Bionic fruit tree root lifting device, system and method

Abstract

The invention relates to the technical field of fruit tree planting, and provides a bionic fruit tree root lifting device, system and method.The bionic fruit tree root lifting device comprises a shovel body, a connecting rod, a bionic shovel blade and a guiding part, the first end of the connecting rod is connected with the shovel body, and the second end of the connecting rod is used for being connected to a suspension frame on the rear portion of a tractor; due to the fact that the front feet of the cicada nymphs are similar to a shovel in structure and are good in digging hard soil, the bionic shovel blade is designed to be a cicada nymph imitating multi-tooth shovel blade, and the bionic shovel blade is arranged at one end of the shovel body, is arranged to be in a sawtooth shape and is used for being inserted into the soil to conduct root pulling operation. The guiding part is arranged at the other end of the shovel body, and the guiding part can outwards convey the dug tree roots to the ground in the length direction of the guiding part; the tree root digging device is simple and reliable in structure and convenient to use, tree roots of fruit trees can be dug up in a time-saving and labor-saving mode, the rows of tree roots left after cutting of old orchards can be subjected to root digging operation, and the tree root digging operation efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of fruit tree planting, and in particular to a bionic fruit tree rooting device, system and method. Background Art

[0002] China's apple production has consistently ranked first in the world. However, since most of the existing orchards were built in the 1980s and 1990s, there are widespread problems such as aging trees, single varieties, and frequent diseases. As a result, some orchards have high investments but low yields and poor fruit quality. The further development of the apple industry is seriously restricted by the congested old orchards, unreasonable early planting plans, and insufficient mechanized production conditions.

[0003] With the development of modern orchard planting technology, at this stage, we should refer to the standardized orchard planting model, renovate the existing old orchards or low-yield orchards, eradicate the old orchards, and establish modern standardized and mechanized orchards. At present, there are few special fruit tree rooting devices in this field, and orchards generally use excavators to dig fruit tree roots. In order to solve the problems of low efficiency and lack of special equipment in the root digging process, the development of efficient rooting devices has become an urgent requirement for the orchard renovation process, and it is also an effective way to promote the construction of mechanized orchards.

[0004] At present, there are few types of mechanical equipment dedicated to digging roots of fruit trees, and there is no tractor-driven rooting device. Most domestic rooting operations are carried out by excavators, but the efficiency is slow. Although there are special rooting devices for excavators, it is still necessary to dig the roots one by one, and it is not possible to carry out rooting operations continuously and quickly. Summary of the invention

[0005] The present invention provides a bionic fruit tree rooting device, system and method, which are used to solve the problem that the prior art lacks a corresponding rooting device, resulting in poor tree root digging effect and low efficiency. By combining agricultural machinery with the bionic principle in biology, the efficiency and effect of tree root digging are improved.

[0006] The present invention provides a bionic fruit tree rooting device, comprising: Shovel body; A connecting rod, a first end of which is connected to the shovel body and a second end of which is used to be connected to a suspension frame at the rear of the tractor; A bionic shovel blade is arranged at one end of the shovel body, and the bionic shovel blade is arranged in a sawtooth shape and is used for inserting into the soil to perform rooting operations; The guide part is arranged at the other end of the shovel body, and the guide part can transfer the dug tree roots outward to the ground along the length direction thereof.

[0007] According to the bionic fruit tree rooting device provided by the present invention, the surface of the shovel body is provided with a plurality of shark shield scale bionic structures for crushing soil and reducing drag.

[0008] According to the bionic fruit tree rooting device provided by the present invention, the cross-sections of the bionic shovel blade and the shovel body are both U-shaped, and chamfers are provided at both ends of the bionic shovel blade. The angle a between the blade surface of the bionic shovel blade and the surface of the shovel body is 10-15°.

[0009] According to the bionic fruit tree rooting device provided by the present invention, the guide part includes a plurality of guide rods, and the plurality of guide rods are distributed at intervals along the U-shaped cross-section of the shovel body.

