the driven driving member 212. The first hinge column 223 is clamped in the sliding groove and can slide back and forth along the sliding groove. The first hinge column 223 is connected to the other end of the connecting shaft 222. The first hinge column 223 is rotatably connected to the tool mechanism 230. When the driven driving member 212 pushes the connecting shaft 222 to move, the hinge column also slides along the sliding groove. Since the hinge column is connected to the tool mechanism 230 and is heavy, the sliding plate 221 can provide a pulling force for the first hinge column 223 to prevent the load of the connecting shaft 222 from being too heavy, resulting in a stuck condition at the connection between the connecting shaft 222 and the driven driving member 212.

[0055] For further information, see Figure 1 , Figure 3 , Figure 4 , Figure 6The tool mechanism 230 includes a vertical rod 231, a shearing knife 232, a freely retractable member 233 and a tool driving member. The vertical rod 231 is vertically arranged, and one end of the vertical rod 231 is rotatably connected to the first hinge column 223. The shearing knife 232 is fixedly arranged on the vertical rod 231. One end of the freely retractable member 233 is rotatably connected to the other end of the vertical rod 231, and the other end of the freely retractable member 233 is rotatably connected to the horizontal pushing mechanism. The freely retractable member 233 can freely extend and contract. The tool driving member is connected to the shearing knife 232 for driving the shearing knife 232 to prune grape branches. The vertical rod 231 is mainly used to connect the horizontal sliding mechanism 220 and the free telescopic member 233. The free telescopic member 233 is connected to the pushing mechanism and is used to support the shearing knife 232 and the knife driving member. The length of the shearing knife 232 is the same as the height of the side of the grape vine, which can prune the grape branches over a large area and improve the pruning efficiency. The shearing knife 232 can be removed from the vertical rod 231. When the shearing knife 232 is blunt or damaged, it is easy to replace. In addition, the shearing knife 232 is composed of two shearing knives 232. A plurality of shearing teeth are arranged on the shearing knife 232. When the knife driving member is started, the two shearing knives 232 move alternately with each other to shear the bifurcated branches on one side of the grape vine. The freely retractable member 233 is made of elastic material, such as a spring. When the first hinge column 223 and the second hinge column are not in the same vertical position, that is, there is a distance difference between the two, at this time, the first hinge column 223 and the second hinge column will drive the shear knife 232 to be in an inclined state, and the vertical rod 231 cannot be extended, which will pull the freely retractable member 233 to extend. The freely retractable member 233 has the function of extending the tool mechanism 230 and buffering.

[0056] Furthermore, the lateral pushing mechanism 240 includes a pushing cylinder 241 and a second hinge column 242. The pushing cylinder 241 is fixed to the lower end of the frame 10. The second hinge column 242 is connected to one end of the pushing cylinder 241, and the second hinge column 242 is rotatably connected to the tool mechanism 230. Before pruning, the pushing cylinder 241 is in a retracted state and does not push the second hinge column 242 forward; during pruning, the pushing cylinder 241 is in an extended state, pushing the second hinge column 242 forward, thereby driving the tool mechanism 230 to approach the bifurcated branches on one side of the grapevine.

[0057] The present invention provides an automatic pruning method, comprising:

[0058] S1: The infrared detector 341 emits infrared radiation, regularly detects the flatness of the ground at a preset distance in front of the infrared detector 341, and generates and transmits a first detection signal;

[0059] S2: When the sensing element 352 is in contact with the ground, the bending spring 351 is in a bent state, and the sensing element 352 periodically detects the flatness of the ground, generates and transmits a second detection signal;

[0060] S3: The first fitting module 3311 receives the first detection signal and simulates a first fitting image. The first judgment module 3312 compares the first fitting image with the standard fitting image. When the first fitting image is within the threshold range of the standard fitting image, a normal signal is generated, and the normal signal is not transmitted to the first signal generating module 3313. When the first fitting image exceeds the threshold range of the standard fitting image, an abnormal signal is generated, and the abnormal signal is transmitted to the first signal generating module 3313, and a first self-balancing signal is generated.

[0061] S4: The second fitting module 3321 receives the second detection signal and simulates a second fitting image. The second judgment module 3322 compares the second fitting image with the standard fitting image. When the second fitting image is within the threshold range of the standard fitting image, a normal signal is generated, and the normal signal is not transmitted to the second signal generating module 3323. When the second fitting image exceeds the threshold range of the standard fitting image, an abnormal signal is generated, and the abnormal signal is transmitted to the second signal generating module 3323, and a second self-balancing signal is generated.

