A preventative pest control device and method for circling and controlling root suckers on jujube trees

Abstract

This application belongs to the field of root sucker removal, specifically relating to a preventive root sucker removal device and method for jujube trees, including: a walking frame and a positioning mechanism and a removal mechanism mounted on the walking frame; the positioning mechanism includes a telescopic component and an annular limiting component, one end of the telescopic component is mounted on the walking frame, and the annular limiting component is mounted on the other end of the telescopic component, with the other end of the telescopic component slidingly engaged with the annular limiting component; the removal mechanism includes a first removal component, an adjustment component, and a second removal component, the first removal component being vertically mounted on the walking frame, the adjustment component being mounted on the walking frame, and the second removal component being horizontally mounted on the adjustment component; and a control module, enabling all jujube tree roots that may grow into root suckers and root suckers that have not yet grown to the ground surface to be removed during the jujube tree's growth period. After removal by the removal device of this application, the jujube tree will not continuously grow root suckers again during the growth period for a long time.

Description

Technical Field

[0001] This application belongs to the field of root sucker control, specifically relating to a preventive root sucker control device and method for jujube trees. Technical Background

[0002] Root suckers are new plants that emerge from the roots of a plant, growing around the roots and extending above the ground. When root suckers become too developed, they can easily compete with the plant for nutrients. To ensure the plant has sufficient nutrients, root suckers need to be removed. Jujube root suckers are new plants that sprout from adventitious buds after the root system is stimulated; their propensity to produce root suckers is a prominent characteristic of the jujube root system. Jujube root suckers mostly occur on horizontal roots. After emerging from the soil, the above-ground parts grow relatively quickly, while root development is relatively slow, with very little rooting occurring on the side closest to the mother tree. The production of root suckers consumes a significant amount of nutrients from the tree. Therefore, in addition to being used for propagation through division, in field management, jujube root suckers should be removed promptly to prevent nutrient depletion and promote the growth, development, flowering, and fruit setting of the jujube tree.

[0003] Current methods for removing root suckers involve using a small hoe, which requires removing multiple suckers around the plant's root system one by one. Some plants, such as pomegranate and maple trees, can rapidly reproduce numerous new individuals through their roots. This increases the workload of removing root suckers, and the labor intensity and efficiency of individually pruning them with a small hoe are low. Furthermore, the small hoe easily damages the plant's roots during removal, making them susceptible to fungal infections and negatively impacting plant growth.

[0004] A utility model patent with application number CN202222427009.3, entitled "A Root Sprocket Cutter," discloses a root sucker cutter. The root sucker cutter includes: a first connecting rod, a second connecting rod, a first protective ring, a second protective ring, a first connecting device, and a second connecting device. The first and second connecting rods are hinged at their middle portions. One end of the first connecting rod is connected to a first handle, and the other end is connected to an arc-shaped first blade. One end of the second connecting rod is connected to a second handle, and the other end is connected to an arc-shaped second blade. The first blade has a first cutting edge, and the second blade has a second cutting edge, arranged opposite to each other. In use, both the first and second protective rings encircle the plant's roots, preventing the first and second cutting edges from accidentally damaging the bark of the plant roots when cutting the suckers. When there are many root suckers around the base of the plant, they can be easily removed using the first and second blades of the blade. This not only reduces labor intensity but also greatly improves the efficiency of removing root suckers.

[0005] However, the aforementioned patent applications still have the following problems:

[0006] While root sucker pruning reduces the labor intensity of root sucker removal and greatly improves the efficiency, jujube root suckers are new plants that sprout from adventitious buds after the root system is stimulated. The tendency to produce root suckers is a prominent feature of the jujube root system, so the jujube root system will continuously produce root suckers during the growing season. Root sucker pruning can only remove root suckers on the ground or in the shallow layer, and the existing technology cannot prevent the removal of jujube tree roots that have the tendency to grow into root suckers or root suckers that have not grown to the ground. Summary of the Invention

[0007] The purpose of this application is to address the technical problem in the prior art that only surface or shallow root suckers can be removed, while the root system of jujube trees that tends to grow into root suckers cannot be removed.

[0008] To achieve the above objectives, this application provides the following technical solution:

[0009] A preventative pest control device for jujube tree root suckers includes:

[0010] A walking frame, and a positioning mechanism and a cleaning mechanism mounted on the walking frame;

[0011] The positioning mechanism includes a telescopic component and an annular limiting component. One end of the telescopic component is disposed on the walking frame, and the annular limiting component is disposed at the other end of the telescopic component, and the other end of the telescopic component slides along the annular limiting component.

[0012] The cleaning mechanism includes a first cleaning component, an adjustment component, and a second cleaning component. The first cleaning component is vertically mounted on the traveling frame, the adjustment component is mounted on the traveling frame, and the second cleaning component is horizontally mounted on the adjustment component.

[0013] A control module is disposed on one side of the traveling frame. The control module includes a first control module, a second control module, and a third control module. The first control module is electrically connected to the traveling frame and is used to control the traveling trajectory of the traveling frame. The second control module is electrically connected to the telescopic component and is used to detect the extension length of the telescopic component. The third control module is electrically connected to the adjustment component and is used to control the adjustment component to adjust the soil penetration depth of the second cleaning component.

