Bamboo root chopping device and its operation method

Abstract

The present invention discloses a bamboo root chopping device and its operation method, which relates to the technical field of agricultural machinery. It includes a frame, as well as a chassis walking mechanism, a bamboo root chopping mechanism, a hydraulic system, a vision system, an electric control system and a power system installed on the frame. The hydraulic system is connected to the power system, and the hydraulic system can adjust the motion state of the power system. The power system is connected to the chassis walking mechanism and is used to drive the chassis walking mechanism to drive the frame to move. Both the vision system and the bamboo root chopping mechanism are electrically connected to the electric control system. The vision system is used to identify and locate the bamboo root. The electric control system controls the action of the bamboo root chopping mechanism according to the information identified by the vision system, and enables the bamboo root chopping mechanism to chop the bamboo root. The present invention can improve the efficiency of bamboo root removal and save labor costs.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and particularly relates to a bamboo stump shredding device and an operation method thereof. Background Art

[0002] After bamboo forests are logged, a large number of bamboo stumps will be left. Relying on their tail vertebrae and the bamboo roots distributed thereon to absorb water and nutrients from bamboo rhizomes and the soil, they are hard and not easily decomposed, generally taking 8 to 10 years to naturally degrade, resulting in the ineffective occupation of about 15% of the bamboo forest space. At the same time, the existence of bamboo stumps will also affect the penetration and extension of bamboo rhizomes, is not conducive to bamboo shoots emerging in the bamboo forest, and will affect the growth of bamboo.

[0003] Currently, bamboo stumps are mainly removed by chemical corrosion and manual excavation. Among them, manual excavation is time-consuming and laborious, with low operation efficiency, and the labor cost increases year by year, reducing the economic benefits of bamboo forests; chemical corrosion not only has high costs, but also pollutes the environment and affects food safety. Summary of the Invention

[0004] The purpose of the present invention is to provide a bamboo stump shredding device and an operation method thereof to solve the problems existing in the above-mentioned prior art, improve the efficiency of bamboo stump removal, and save labor costs.

[0005] To achieve the above purpose, the present invention provides the following solution:

[0006] The present invention provides a bamboo stump shredding device, including a frame, as well as a chassis walking mechanism, a bamboo stump shredding mechanism, a hydraulic system, a vision system, an electric control system, and a power system installed on the frame. The hydraulic system is connected to the power system, and the hydraulic system can adjust the motion state of the power system. The power system is connected to the chassis walking mechanism and is used to drive the chassis walking mechanism to drive the frame to move. The vision system and the bamboo stump shredding mechanism are both electrically connected to the electric control system. The vision system is used to identify and locate bamboo stumps, and the electric control system controls the action of the bamboo stump shredding mechanism according to the information identified by the vision system, and enables the bamboo stump shredding mechanism to shred bamboo stumps.

[0007] In one embodiment, the chassis traveling mechanism is caterpillar type, and the chassis traveling mechanism includes caterpillar wheel sets, axles, driving hydraulic motors, traveling plane slewing bearings, steering gears and steering hydraulic motors. Two sets of the caterpillar wheel sets are respectively installed on two sides of the axle. The two sets of the caterpillar wheel sets correspond to the two driving hydraulic motors one by one. A driving wheel is provided on the inner ring of the caterpillar wheel set. The output shaft of the driving hydraulic motor is connected to the driving wheel. The traveling plane slewing bearing is installed at the upper end of the axle. The outer ring of the steering gear is meshed with the inner ring of the traveling plane slewing bearing. The steering hydraulic motor is installed at the lower end of the axle. The output shaft of the steering hydraulic motor is connected to the steering gear. The inner ring of the traveling plane slewing bearing is further connected to the frame. Both the driving hydraulic motor and the steering hydraulic motor are connected to the hydraulic system.

[0008] In one embodiment, guide rail sets are symmetrically installed on both sides of the front end of the frame. An installation oil cylinder is installed on the frame. A traveling plate is slidably connected between the two guide rail sets. The output end of the installation oil cylinder is hinged to the traveling plate. The installation oil cylinder can drive the traveling plate to reciprocate horizontally. The bamboo root chopping mechanism is installed on the traveling plate. A front support leg is rotatably installed at one end of each guide rail set away from the frame. A rear support leg is installed on one side of the axle away from the frame. The front support leg and the rear support leg have the same structure and both include a support connecting piece, a support oil cylinder, a support channel steel, a support foot and a support rotating shaft. The support connecting piece is installed outside the guide rail set or on the axle. The first end of the support channel steel is rotatably connected in the support connecting piece. The second end of the support channel steel is rotatably connected to the support foot through the support rotating shaft. The support foot is used for supporting on the ground. The support oil cylinder is located in the support channel steel. The output end of the support oil cylinder is connected to the support rotating shaft.