[0010] According to the bionic fruit tree rooting device provided by the present invention, the guide rod includes a guide section and a buffer section, and there is an angle between the buffer section and the guide section. The length direction of the guide section is the same as the axial direction of the shovel body. The first end of the guide section is connected to the end of the shovel body, and the second end of the guide section is connected to the buffer section. The buffer section is arranged to be tilted downward.

[0011] The present invention also provides a bionic fruit tree rooting system, comprising: a tractor, a detection device, a controller, a hydraulic drive mechanism and the bionic fruit tree rooting device as described in any one of claims 1 to 5, wherein the connecting rod of the bionic fruit tree rooting device is connected to the suspension frame at the rear of the tractor, and the controller is electrically connected to the detection device and the hydraulic drive mechanism respectively; the detection device is arranged on the tractor, and is used to detect the position of the main root of the fruit tree and send the position signal to the controller; the hydraulic drive mechanism acts on the suspension frame, and is used to drive the bionic fruit tree rooting device to adjust its position by moving the suspension frame.

[0012] The bionic fruit tree rooting system provided by the present invention further includes a position sensor, which is arranged on the tractor and electrically connected to the controller. The position sensor is used to detect the position of the bionic shovel blade of the bionic fruit tree rooting device.

[0013] The present invention also provides a bionic fruit tree rooting method, which uses the above-mentioned bionic fruit tree rooting system and comprises: The bionic fruit tree rooting device is installed on the suspension frame of the tractor, and the tractor pulls the bionic fruit tree rooting device to perform rooting operation, and the position coordinates O0 (X0, Y0, Z0) of the bionic fruit tree rooting device are set as the initial coordinates of the rooting operation; The detection device performs tree root mapping detection to obtain the position coordinates of the main root of the fruit tree. d (X d , Y d , Z d ), and converting the position coordinates into electrical signals and sending them to the controller; The controller processes the signal, adjusts the movement direction of the tractor according to the coordinate information, and adjusts the lifting and lowering of the bionic fruit tree rooting device so that the bionic shovel blade of the bionic fruit tree rooting device reaches a suitable working position; After completing one rooting operation, the detection device detects the main root of the next fruit tree in the same row, and uses the bionic shovel blade to continue the rooting operation on the next tree root until the main roots of all fruit trees in the same row are cut off.

[0014] According to the bionic fruit tree rooting method provided by the present invention, the step of adjusting the lifting and lowering of the bionic fruit tree rooting device comprises: The lifting and lowering of the bionic fruit tree rooting device is adjusted by the hydraulic drive mechanism of the bionic fruit tree rooting system; A position sensor is used to detect whether the shovel blade of the bionic fruit tree rooting device reaches the depth of the main root of the fruit tree.

[0015] The bionic fruit tree rooting method provided by the present invention further includes: after completing the rooting operation of a row of fruit trees, controlling the bionic fruit tree rooting device to rise, and the tractor continues to move forward to perform the rooting operation on the roots of the next row of fruit trees.

[0016] The present invention provides a bionic fruit tree rooting device and system. When in use, the bionic fruit tree rooting device is installed at the rear of a tractor, a detection device of the tractor maps and detects the tree roots, the tractor drives the bionic fruit tree rooting device to move forward, and a position sensor is used to feed back the working state of the bionic shovel blade to ensure that the bionic shovel blade can smoothly perform the root cutting operation. The shark shield scale bionic structure reduces the forward resistance of the shovel body in the soil, and the shovel body and the guide rod provide guidance for the cut tree roots, so that the tree roots in the movement direction can be dug out and moved to the ground, thereby realizing the rooting operation of the rows of tree roots left after the old orchard is felled, and improving the efficiency of digging tree roots. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic structural diagram of a bionic fruit tree rooting device provided in an embodiment of the present invention.

[0019] Figure 2 It is a side view of the bionic fruit tree rooting device provided by an embodiment of the present invention.

[0020] Figure 3It is a schematic diagram of the structure of a bionic fruit tree rooting system provided in an embodiment of the present invention.

[0021] Figure 4 The present invention is a flowchart of a bionic fruit tree rooting method provided in an embodiment of the present invention.