[0014] Preferably, the telescopic component includes a coiled reel, an extension member, and a sliding member. The coiled reel is mounted on the traveling frame and is electrically connected to the second control module. One end of the extension member is coiled around the coiled reel, and the other end is connected to the sliding member. The sliding member slides in cooperation with the outer side of the annular limiting component.

[0015] Preferably, the first cleaning and sterilizing component includes a first cleaning and sterilizing blade group and a first driving member. The first cleaning and sterilizing blade group includes a first blade roller and a plurality of pulverizing blades. The first blade roller is rotatably mounted on the walking frame. The first driving member is connected to the first blade roller in a transmission manner. The plurality of pulverizing blades are arranged at intervals along a spiral curve on the first blade roller.

[0016] Preferably, the first cleaning and sterilizing assembly further includes a protective shell, which is disposed on the upper side of the walking frame and the back side of the walking frame in the walking direction to surround the first cleaning and sterilizing knife assembly.

[0017] Preferably, the second cleaning and disinfection component includes a second cleaning and disinfection blade assembly, a second driving member, and a guide shell. The second cleaning and disinfection blade assembly is rotatably mounted on the adjustment component. The second driving member is connected to the second cleaning and disinfection blade assembly in a transmission manner. The guide shell is mounted on the adjustment component and located above the second cleaning and disinfection blade assembly.

[0018] Preferably, the second cleaning and killing knife group includes a second cutter roller and a plurality of crushing knives arrayed on the second cutter roller. The horizontal distance between the crushing knives and the positioning mechanism is a first distance, and the height of the crushing knives on the second cutter roller is proportional to the magnitude of the first distance.

[0019] Preferably, it further includes a detection mechanism, which is movably disposed on the annular limiting component and slides with the annular limiting component. The detection mechanism is electrically connected to the control module.

[0020] A method for controlling root suckers around jujube trees using a preventative root sucker control device, applied to any of the above-mentioned preventative root sucker control devices, includes the following steps:

[0021] S10: Positioning, fitting the annular limiting component onto the tree trunk;

[0022] S20: Circular cleaning and killing. The first control module controls the walking frame to move in a circle around the tree trunk. At the same time, the second cleaning and killing component is in the initial posture. The first cleaning and killing component performs cleaning and killing operations on the root suckers within a first radius range around the tree trunk. The first radius is the cleaning and killing width of the jujube tree root sucker circular preventive cleaning and killing device.

[0023] S30: Spiral cleaning. After the jujube tree root sucker preventive cleaning device circles the trunk once, it stops its circular motion. The first control module controls the walking frame to move away radially from the trunk. At the same time, the telescopic component extends continuously. When the second control module detects that the extension length of the telescopic component is equal to the first radius, it sends an electrical signal to the first control module. The first control module then controls the walking frame to move from the inside to the outside along the Archimedean spiral, and the spiral spacing of the Archimedean spiral is the first radius. As the walking frame moves, the adjustment component drives the second cleaning component to move downward. The third control module controls the adjustment component to adjust the soil penetration depth of the second cleaning component according to the extension length of the telescopic component. The soil penetration depth and the extension length have a linear equation relationship.

[0024] S40: Termination condition: When the second control module detects that the extension length of the telescopic component is equal to the preset cleaning radius, the soil penetration depth reaches the preset depth, the walking frame stops moving, and the cleaning ends.

[0025] Preferably, in step S40, the preset elimination radius is determined by the following steps:

[0026] Multiple spacings are obtained between the tree trunk to be cleared and multiple adjacent tree trunks, and the smallest of the multiple spacings is the first spacing. The preset clearing radius is equal to half of the first spacing.

[0027] Preferably, the jujube tree root sucker surround preventive removal device further includes a detection mechanism, which is movably mounted on the annular limiting component and slides with the annular limiting component. The detection mechanism is electrically connected to the control module. After step S10 and before step S20, the following steps are further included:

[0028] S21: Detecting the tree perimeter, the detection mechanism surrounds the annular limiting component once to identify whether there are root suckers within a first radius around the tree trunk;

[0029] S22: When the detection agency detects root suckers around the tree trunk, step S20 is executed;

[0030] S23: When the detection agency detects that there are no root suckers around the tree trunk, proceed to step S30.

[0031] Beneficial effects: Jujube root suckers are new plants that sprout from adventitious buds after the root system is stimulated. Workers generally only pay attention to and remove jujube root suckers that have grown above the ground, while neglecting to remove jujube roots that have the tendency to grow into root suckers and root suckers that have not grown to the ground. This application provides a preventive root sucker removal device for jujube trees. As the jujube tree moves further away from the annular limiting component, the soil penetration depth H of the second removal component continuously increases, ultimately achieving the following preventive removal effect: all jujube tree roots that may have the tendency to grow into root suckers and root suckers that have not grown to the ground can be removed before they reach the ground during the jujube tree's growing season. Therefore, for a long period of time after removal by the removal device of this application, the jujube tree will not continuously grow root suckers again during the growing season.