[0062] S5: See Fig.11 When the summary judgment module 333 receives the first self-balancing signal and the second self-balancing signal, it generates an abnormal signal and transmits it to the self-balancing signal generating module 334. The self-balancing signal generating module 334 receives the abnormal signal and generates a self-balancing movement signal; when the summary judgment module 333 receives the first self-balancing signal or the second self-balancing signal, it generates a normal signal and transmits it to the self-balancing signal generating module 334. The self-balancing signal generating module 334 receives the normal signal and does not generate a self-balancing movement signal;

[0063] S6: The driven driving member 212 receives the self-balancing signal and responds to drive the lateral sliding mechanism 220 to move.

[0064] Further, see Fig.11The infrared detector 341 and the sensing element 352 detect 5-6 test points each time, and the 5-6 test points form a sinusoidal curve diagram. The standard fitting image is a sinusoidal curve distribution diagram, and a maximum threshold and a minimum threshold are set on the sinusoidal curve distribution diagram. The first fitting image and the second fitting image are sinusoidal curve distribution diagrams. When the partial images in the first fitting image and the second fitting image are greater than the maximum threshold, the first judgment module 3312 and the second judgment module 3322 generate a concave abnormal signal. When the partial images in the first fitting image and the second fitting image are less than the minimum threshold, the first judgment module 3312 and the second judgment module 3322 generate a convex abnormal signal.

[0065] Specifically, when the first judgment module 3312 and the second judgment module 3322 generate a concave abnormal signal, the self-balancing signal generating module 334 receives the concave abnormal signal and generates a first self-balancing movement signal; and transmits the signal to the driven driving member 212. The driven driving member 212 responds to the first self-balancing movement signal, and the driven driving member 212 pushes the connecting shaft 222 to move the first hinge column 223 away from the driven driving member 212, thereby driving the shearing knife 232 to move toward the side branches close to the grape vine, so that the shearing knife 232 trims the bifurcated branches on the side of the grape vine in real time. When the first judgment module 3312 and the second judgment module 3322 generate an upward convex abnormal signal, the self-balancing signal generating module 334 receives the upward convex abnormal signal and generates a second self-balancing movement signal; and transmits it to the driven driving member 212, the driven driving member 212 responds to the second self-balancing movement signal, the driven driving member 212 contracts the connecting shaft 222, so that the first hinge column 223 approaches the driven driving member 212, and then drives the shearing knife 232 to move toward the side branches away from the grape vine, so that the shearing knife 232 trims the bifurcated branches on the side of the grape vine in real time.

[0066] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic grapevine pruning device, characterized in that: It includes a frame, a trimming mechanism, a self-balancing detection mechanism and a traction machine, wherein the trimming mechanism is arranged on the frame, the self-balancing detection mechanism is arranged on the traction machine and is electrically connected to the trimming mechanism, and the traction machine is connected to the frame to drive the frame to move; The self-balancing detection mechanism includes a lifting cylinder, an extension rod, a self-balancing module, an infrared detection module and an elastic induction detection module. The lifting cylinder is arranged on the tractor and can be lifted up and down in the vertical direction. One end of the extension rod is connected to the lifting cylinder. The self-balancing module is arranged on the other end of the extension rod. The infrared detection module is arranged on the self-balancing module and is used for infrared detection of the flatness of the grape field in front of the frame. The elastic induction detection module is arranged on the self-balancing module and is used for elastic sensing of the flatness of the grape field in front of the frame. The trimming mechanism comprises a driving mechanism, a transverse sliding mechanism, a tool mechanism and a transverse pushing mechanism, wherein the driving mechanism is fixedly arranged on the frame, the transverse sliding mechanism is arranged on the frame and connected to the driving mechanism, the tool mechanism is arranged vertically, one end of the tool mechanism is rotatably connected to the transverse sliding mechanism, the transverse pushing mechanism is arranged on the frame, and the transverse pushing mechanism is rotatably connected to the other end of the tool mechanism, and the driving mechanism comprises a cross active driving member and a driven driving member; The transverse sliding mechanism includes a sliding plate, a connecting shaft and a first hinge column. The sliding plate is fixedly arranged on the frame. A sliding groove is provided on the sliding plate. One end of the connecting shaft is connected to the driven driving member. The first hinge column is clamped in the sliding groove and can slide back and forth along the sliding groove. The first hinge column is connected to the other end of the connecting shaft, and the first hinge column is rotatably connected to the tool mechanism; the transverse pushing mechanism includes a pushing cylinder and a second hinge column. The pushing cylinder is fixed at the lower end of the frame, the second hinge column is connected to one end of the pushing cylinder, and the second hinge column is rotatably connected to the tool mechanism.

2. The automatic grapevine pruning device according to claim 1, characterized in that: The infrared detection module includes an infrared detector and a first signal transmission module. The infrared detector is used to periodically detect the flatness of the ground at a preset distance in front of the infrared detector and generate a first detection signal. The first signal transmission module is electrically connected to the infrared detector. The first signal transmission module is used to receive the first detection signal and transmit the signal to the self-balancing module.