[0022] Reference numerals: 1. Bionic shovel blade; 2. Shovel body; 21. Shark shield scale bionic structure; 3. Guide rod; 31. Guide section; 32. Buffer section; 4. Connecting rod; 5. Tractor; 51. Suspension frame; 6. Detection device; 7. Controller; 8. Position sensor; 9. Fuel tank; 10. Oil pump; 11. Reversing valve; 12. Hydraulic cylinder; 13. Connecting rod mechanism; 14. Turning rod. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Combine the following Figure 1-Figure 4 The invention describes a bionic fruit tree rooting device, system and method.

[0025] A bionic fruit tree rooting device provided in an embodiment of the present invention comprises: a shovel body 2, a connecting rod 4, a bionic shovel blade 1 and a guide part.

[0026] Among them, the first end of the connecting rod 4 is connected to the shovel body 2, and the second end thereof is used to be connected to the suspension frame 51 at the rear of the tractor 5; since the front feet of the cicada nymph are similar to the structure of a shovel and are good at digging hard soil, the bionic shovel blade 1 is designed to imitate the multi-toothed shovel blade of the cicada nymph, and the bionic shovel blade 1 is arranged at one end of the shovel body 2. The bionic shovel blade 1 is arranged to be serrated and is used to be inserted into the soil for rooting operations; the guide part is arranged at the other end of the shovel body 2, and the guide part can transmit the excavated tree roots outward along their length direction to the ground.

[0027] It can be seen from the above scheme that the present invention designs a fruit tree rooting device with a bionic shovel blade 1, which combines agricultural machinery with the bionic principle in biology. The bionic shovel blade 1 is used to cut into the soil more effectively, especially when dealing with relatively compact soil or soil containing more stones. It shows stronger penetration. The serrated edge can not only help the shovel blade to cut the soil more easily, but also effectively cut off the roots of trees, reduce the disturbance to the surrounding soil, help maintain the soil structure, and can remove the roots more cleanly to reduce residues; the design of the guide part reduces the workload of manual cleaning of tree roots, improves the continuity and efficiency of the entire operation process, and facilitates the subsequent processing of tree roots. It is connected to the suspension frame 51 at the rear of the tractor 5 through the connecting rod 4, which can fully utilize the power of the tractor 5. There is no need to use large-scale operating machinery, and can achieve fast and large-area operations, greatly saving time and labor costs.

[0028] Furthermore, the surface of the shovel body 2 is provided with a plurality of shark shield scale bionic structures 21 for crushing soil and reducing drag. The surface of the shovel body 2 may be coated with a microstructure similar to shark shield scales or subjected to a texture treatment.

[0029] In this way, since the surface of shark skin is covered with tiny shield scales, which have a unique geometric shape and arrangement, they can significantly reduce water flow resistance and improve swimming efficiency. By imitating this structure, the characteristics of shark skin are applied to the design of agricultural machinery, especially in soil processing equipment. It can not only reduce the friction between the tool and the soil, making it easier for the bionic shovel blade 1 to enter the soil, but also reduce the adhesion of soil to the tool surface, making it easier to clean.

[0030] like Figure 1-Figure 2 As shown, the cross-sections of the bionic shovel blade 1 and the shovel body 2 are both U-shaped, and chamfers are provided at both ends of the bionic shovel blade 1. The angle a between the blade surface of the bionic shovel blade 1 and the surface of the shovel body 2 is 10-15°.

[0031] In this way, compared with the sharp edge, the chamfer can prevent the bionic shovel blade 1 from being worn or damaged prematurely due to collision or friction during work, thereby extending the service life, and the chamfer helps to guide the soil to flow smoothly along the shovel blade surface, reducing the possibility of soil adhesion, thereby improving work efficiency; the angle of 10-15° is an optimal angle range that has been experimentally verified. It can minimize the friction between the shovel blade and the soil while ensuring the cutting force, making the shovel blade sharper when cutting into the soil, ensuring that the shovel blade can effectively cut off the tree roots when cutting into the soil, and at the same time, the shovel blade will not be easily broken or deformed due to excessive angles, reducing repeated cutting work and improving overall work efficiency.