[0032] Furthermore, by adjusting the soil penetration depth H of the second cleaning component during this process, it is possible to avoid accidentally damaging the root system near the ground surface of the jujube tree. Attached Figure Description

[0033] Figure 1 This is an isometric view of the jujube tree root sucker circumferential preventive pest control device described in this application;

[0034] Figure 2 This is a partial enlarged view of the jujube tree root sucker circling preventive pest control device described in this application;

[0035] Figure 3 This is a perspective view of the jujube tree root sucker circling preventive pest control device described in this application;

[0036] Figure 4 This is a front view of the jujube tree root sucker circling preventive pest control device described in this application;

[0037] Figure 5 This is a left view of the jujube tree root sucker circumference preventive pest control device described in this application;

[0038] Figure 6 This is an isometric view of the first cleaning and killing blade assembly in this application;

[0039] Figure 7 This is an isometric view of the second cleaning and killing knife assembly in this application;

[0040] Figure 8 This is a top-view diagram of the walking trajectory of the eradication method described in this application;

[0041] Figure 9 This is a diagram illustrating the cleaning range of the cleaning method described in this application.

[0042] Figure 10 This is a flowchart of the cleaning method described in this application;

[0043] Figure 11This is a diagram of the electrical signal connections in this application.

[0044] In the diagram: walking frame 1000, positioning mechanism 2000, cleaning and sterilizing mechanism 3000, control module 4000, detection mechanism 5000, telescopic component 2100, winding reel 2110, extension component 2120, sliding component 2130, annular limit component 2200, first cleaning and sterilizing component 3100, first cleaning and sterilizing blade group 3110, first blade roller 3111, crushing blade 3112, protective shell 3130, first driving component 3120, adjusting component 3200, second cleaning and sterilizing component 3300, second cleaning and sterilizing blade group 3310, second blade roller 3311, crushing blade 3312, second driving component 3320, guide shell 3330, first control module 4100, second control module 4200, third control module 4300. Detailed Implementation

[0045] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The technical solutions of this application will be further described below with reference to the accompanying drawings of the embodiments, and this application is not limited to the following specific implementation methods.

[0046] It should be understood that the same or similar reference numerals in the accompanying drawings of the embodiments correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "front," "rear," "left," "right," "top," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms describing positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0047] Please refer to Figures 1 to 11 In one specific embodiment of this application, such as Figure 1 As shown, a preventative pest control device for jujube tree root suckers includes:

[0048] The system includes a walking frame 1000, a positioning mechanism 2000 mounted on the walking frame 1000, and a pruning mechanism 3000. The positioning mechanism 2000 can be any mechanism capable of locating the distance between the walking frame 1000 and the trunk of the jujube tree from which the root suckers are to be pruned. This can be achieved through wireless positioning, such as infrared or visual module ranging, or through mechanical positioning, such as a coiled rope ruler or a telescopic robotic arm. The pruning mechanism 3000 can be any mechanism capable of cutting the root suckers into small pieces, such as a crushing mechanism or a cutting mechanism. The control module 4000 can be a program module stored in smart hardware, or it can be a microelectronic system designed using logic circuits, such as a combinational logic circuit with gate circuits capable of performing the following functional logic, or a sequential logic circuit with registers and flip-flops.

[0049] The positioning mechanism 2000 includes a telescopic component 2100 and an annular limiting component 2200. One end of the telescopic component 2100 is disposed on the walking frame 1000, and the annular limiting component 2200 is disposed at the other end of the telescopic component 2100, and the other end of the telescopic component 2100 slides along the annular limiting component 2200.

[0050] The cleaning and sterilization mechanism 3000 includes a first cleaning and sterilization component 3100, an adjustment component 3200, and a second cleaning and sterilization component 3300. The first cleaning and sterilization component 3100 is vertically mounted on the walking frame 1000, the adjustment component 3200 is mounted on the walking frame 1000, and the second cleaning and sterilization component 3300 is horizontally mounted on the adjustment component 3200.

[0051] The control module 4000 can be a program module stored in smart hardware, or it can be a microelectronic system designed with logic circuits, such as a combinational logic circuit that uses gate circuits to set up a circuit system capable of performing the following functional logic, or a sequential logic circuit that uses registers and flip-flops. The control module 4000 includes several control modules and is located on one side of the walking frame 1000. The control module 4000 includes: a first control module 41. 00. The second control module 4200 and the third control module 4300 are provided. The first control module 4100 is electrically connected to the walking frame 1000 and is used to control the walking trajectory of the walking frame 1000. The second control module 4200 is electrically connected to the telescopic component 2100 and is used to detect the extension length of the telescopic component 2100. The third control module 4300 is electrically connected to the adjustment component 3200 and is used to control the adjustment component 3200 to adjust the soil penetration depth of the second cleaning component 3300.

[0052] In a specific implementation process, the first step is for the user to input a first radius into the control module 4000. The first radius is the cleaning width of the cleaning mechanism 3000 in this application. The cleaning width is the radius swept by the cleaning mechanism 3000 during the surrounding cleaning process. Therefore, the first radius is L, and L is the size of the cleaning width.

[0053] In the second step, the user manipulates the jujube tree root sucker surround preventive cleaning device to reach one side of the jujube tree. After the user makes the ring limiting component 2200 lock onto the jujube tree trunk, the user controls the first control module 4100 to make the walking frame 1000 move in a circular motion around the first radius L of the trunk. At the same time, the third control module 4300 controls the second cleaning blade group 3310 to be in the initial posture. The initial posture is that the second cleaning blade group 3310 is controlled by the adjustment component 3200 to be near the ground surface and not to enter the soil, so as to avoid damaging the roots near the jujube tree. Then, as the walking frame 1000 moves in a circular motion around the trunk, the first cleaning component 3100 and the second cleaning component 3300 begin to clean the root suckers around the jujube tree within a radius L.