3. The automatic grapevine pruning device according to claim 2, characterized in that: The elastic sensing detection module includes a plurality of bending springs and sensing parts. One end of the bending spring is vertically arranged at the lower bottom of the self-balancing module, and the sensing part is arranged at the other end of the bending spring. The sensing part is electrically connected to the self-balancing module. The sensing part is used to sense the flatness of the ground and generate a second detection signal.

4. The automatic grapevine pruning device according to claim 3, characterized in that: The self-balancing module includes a first detection module, a second detection module, a summary judgment module and a self-balancing signal generation module, wherein the first detection module is used to detect a first detection signal, the second detection module is used to detect a second detection signal, the summary judgment module is electrically connected to the first detection module and the second detection module, and the self-balancing signal generation module is electrically connected to the summary judgment module; The first detection module includes a first fitting module, a first judgment module and a first signal generating module, the first fitting module is electrically connected to the first signal transmission module, and is used to receive the first detection signal and simulate a first fitting image, the first judgment module is electrically connected to the first fitting module, the first judgment module is used to judge the first fitting image and generate a normal signal and an abnormal signal, and the first signal generating module is used to receive the abnormal signal and generate a first self-balancing signal; The second detection module includes a second fitting module, a second judgment module and a second signal generating module. The second fitting module is electrically connected to the second signal transmission module and is used to receive the second detection signal and simulate a second fitting image. The second judgment module is electrically connected to the second fitting module. The second judgment module is used to judge the second fitting image and generate a normal signal and an abnormal signal. The second signal generating module is used to receive the abnormal signal and generate a second self-balancing signal.

5. The automatic grapevine pruning device according to claim 4, characterized in that: The cross active driving member is arranged on the frame, the driven driving member is arranged on the frame, one end of the driven driving member is connected to the cross active driving member, and the other end of the driven driving member is connected to the transverse sliding mechanism.

6. The automatic grapevine pruning device according to claim 5, characterized in that: The tool mechanism includes a vertical rod, a shearing knife, a freely retractable part and a tool driving part. The vertical rod is vertically arranged, one end of the vertical rod is rotatably connected to the first hinge column, the shearing knife is fixedly arranged on the vertical rod, one end of the freely retractable part is rotatably connected to the other end of the vertical rod, the other end of the freely retractable part is rotatably connected to the horizontal pushing mechanism, the freely retractable part can freely extend and contract, and the tool driving part is connected to the shearing knife for driving the shearing knife to prune grape branches.

7. An automatic pruning method, using the automatic grapevine pruning device according to any one of claims 5 to 6, characterized in that: include S1: The infrared detector emits infrared radiation, regularly detects the flatness of the ground at a preset distance in front of the infrared detector, and generates and transmits a first detection signal; S2: When the sensing element is in contact with the ground, the bending spring is in a bent state, and the sensing element periodically detects the flatness of the ground, generates and transmits a second detection signal; S3: The first fitting module receives the first detection signal and simulates a first fitting image. The first judgment module compares the first fitting image with the standard fitting image. When the first fitting image is within the threshold range of the standard fitting image, a normal signal is generated, and the normal signal is not transmitted to the first signal generating module. When the first fitting image exceeds the threshold range of the standard fitting image, an abnormal signal is generated, and the abnormal signal is transmitted to the first signal generating module, and a first self-balancing signal is generated. S4: the second fitting module receives the second detection signal and simulates a second fitting image, the second judgment module compares the second fitting image with the standard fitting image, generates a normal signal when the second fitting image is within the threshold range of the standard fitting image, and the normal signal is not transmitted to the second signal generating module, and generates an abnormal signal when the second fitting image exceeds the threshold range of the standard fitting image, and the abnormal signal is transmitted to the second signal generating module, and a second self-balancing signal is generated; S5: When the summary judgment module receives the first self-balancing signal and the second self-balancing signal, it generates an abnormal signal and transmits it to the self-balancing signal generating module. The self-balancing signal generating module receives the abnormal signal and generates a self-balancing movement signal. When the summary judgment module receives the first self-balancing signal or the second self-balancing signal, it generates a normal signal and transmits it to the self-balancing signal generating module. The self-balancing signal generating module receives the normal signal and does not generate a self-balancing movement signal. S6: The driven driving member receives the self-balancing signal and responds to drive the lateral sliding mechanism to move.

8. The automatic pruning method according to claim 7, characterized in that: The standard fitting image is a sinusoidal distribution graph, and a maximum threshold and a minimum threshold are set on the sinusoidal distribution graph. The first fitting image and the second fitting image are sinusoidal distribution graphs. When the partial images in the first fitting image and the second fitting image are greater than the maximum threshold, the first judgment module and the second judgment module generate a concave abnormal signal. When the partial images in the first fitting image and the second fitting image are less than the minimum threshold, the first judgment module and the second judgment module generate a convex abnormal signal.

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