[0032] In particular, refer to Figure 1The arc radius of the shovel body 2 and the bionic shovel blade 1 is adjusted according to the actual working object. Taking the roots of 10-15 year-old apple trees as an example, the most densely distributed vertical distribution area of ​​the conductive roots in the soil profile is in the soil layer of 0-50 cm, and the most densely distributed horizontal distribution area is in the soil 0-75 cm away from the trunk. The dry weight ratio of the apple tree roots 50 cm underground is 78.3%, so the arc radius of the shovel body is selected to be 500 mm.

[0033] In some embodiments, the guide portion includes a plurality of guide rods 3, which are spaced apart along the U-shaped cross-section of the shovel body 2, and the number of guide rods 3 may be three or more; after the bionic shovel blade 1 cuts off the tree roots, as the shovel body 2 continues to penetrate deeper into the soil, the cut tree roots may move outward along the upper surface of the shovel body 2, and by providing the guide rods 3, the tree roots may be further guided toward the ground along the axis of the guide rods 3 on the upper surface of the guide rods 3, and during the movement of the tree roots, the soil on the tree roots may flow out from the gaps between adjacent guide rods 3, so that the guide rods 3 simultaneously play a guiding and filtering role.

[0034] Preferably, the guide rod 3 is made based on the bionic shape of lotus leaf veins, and includes a guide section 31 and a buffer section 32, and an angle is formed between the buffer section 32 and the guide section 31, and the angle is 145-160°. The length direction of the guide section 31 is the same as the axial direction of the shovel body 2, the first end of the guide section 31 is connected to the end of the shovel body 2, and the second end of the guide section 31 is connected to the buffer section 32, and the buffer section 32 is tilted downward.

[0035] With such arrangement, since the shovel body 2 is tilted into the soil when working, the cut tree roots also move tilted outward from low to high on the guide section 31 until they move to the ground. By connecting the buffer section 32 tilted downward at the end of the guide section 31, the tree roots can slide slowly and controllably to the ground along the buffer section 32, thereby improving the orderliness and safety of the operation.

[0036] The embodiment of the present invention also provides a bionic fruit tree rooting system, including: a tractor 5, a detection device 6, a controller 7, a hydraulic drive mechanism and the above-mentioned bionic fruit tree rooting device, the connecting rod 4 of the bionic fruit tree rooting device is connected to the suspension frame 51 at the rear of the tractor 5, and the controller 7 is electrically connected to the detection device 6 and the hydraulic drive mechanism respectively; the detection device 6 is arranged on the tractor 5, and is used to detect the position of the main root of the fruit tree, and send the position signal to the controller 7, wherein the detection device 6 can be a ground penetrating radar, which maps and detects the roots of the tree. It is a product in the prior art, and its structure and principle are not the focus of discussion in this article, and will not be repeated here; the hydraulic drive mechanism acts on the suspension frame 51, and is used to drive the bionic fruit tree rooting device to adjust its position by moving the suspension frame 51. That is to say, by connecting the connecting rod 4 of the bionic fruit tree rooting device with the suspension frame 51 at the rear of the tractor 5, the bionic fruit tree rooting device can be towed by the tractor 5 to perform the rooting operation, and the suspension frame 51 at the rear of the tractor 5 is driven to rise and fall by the hydraulic drive mechanism, thereby driving the bionic fruit tree rooting device to do the lifting movement, so as to realize the bionic shovel blade 1 entering and leaving the soil; the position of the roots of the fruit tree is detected by the detection device 6 to obtain the position of the roots, so as to adjust the travel route of the tractor 5 and locate the working position of the bionic fruit tree rooting device, thereby improving the working efficiency and accuracy. The present invention sets an electrical connection between the controller 7 and the hydraulic drive mechanism and the detection device 6 to realize automatic control of the rooting operation, saving manpower and time.

[0037] Furthermore, the above-mentioned tractor 5 is an automatic driving tractor 5, which does not require human operation and can be connected to the control system signal of the tractor 5 through the controller 7 to realize automatic adjustment of the travel trajectory of the tractor 5.