[0054] Thirdly, after the jujube tree root sucker circling preventive removal device has circled the trunk once, the first control module 4100 controls the walking frame 1000 to stop and turn, and controls the walking frame 1000 to move the jujube tree root sucker circling preventive removal device away from the trunk by a distance L. When the second control module 4200 detects that the extension length D = L of the telescopic component 2100, it sends an electrical signal to the control module 4000. The user controls the walking frame 1000 through the first control module 4100, causing the walking frame 1000 to move away from the trunk along the Archimedean spiral from the inside out, and the arm length of the Archimedean spiral is L. Figure 8 and Figure 9 As shown, as the walking frame 1000 moves, the second control module 4200 controls the adjustment component 3200 to drive the second cleaning component 3300 to extend towards the ground, so that the second cleaning component 3300 enters the soil at a depth H to perform preventative cleaning of the jujube tree roots that tend to grow as root suckers. The control module 4000 controls the adjustment component 3200 to adjust the soil depth H of the second cleaning component 3300 according to the extension length D. The soil depth H is directly proportional to the extension length D; that is, as the jujube tree moves further away from the ring-shaped limiting component 2200, the soil depth H continuously increases, eventually reaching the desired depth. Figure 9 The effect shown;

[0055] Finally, when the coiled reel 2110 detects the extension length D = R (R is the expected cleaning radius of the expected cleaning range, which is the distance between the walking frame 1000 and the jujube tree at the end point of the Archimedes spiral trajectory), the soil penetration depth reaches its maximum value, and the walking frame 1000 stops moving.

[0056] Furthermore, in the first step described above, the spacing between jujube trees in the pruning area can be pre-inputted. In the last step described above, when the extension length D is half the spacing between jujube trees, the pruning operation for the next jujube tree is stopped.

[0057] The implementation process described above has the following beneficial effects: Jujube root suckers are new plants that sprout from adventitious buds after the root system is stimulated. Workers generally only pay attention to and remove jujube root suckers that have grown above the ground, while neglecting to remove jujube roots that have the tendency to grow into root suckers and root suckers that have not grown to the ground. This application provides a preventive removal device for jujube root suckers. As the jujube tree moves further away from the annular limiting component 2200, the soil penetration depth H of the second removal component 3300 continuously increases, finally achieving the following preventive removal effect: all jujube roots that may have the tendency to grow into root suckers and root suckers that have not grown to the ground can be removed before they grow to the ground during the jujube tree's growth period. Thus, for a long period of time after removal by the removal device of this application, the jujube tree in the growth period will not continuously grow root suckers again.

[0058] Furthermore, during this process, the adjustment component 3200 adjusts the soil penetration depth H of the second cleaning component 3300, which can also prevent accidental damage to the root system near the ground surface of the jujube tree.

[0059] As mentioned above, achieving wireless positioning, such as infrared, visual module ranging, or complex mechanical mechanisms, is extremely costly, complex to maintain, and requires a high level of technical expertise from users. In one possible embodiment, the telescopic component 2100 includes a winding reel 2110, an extension member 2120, and a sliding member 2130. The winding reel 2110 can be any mechanism capable of winding a rope-like object around it, or any mechanism with graduated markings. The extension member 2120 can be any component capable of winding around the winding reel 2110. The sliding member 2130 can be a slider or any component capable of sliding along the outer side of the annular limiting component 2200. The winding reel 2110 is disposed on the walking frame 1000. The connection can be any rotatable method. The coiled reel 2110 is electrically connected to the second control module 4200. The second control module 4200 detects the extension length of the extension member 2120 released from the coiled reel 2110. One end of the extension member 2120 is coiled around the coiled reel 2110. The second control module 4200 sends an electrical signal to the first control module 4100 according to the detected extension length. The other end of the extension member 2120 is connected to the sliding member 2130. The sliding member 2130 slides with the outer side of the annular limiting component 2200. That is, when the walking frame 1000 moves around the trunk, the sliding member 2130 moves around the trunk with the walking frame 1000 and moves in a circle on the outer side of the annular limiting component 2200.

[0060] One specific implementation process is as follows: when the user makes the annular limiting component 2200 lock onto the trunk of the jujube tree and controls the first control module 4100 to make the walking frame 1000 move in a circle around the trunk, the sliding member 2130 can slide in a circle along the outer side of the annular limiting component 2200.

[0061] Another specific implementation process is as follows: after the jujube tree root sucker circling preventive removal device moves away from the trunk L after circling the trunk once, the user controls the walking frame 1000 through the first control module 4100, so that the walking frame 1000 moves away from the trunk from the inside to the outside along the Archimedean spiral. As the walking frame 1000 moves outward, the sliding member 2130 slides circumferentially along the outer side of the annular limiting component 2200, while the extension member 2120 is continuously pulled out from the winding reel 2110. The second control module 4200 can determine the extension length by detecting the total linear displacement of the outer side of the winding reel 2110, and thus send information to the first control module 4100 and the third control module 4300. The first control module 4100 controls and adjusts the walking trajectory of the walking frame 1000 according to the received extension length information, and the third control module 4300 controls and adjusts the posture of the adjusting component 3200 according to the received extension length information, thereby indirectly controlling the soil penetration depth H of the second removal component 3300 at the soil end.