[0038] In one embodiment, the connecting rod 4 is made of solid steel to ensure bending resistance. The connecting rod 4 is fixed to one end of the shovel body 2. There is a mounting hole on the connecting rod 4, which is fixed to the mounting port of the suspension bracket 51 through the cooperation of the mounting hole and the pin.

[0039] In a specific embodiment, the hydraulic drive mechanism includes: an oil tank 9, an oil pump 10, a reversing valve 11 and a hydraulic cylinder 12. The reversing valve 11 can be an electromagnetic reversing valve, which is electrically connected to the controller 7. The oil in the oil tank 9 is pumped into the hydraulic cylinder 12 through the oil pump 10. The oil circuit connecting the rod chamber and the rodless chamber of the hydraulic cylinder 12 is switched through the reversing valve 11 to achieve the extension and retraction of the telescopic rod of the hydraulic cylinder 12. In addition, it also includes a rotating rod 14. The suspension frame 51 is driven by the connecting rod mechanism 13 of the tractor 5 itself, such as Figure 3As shown, the rotating rod 14 can be an arc-shaped structure. The first end of the rotating rod 14 is hinged to the body of the tractor 5, and the second end of the rotating rod 14 is hinged to the connecting mechanism, so that the rotating rod 14 can drive the connecting rod structure to rotate around the hinge of the first end of the rotating rod 14. The free end of the telescopic rod of the hydraulic cylinder 12 is connected to the rotating rod 14, and the rotating rod 14 is driven to rotate around the hinge of its first end through the extension and retraction of the telescopic rod, thereby providing lifting power for the bionic fruit tree rooting device.

[0040] Preferably, a position sensor 8 is also included. The position sensor 8 is arranged on the tractor 5 and is electrically connected to the controller 7. The position sensor 8 is used to detect the position of the bionic shovel blade 1 of the bionic fruit tree rooting device. With such an arrangement, not only the position of the bionic shovel blade 1 in the soil can be known through the position sensor 8, but the operation process can also be optimized through the feedback control system, thereby significantly improving the automation level and operation accuracy of the entire system, and improving work efficiency and safety.

[0041] like Figure 3 As shown, in some specific embodiments, the position sensor 8 can be set at the hinge of the rotating rod 14 and the vehicle body, for example, installed on the outside of the rotating rod 14, and an angle sensor is used to collect the rotation angle information of the rotating rod 14 and send it to the controller 7 for corresponding program calculation processing to obtain the rising height or falling height of the bionic shovel blade 1; for example, the position of the rotating rod 14 corresponding to when the bionic shovel blade 1 is lifted to the highest position can be used as the initial position, and the height of the bionic shovel blade 1 from the ground at this time is measured and recorded, and substituted into the program of the controller 7; thereafter, every time the rotating rod 14 rotates a certain angle, the controller 7 processes the angle data to obtain the distance that the bionic shovel blade 1 has descended, and the height of the bionic shovel blade 1 from the ground at this time is obtained, so that the position of the bionic shovel blade 1 can be obtained by collecting the rotation angle of the rotating rod 14 relative to the initial position.

[0042] The embodiment of the present invention also provides a bionic fruit tree rooting method. By using the bionic fruit tree rooting system, the tractor 5 can perform rooting operations on the rows of felled old trees when moving forward. The device can move the tree roots to the ground quickly and efficiently, including the following steps: Step 1: Install the bionic fruit tree rooting device on the suspension frame 51 of the tractor 5. The tractor 5 pulls the bionic fruit tree rooting device to perform the rooting operation. Set the position coordinates O0 (X0, Y0, Z0) of the bionic fruit tree rooting device as the initial coordinates of the rooting operation.

[0043] Among them, the coordinate axes of the bionic fruit tree rooting device are set, the X axis is the working direction of the bionic fruit tree rooting device, the Y axis is the direction of the tractor 5 turning to adjust left and right, and the Z axis is the direction of the bionic rooting device rising and falling.

[0044] Step 2: The detection device 6 performs tree root mapping detection to obtain the position coordinates of the main root of the fruit tree. d (X d , Y d , Z d ), and convert the position coordinates into electrical signals and send them to the controller 7.

[0045] Step 3: The controller 7 processes the signal, adjusts the moving direction of the tractor 5 according to the coordinate information, and adjusts the lifting and lowering of the bionic fruit tree rooting device so that the bionic shovel blade 1 of the bionic fruit tree rooting device reaches a suitable working position.

[0046] Among them, adjusting the lifting and lowering of the bionic fruit tree rooting device in step 3 includes: adjusting the lifting and lowering of the bionic fruit tree rooting device through the hydraulic drive mechanism of the bionic fruit tree rooting system; and detecting whether the shovel blade of the bionic fruit tree rooting device reaches the depth of the main root of the fruit tree through the position sensor 8.

[0047] Specifically, through the coordinate X d , Y d information, adjust the movement direction of the tractor 5, so as to adjust the position of the bionic shovel blade 1 corresponding to the main root of the fruit tree, through the coordinate Z d The information controls the hydraulic cylinder 12 to adjust the lifting of the suspension frame, driving the bionic fruit tree rooting device to lift and lower, thereby achieving a suitable working position and depth of the bionic shovel blade 1. When adjusting the working depth of the bionic shovel blade 1, the hydraulic pump works to pump hydraulic oil from the oil tank 9. The controller 7 controls the reversing valve 11 to change the flow direction, pressure and flow of the hydraulic oil. The hydraulic oil enters the rodless cavity or rod cavity of the hydraulic cylinder 12, thereby achieving the purpose of controlling the lifting and lowering of the bionic shovel blade 1.

[0048] The bionic shovel blade 1 penetrates deep into the soil, the tractor 5 moves forward and the hydraulic cylinder 12 continues to rise, so that the bionic shovel blade 1 reaches the working depth and performs root cutting operations on the tree roots. The shovel body 2 and the guide rod 3 guide the tree roots and move the tree roots to the ground, completing the rooting operation of the main roots of the current fruit trees.

[0049] Step 4: After completing one rooting operation, the detection device 6 detects the main root of the next fruit tree in the same row, and uses the bionic shovel blade 1 to continue the rooting operation on the next tree root until the main roots of all fruit trees in the same row are cut off.

[0050] It should be noted that when the bionic shovel blade 1 enters the soil to perform rooting operations on the fruit trees in the same row one by one, during this process, the bionic shovel blade 1 is always in the soil. After the rooting operation of the fruit trees in the same row is completed, the hydraulic cylinder 12 controls the bionic fruit tree rooting device to rise as a whole, and the bionic shovel blade 1 leaves the soil again to achieve continuous operation, and the position sensor 8 is used to detect and feedback whether the bionic fruit tree rooting device has risen to the right position.

[0051] like Figure 3 As shown, since the bionic fruit tree rooting device is installed at the rear of the tractor 5, the obstruction of the tree roots to the forward movement of the tractor 5 is avoided.

[0052] In this embodiment, step 5 is also included: after completing the rooting operation of a row of fruit trees, the bionic fruit tree rooting device is controlled to be lifted, and the tractor 5 continues to move forward to perform the rooting operation on the next row of fruit trees.

[0053] Specifically, after completing the rooting operation of a row of fruit trees, the tractor 5 turns around and performs the rooting operation on the next row of fruit trees. The detection device 6 starts to detect the main roots of the fruit trees in the next row one by one, and repeats the above steps 1-4 until the rooting operation of the roots of the next row of trees is completed. This is repeated until all the fruit trees have completed the rooting operation.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic fruit tree rooting device, characterized in that: include: Shovel body (2); A connecting rod (4), wherein a first end of the connecting rod (4) is connected to the shovel body (2), and a second end of the connecting rod (4) is used to be connected to a suspension frame (51) at the rear of a tractor (5); A bionic shovel blade (1) is arranged at one end of the shovel body (2), and the bionic shovel blade (1) is arranged in a sawtooth shape and is used for inserting into the soil to perform rooting operations; A guide portion is arranged at the other end of the shovel body (2), and the guide portion is capable of transferring the excavated tree roots outwards to the ground along the length direction thereof.