[0062] As described above, although the first cleaning component 3100 can achieve the cleaning effect of crushing jujube tree root suckers in any direction, if it is arranged laterally, jujube tree root suckers that grow too tall and are higher than the jujube tree root sucker surrounding the cleaning device will not be crushed by the laterally arranged rotating first cleaning component 3100. Instead, these excessively tall jujube tree root suckers will not be crushed and will be crushed by the jujube tree root sucker surrounding the cleaning device. In one possible embodiment, the first cleaning component 3100 includes a first cleaning blade group 3110 and a first driving member 3. 120, the first cleaning and killing knife group 3110 includes a first knife roller 3111 and a plurality of crushing blades 3112. The first knife roller 3111 is rotatably mounted on the walking frame 1000. The first driving member 3120 is connected to the first knife roller 3111 in a transmission manner. The plurality of crushing blades 3112 are arranged at intervals along a spiral curve on the first knife roller 3111. The reason for the appearance of jujube root suckers is that the growth direction of the jujube root system changes, growing upward. After the root system is exposed on the soil surface, it differentiates into new plants on the same root system, which are root suckers. Therefore, most root suckers tend to be vertical. When the several crushing blades 3112 arranged at intervals along the spiral curve on the first cutter roller 3111 rotate to perform the cleaning operation, the crushing blades 3112 can cut the root suckers that tend to be vertical while also pushing them into the cleaning range. Furthermore, the spirally arranged crushing blades 3112 can cut the root suckers that tend to be vertical into multiple pieces almost simultaneously when rotating, avoiding the appearance of long root sucker pieces. Longer root sucker pieces decompose more slowly, and due to the totipotency of plant cells, if there are differentiated buds on the longer root sucker pieces, the longer root sucker pieces may differentiate into new jujube seedlings after contacting the soil.

[0063] The beneficial effects are as follows: Most root suckers tend to grow vertically, so when the spirally arranged crushing blades 3112 rotate to perform the cleaning operation, while cutting, the spirally arranged crushing blades 3112 can also push the root suckers that tend to grow vertically into the cleaning width, and can almost simultaneously crush most of the root suckers that grow vertically, avoiding the appearance of long root sucker fragments that differentiate into new jujube seedlings and steal nutrients from the original jujube tree.

[0064] As described above, the walking frame 1000 will make a circular motion around the trunk of the jujube tree, while the sliding member 2130 slides on the outer circle of the annular limiting component 2200. The first cleaning and killing blade group 3110 rotates to clean and kill the jujube tree roots and suckers in the area swept by the first cleaning and killing blade group 3110. The broken jujube tree roots and suckers will fly everywhere. If they fly into the human body, they will injure the user. If they fly into the jujube tree, they will also damage the jujube tree. In one possible embodiment, the first cleaning and killing component 3100 also includes a protective shell 3130. The protective shell 3130 is disposed on the upper side of the walking frame 1000 and the back side of the walking frame 1000 in the direction of travel, so as to surround the first cleaning and killing blade group 3110. The first cleaning component 3100 is located on the front of the walking frame 1000 in the walking direction, and the protective shell 3130 is located on the back side of the walking frame 1000 in the walking direction. When the walking frame 1000 moves in a circle around the jujube tree trunk, the first cleaning component 3100 contacts the jujube tree root suckers and breaks them. The flying fragments of the jujube tree root suckers will be blocked by the protective shell 3130 and fall around the jujube tree, partially surrounding the first cleaning component 3100. That is, the side of the first cleaning component 3100 facing the walking frame 1000 in the walking direction, as well as the bottom and sides, are not covered by the protective shell 3130.

[0065] Beneficial effects: After the first cleaning component 3100 breaks up the jujube tree roots and suckers, the flying fragments of jujube tree roots and suckers will be blocked by the protective shell 3130 and guided to fall around the jujube tree, preventing the fragments of jujube tree roots and suckers from falling far away from the jujube tree, making it difficult for the jujube tree to use the nutrients produced by its decomposition, and at the same time avoiding injury to the jujube tree or the surrounding staff.

[0066] As described above, when this application is in circular motion, the multiple first cleaning and killing blade groups 3110, which are vertically arranged in the protective shell 3130, rotate to perform cleaning and killing operations. When the crushing blades 3112 on them cut laterally, the root suckers close to the ground are cut off by the crushing blades 3112. Since plant cells are totipotent, the root suckers close to the ground may continue to grow into complete root suckers. In one possible embodiment, the second cleaning and killing component 3300 includes a second cleaning and killing blade group 3310, a second driving member 3320, and a guide shell 3330. The second cleaning and killing blade group 3310 is rotatably arranged on the adjusting component 3200. The second driving member 3320 is connected to the second cleaning and killing blade group 3310 in a transmission manner. The guide shell 3330 is arranged on the adjusting component 3200 and is located above the second cleaning and killing blade group 3310. The second slashing blade assembly 3310 is used to break the cut surface of the root suckers that are close to the ground. When the cut surface of the root suckers close to the ground is broken, for example, by setting slashing spikes or comb teeth on the second slashing blade assembly 3310, the cut surface of the root suckers can be broken into thin strips along the direction of plant fibers. It is difficult for the plant to continue to grow from the cut surface when it is broken. After the second slashing blade assembly 3310 is inserted into the soil, the guide shell 3330 can guide the soil carried by the rotation of the second slashing blade assembly 3310 to the ground, so as to avoid the soil around the jujube tree from being washed away during the operation of this application.