2. The bionic fruit tree rooting device according to claim 1, characterized in that: The surface of the shovel body (2) is provided with a plurality of shark shield scale bionic structures (21) for crushing soil and reducing drag.

3. The bionic fruit tree rooting device according to claim 1, characterized in that: The cross-sections of the bionic scraper blade (1) and the scraper body (2) are both U-shaped, and chamfers are provided at both ends of the bionic scraper blade (1). The angle a between the blade surface of the bionic scraper blade (1) and the surface of the scraper body (2) is 10-15°.

4. The bionic fruit tree rooting device according to claim 3, characterized in that: The guide portion comprises a plurality of guide rods (3), wherein the plurality of guide rods (3) are distributed at intervals along the U-shaped cross section of the shovel body (2).

5. The bionic fruit tree rooting device according to claim 4, characterized in that: The guide rod (3) comprises a guide section (31) and a buffer section (32), and an angle is formed between the buffer section (32) and the guide section (31); the length direction of the guide section (31) is the same as the axial direction of the shovel body (2); the first end of the guide section (31) is connected to the end of the shovel body (2), and the second end of the guide section (31) is connected to the buffer section (32); and the buffer section (32) is arranged to be tilted downward.

6. A bionic fruit tree rooting system, characterized in that: include: A tractor (5), a detection device (6), a controller (7), a hydraulic drive mechanism, and a bionic fruit tree rooting device as claimed in any one of claims 1 to 5, wherein the connecting rod (4) of the bionic fruit tree rooting device is connected to a suspension frame (51) at the rear of the tractor (5), and the controller (7) is electrically connected to the detection device (6) and the hydraulic drive mechanism respectively; the detection device (6) is arranged on the tractor (5) and is used to detect the position of the main root of the fruit tree and send a position signal to the controller (7); the hydraulic drive mechanism acts on the suspension frame (51) and is used to drive the bionic fruit tree rooting device to adjust its position by moving the suspension frame (51).

7. The bionic fruit tree rooting system according to claim 6, characterized in that: It also comprises a position sensor (8), which is arranged on the tractor (5) and is electrically connected to the controller (7), and is used to detect the position of the bionic shovel blade (1) of the bionic fruit tree rooting device.

8. A bionic fruit tree rooting method, using the bionic fruit tree rooting system according to any one of claims 6 to 7, characterized in that: include: The bionic fruit tree rooting device is mounted on a suspension frame (51) of the tractor (5); the tractor (5) tows the bionic fruit tree rooting device to perform a rooting operation; and the position coordinates O0 (X0, Y0, Z0) of the bionic fruit tree rooting device are set as initial coordinates of the rooting operation; The detection device (6) performs tree root mapping detection to obtain the position coordinates of the main root of the fruit tree O d (X d , Y d , Z d ), and converting the position coordinates into electrical signals and sending them to the controller (7); The controller (7) processes the signal, adjusts the movement direction of the tractor (5) according to the coordinate information, and adjusts the lifting and lowering of the bionic fruit tree rooting device so that the bionic shovel blade (1) of the bionic fruit tree rooting device reaches a suitable working position; After completing one rooting operation, the detection device (6) detects the main root of the next fruit tree in the same row, and continues to perform the rooting operation on the next tree root using the bionic shovel blade (1) until the main roots of all fruit trees in the same row are cut off.

9. The bionic fruit tree rooting method according to claim 8, characterized in that: The step of adjusting the lifting and lowering of the bionic fruit tree rooting device comprises: The lifting and lowering of the bionic fruit tree rooting device is adjusted by the hydraulic drive mechanism of the bionic fruit tree rooting system; Whether the shovel blade of the bionic fruit tree rooting device has reached the depth of the main root of the fruit tree is detected by a position sensor (8).

10. The bionic fruit tree rooting method according to claim 8, characterized in that: Also includes: After the rooting operation of a row of fruit trees is completed, the bionic fruit tree rooting device is controlled to be raised, and the tractor (5) continues to move forward to perform the rooting operation on the next row of fruit trees.

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