[0067] The beneficial effects are as follows: The second clearing and killing knife group 3310 destroys the cut surface of the root sucker, so that the remaining root sucker that was cut off cannot continue to grow into a complete root sucker from the cut surface, thus achieving the effect of thoroughly clearing the root sucker. For a long time afterward, the remaining root sucker will not continue to grow from the cut surface, or even from the cut surface of the root sucker.

[0068] As described above, when this application moves along an Archimedean spiral trajectory and the second cleaning blade assembly 3310 enters the soil for preventative cleaning, the cleaning effect inside the soil is as follows: Figure 9 As shown, in order to be more suitable as Figure 9The depth curve of soil cleaning shown in the figure, in one possible embodiment, the second cleaning blade group 3310 includes a second blade roller 3311 and a plurality of breaking blades 3312 arrayed on the second blade roller 3311. The horizontal distance between the breaking blades 3312 and the positioning mechanism 2000 is a first distance. The height of the breaking blades 3312 on the second blade roller 3311 is proportional to the magnitude of the first distance. The beneficial effects are as follows: When the present application moves along the Archimedean spiral trajectory and the second cleaning blade group 3310 enters the soil for preventive cleaning, the cutting blade 3312 with the largest height in the previous spiral and the cutting blade 3312 with the smallest height in the next spiral have the same soil penetration depth, so that the soil penetration curve of the cleaning depth is a straight line. This straight line extends from the soil surface at a distance L from the root of the jujube tree to a preset depth point below the soil surface at a preset cleaning radius distance from the root of the jujube tree. Finally, the soil structure that has not been cleaned with the jujube tree as the center is a truncated cone structure: the upper bottom surface of the truncated cone structure is the L-radius area with the jujube tree as the center, the height of the truncated cone structure is the preset depth, and the lower bottom surface of the truncated cone structure is the preset depth plane with the expected cleaning radius area with the jujube tree as the center.

[0069] As mentioned above, sometimes root suckers do not grow from the root system around the jujube tree. Instead, root suckers may grow from a certain distance away from the jujube tree. To solve this problem, in one possible embodiment, a detection mechanism 5000 is also included. The detection mechanism 5000 is movably disposed on the annular limiting component 2200 and slides with the annular limiting component 2200. The detection mechanism 5000 is electrically connected to the control module 4000. When the annular limiting component 2200 of this application is engaged with the jujube tree to be cleared, the detection mechanism 5000 circles around the annular limiting component 2200 to identify whether there are root suckers within a first radius around the trunk. If not, this application proceeds to the following steps: after the jujube tree root suckers have circled the preventive clearing device around the trunk once, the circular movement stops, and the first control module 4100 controls the walking frame 1000 to move radially away from the trunk. When the second control module 4200 detects that the extension length of the telescopic component 2100 is equal to the first radius, it moves towards the first... The control module 4100 sends an electrical signal, and the first control module 4100 controls the walking frame 1000 to move from the inside to the outside along the Archimedean spiral, and the distance between the spirals of the Archimedean spiral is the first radius. As the walking frame 1000 moves, the adjustment component 3200 drives the second cleaning component 3300 to move downward. The third control module 4300 controls the adjustment component 3200 to adjust the soil penetration depth of the second cleaning component 3300 according to the extension length of the telescopic component 2100. The soil penetration depth and the extension length have a linear equation relationship.

[0070] The beneficial effects are: it avoids human judgment. When the detection agency 5000 determines that there are no root suckers within a circular area with the cleaning width of this application as the radius, the control module 4000 directly controls the walking frame 1000 to move from the inside to the outside along the Archimedean spiral to perform preventive cleaning, thus avoiding useless additional operations when this application is implemented automatically without human intervention.

[0071] A method for controlling root suckers around jujube trees using a preventative root sucker control device, applied to any of the above-mentioned preventative root sucker control devices, includes the following steps:

[0072] S10: Positioning, the ring limiting component 2200 is fitted onto the tree trunk. The ring limiting component 2200 can be any component that can be disassembled or opened and closed and combined into a ring structure. The ring limiting component 2200 is opened and then the tree trunk is locked, and the ring limiting component 2200 can position the tree trunk.

[0073] S20: Circular cleaning and pruning. Once the root system around the trunk is damaged, the jujube tree is prone to death or disease. Therefore, this application only removes the root suckers that have grown above the soil surface around the trunk. The first control module 4100 controls the walking frame 1000 to move in a circle around the trunk. At the same time, the second cleaning and pruning component 3300 is in the initial posture. The first cleaning and pruning component 3100 performs cleaning and pruning operations on the root suckers within a first radius range around the trunk. The first radius is the cleaning and pruning width of the jujube tree root sucker circular preventive cleaning and pruning device, thereby achieving the removal of root suckers exposed above the soil surface within a first radius range around the trunk.

[0074] S30: Spiral cleaning. After the jujube tree root sucker preventive cleaning device has circled the trunk once, it stops its circular motion, meaning the root suckers on the soil surface within the first radius around the trunk have been cleaned. Then, the first control module 4100 controls the walking frame 1000 to move radially away from the trunk. Simultaneously, the telescopic component 2100 extends continuously. When the second control module 4200 detects that the extension length of the telescopic component 2100 is equal to the first radius, it sends an electrical signal to the first control module 4100. Module 4100 controls the walking frame 1000 to move from the inside to the outside along an Archimedean spiral, and the spiral spacing of the Archimedean spiral is the first radius. The polar coordinate equation of the Archimedean spiral is as follows: D = L + Lθ, D ≤ R, where the extension length D is the real-time radius distance between the walking frame 1000 and the jujube tree when the Archimedean spiral trajectory is moving. The maximum value of D is the preset cleaning radius R as mentioned above, L is the first radius, which is also the size of the cleaning width, and θ is the polar angle. The Archimedean spiral trajectory of the walking frame 1000 is as follows: Figure 8 As shown.

[0075] Simultaneously, as the traveling frame 1000 moves, the adjusting component 3200 drives the second cleaning component 3300 to move downwards. The third control module 4300, based on the extension length of the telescopic component 2100, controls the adjusting component 3200 to adjust the soil penetration depth of the second cleaning component 3300. The soil penetration depth and the extension length are related by a linear equation in one variable.

[0076] H = k(DL), H ≥ 0, where H is the soil penetration depth, D is the extension length, L is the first radius (i.e., the width of the culling area), and k is an adjustment coefficient. The maximum soil penetration depth H is the preset depth Hmax, the preset culling radius is R, and the preset culling radius range is the maximum culling area around the jujube tree. The adjustment coefficient k is determined by the following formula. The cross-section of the clearing effect of the second clearing knife group 3310 is as follows: Figure 9 As shown:

[0077] S40: Termination condition: When the second control module 4200 detects that the extension length D of the telescopic component 2100 is equal to the preset cleaning radius R, that is, when D = R as described above, the soil penetration depth H reaches the preset depth Hmax, the walking frame 1000 stops moving, and the cleaning ends.

[0078] The beneficial effects are as follows: Jujube root suckers are new plants that sprout from adventitious buds after the root system is stimulated. Workers generally only pay attention to and remove jujube root suckers that have grown above the ground, while neglecting to remove jujube roots that have the tendency to grow into root suckers and those that have not yet reached the ground. This application provides a preventative method for removing jujube root suckers. Firstly, considering that the main root of the jujube tree should not be damaged, the root suckers on the soil surface are first removed around a certain area around the jujube tree. Then, the preventative method for removing jujube root suckers described in this application is applied. By continuously moving away from the jujube tree positioned by the annular limiting component 2200, the Archimedes spiral trajectory is used for clearing and killing. The soil penetration depth H of the second clearing component 3300 continuously increases, ultimately achieving the following preventive clearing and killing effect: all jujube tree roots that may grow into root suckers and root suckers that have not grown to the ground surface during the jujube tree's growth period can be cleared and killed before they grow to the ground surface. Thus, for a long period of time after the clearing and killing device of this application is used, the jujube tree in the growth period will not continuously grow root suckers again.

[0079] Furthermore, by adjusting the soil penetration depth H of the second cleaning component 3300 through the adjustment component 3200, it is possible to avoid accidentally damaging the root system near the ground surface of the jujube tree.

[0080] As mentioned above, when pruning multiple jujube trees, it is necessary to determine the spacing between the trees to avoid damaging the main roots of other jujube trees. In one possible embodiment, in step S40, the preset pruning radius is determined by the following steps:

[0081] Multiple spacings are obtained between the tree trunk to be cleared and multiple adjacent tree trunks, and the smallest of the multiple spacings is the first spacing. The preset clearing radius is equal to half of the first spacing.

[0082] In a specific implementation process, such as Figure 8 and Figure 9 As shown, when the preset clearing radius reaches half of the first spacing, the soil penetration depth H reaches its maximum value, that is, the cleared area is the projected space between a truncated cone and the bottom surface of the truncated cone. The truncated cone has the following structure: the upper bottom surface of the truncated cone is a radius L region centered on the jujube tree, the height of the truncated cone is the preset depth Hmax, and the lower bottom surface of the truncated cone is a region of the expected clearing radius R centered on the jujube tree in the plane of the preset depth Hmax, and R = half of the first spacing. The upper bottom surface of the truncated cone is the ground surface.

[0083] Beneficial effects include: Figure 9 As shown, the root system growing within the cone-shaped structure of the jujube tree is considered the superior root system. The maximum pruning depth is located at the midpoint between adjacent jujube trees, which conforms to the outline of the superior root system. This achieves the effect of pruning only the jujube tree roots that may have the tendency to grow into root suckers and the root suckers that have not grown to the ground surface, without damaging the superior root system.

[0084] As mentioned above, sometimes root suckers do not grow around jujube trees, making the surrounding pruning step in the above method unnecessary and redundant. Furthermore, when implementing fully automated unmanned operation in this application, some jujube trees will not grow root suckers, making surrounding pruning of every single tree completely unnecessary. In one possible embodiment, the jujube tree root sucker surrounding preventative pruning device further includes a detection mechanism 5000, which is movably mounted on the annular limiting component 2200, and the detection mechanism 5000 and the annular limiting component 2200... The detection mechanism 5000 can be a program module stored in smart hardware, or the control module can be a microelectronic system designed with logic circuits, such as a combinational logic circuit that is set up with gate circuits to run the above six steps of logic, or a sequential logic circuit designed with registers and flip-flops. The detection mechanism 5000 can perform the functions of the following steps. The detection mechanism 5000 is electrically connected to the control module 4000. After step S10 and before step S20, the following steps are also included:

[0085] S21: Detecting the tree perimeter, the detection mechanism 5000 surrounds the annular limiting component 2200 once to identify whether there are root suckers within the first radius around the tree trunk;

[0086] S22: When the detection mechanism 5000 detects root suckers around the tree trunk, step S20 is executed;

[0087] S23: When the detection mechanism 5000 detects that there are no root suckers around the tree trunk, proceed to step S30.

[0088] The beneficial effects are: it can determine whether there are root suckers growing on the soil surface around the jujube tree. If there are no suckers, it will directly jump to the S30 spiral cleaning step for preventive cleaning.

[0089] Obviously, the above embodiments of this application are merely examples for clear illustration and are not intended to limit the implementation of this application. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A jujube tree root sprout encircling preventive cleaning device, characterized in that, Comprise: Walking frame and positioning mechanism and killing mechanism arranged on the walking frame; The positioning mechanism comprises a telescopic assembly and an annular limiting assembly, one end of the telescopic assembly is arranged on the walking frame, the other end of the telescopic assembly is arranged on the annular limiting assembly, and the other end of the telescopic assembly is slidably connected with the annular limiting assembly; The killing mechanism comprises a first killing assembly, an adjusting assembly and a second killing assembly, the first killing assembly is vertically arranged on the walking frame, the adjusting assembly is arranged on the walking frame, and the second killing assembly is transversely arranged on the adjusting assembly; And The control module is arranged on one side of the walking frame, the control module comprises a first control module, a second control module and a third control module, the first control module is electrically connected with the walking frame, used for controlling the walking track of the walking frame, the second control module is electrically connected with the telescopic assembly, used for detecting the extension length of the telescopic assembly, and the third control module is electrically connected with the adjusting assembly, used for controlling the adjusting assembly to adjust the depth of the second killing assembly into the soil.

2. The jujube tree root sprout surrounding preventive type killing device according to claim 1, characterized in that, The telescopic assembly comprises a coiled winding wheel, an elongated member and a sliding member, the coiled winding wheel is arranged on the walking frame and electrically connected with the second control module, one end of the elongated member is coiled and arranged on the coiled winding wheel, and the other end is connected with the sliding member, and the sliding member is slidably connected with the outer side of the annular limiting assembly.

3. The jujube tree root sprout surrounding preventive type killing device according to claim 1, characterized in that, The first killing assembly comprises a first killing knife group and a first driving member, the first killing knife group comprises a first knife roller and a plurality of crushing knives, the first knife roller is rotatably arranged on the walking frame, the first driving member is in transmission connection with the first knife roller, and the plurality of crushing knives are arranged on the first knife roller along the spiral curve.

4. The jujube tree root sprout surrounding preventive type killing device according to claim 3, characterized in that, The first killing assembly further comprises a protective shell, the protective shell is arranged on the upper side of the walking frame and the back side of the walking direction of the walking frame, so as to surround the first killing knife group.

5. The jujube tree root sprout surrounding preventive type killing device according to claim 1, characterized in that, The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group.

6. The jujube tree root sprout surrounding preventive type killing device according to claim 5, characterized in that, The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group.

7. The jujube tree root sprout surrounding preventive type killing device according to claim 1, characterized in that, The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group.

8. A method for cleaning and killing of jujube tree root sprout around a preventive killing device, characterized in that, The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly and located above the second killing knife group. The second killing assembly comprises a second killing knife group, a second driving member and a guide shell, the second killing knife group is rotatably arranged on the adjusting assembly, the second driving member is in transmission connection with the second killing knife group, and the guide shell is arranged on the adjusting assembly S20: The first control module controls the walking frame to move around the tree trunk, and the second control module controls the second killing component to move to the initial position, and the first killing component performs the killing operation on the root suckers within the first radius around the tree trunk, and the first radius is the killing width of the jujube tree root sucker surrounding prevention killing device; S30: The first control module controls the walking frame to move along the Archimedes spiral outward from the tree trunk, and the Archimedes spiral has a spiral interval equal to the first radius, and the adjusting component drives the second killing component to move downward, and the third control module controls the adjusting component to adjust the depth of the second killing component according to the extension length of the telescopic component, and the depth of the second killing component is in a linear relationship with the extension length of the telescopic component; S40: The second control module detects the extension length of the telescopic component, and when the extension length of the telescopic component is equal to the preset killing radius, the depth of the second killing component reaches the preset depth, and the walking frame stops moving, and the killing operation is completed.

9. The method of claim 8, wherein, In the S40 step, the preset killing radius is determined by the following steps: Obtaining a plurality of distances between the tree trunk and a plurality of adjacent tree trunks, and the smallest distance in the plurality of distances is a first distance, and the preset killing radius is equal to half of the first distance.

10. The killing method of claim 8, wherein the jujube tree root sucker surrounding prevention killing device further comprises a detection mechanism movably arranged on the annular limiting component, and the detection mechanism and the annular limiting component are in sliding fit, and the detection mechanism is electrically connected with the control module; after the S10 step and before the S20 step, the method further comprises the following steps: S21: Detecting the tree trunk, the detection mechanism moves around the annular limiting component, and identifies whether there are root suckers within the first radius around the tree trunk; S22: When the detection mechanism detects that there are root suckers around the tree trunk, the step S20 is performed; S23: When the detection mechanism detects that there are no root suckers around the tree trunk, the step S30 is performed. ​

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