[0009] In one embodiment, the guide rail group includes an upper support guide rail and a lower support guide rail arranged vertically; the bamboo root chopping mechanism includes a flange oil cylinder, a chopping hydraulic motor, a cutter head mounting plate, a chopping planar slewing bearing, the walking plate, tapered roller bearings, cutter heads and chopping gears. The two flange oil cylinders are symmetrically installed on the frame, and both of the two flange oil cylinders are connected to the cutter head mounting plate and can drive the cutter head mounting plate to lift. The chopping hydraulic motor is installed at the upper end of the cutter head mounting plate. The outer ring of the chopping planar slewing bearing is installed at the lower end of the cutter head mounting plate. The chopping gear is engaged with the inner ring of the chopping planar slewing bearing. The output end of the chopping hydraulic motor is connected to the chopping gear and can drive the chopping gear to rotate. The inner ring flange of the chopping planar slewing bearing is connected to the cutter head and can drive the cutter head to rotate. The cutter head can extend downward through the central through hole of the walking plate and is used for chopping bamboo roots. The two sets of tapered roller bearings are respectively installed back-to-back on both sides of the walking plate, and the two sets of guide rail groups and the two sets of tapered roller bearings correspond one by one. The tapered roller bearings are installed between the upper support guide rail and the lower support guide rail on the same side.

[0010] In one embodiment, the cutter head includes a cutter body, a cutter edge and a drill bit. The cutter body includes a cylindrical rod, a mounting body, an upper reinforcing rib and a lower reinforcing rib. The upper end of the cylindrical rod is connected to the inner ring of the chopping planar slewing bearing. The lower end of the cylindrical rod is connected to the drill bit. The mounting body is installed on the outer periphery of the cylindrical rod, and the lower end of the mounting body is connected to the cutter edge. The lower end of the drill bit extends out of the cylindrical rod and the cutter edge. The upper reinforcing rib is installed on the outer periphery of the cylindrical rod and the end face of the inner ring of the chopping planar slewing bearing. The lower reinforcing rib is installed on the outer periphery of the cylindrical rod and the upper end face of the mounting body. The mounting body is spiral, and the lower end of the mounting body has an inclined surface.

[0011] In one embodiment, the hydraulic system includes a hydraulic oil tank, a first hydraulic pump, a second hydraulic pump, hydraulic pipelines and a hydraulic control valve. The hydraulic oil tank, the first hydraulic pump and the second hydraulic pump are all installed on the frame, and the hydraulic oil tank is communicated with the first hydraulic pump and the hydraulic oil tank is communicated with the second hydraulic pump through hydraulic pipelines. The hydraulic control valve is installed on the side wall of the hydraulic oil tank. Both the first hydraulic pump and the second hydraulic pump are gear pumps.

[0012] In one embodiment, the power system includes an engine, a driving pulley, a first belt, a second belt, and two driven pulleys. The output shaft of the engine is coaxially connected to the driving pulley. The driving pulley is connected to one of the driven pulleys through the first belt, and the driving pulley is connected to the other driven pulley through the second belt. The first hydraulic pump and the second hydraulic pump are respectively connected to the two driven pulleys.

[0013] In one embodiment, the vision system includes a binocular camera and an industrial control computer. Both the binocular camera and the industrial control computer are electrically connected to the electric control system. The binocular camera is installed on the frame and is used to identify the bamboo root system respectively, and the binocular camera can transmit the identified image information to the industrial control computer. The industrial control computer can analyze and calculate the position of the cutter head of the bamboo root shredding mechanism according to the image information, and transmit the calculation result to the electric control system.

[0014] In one embodiment, the electric control system includes an electric cabinet box, a battery, a controller, an operation handle, an integrated circuit, and multiple sensors. The electric cabinet box is installed on the side wall of the hydraulic oil tank of the hydraulic system. The battery is installed on the frame, and the battery is electrically connected to the integrated circuit. The integrated circuit can convert and rectify the output voltage of the battery. The operation handle is electrically connected to the controller. The multiple sensors are respectively a pressure sensor, a wire-pulling displacement sensor, an ultrasonic displacement sensor, and a rotation angle sensor. The pressure sensor is used to detect the oil return pressure to judge whether the cutter head of the bamboo root shredding mechanism contacts the bamboo root. The wire-pulling displacement sensor is installed on the frame, and the wire of the wire-pulling displacement sensor is connected to the bottom of the bamboo root shredding mechanism and is used to detect the position of the cutter head of the bamboo root shredding mechanism in the y direction. The ultrasonic displacement sensor is used to detect the position of the cutter head of the bamboo root shredding mechanism in the z direction. The rotation angle sensor is used to detect the swing angle of the cutter head of the bamboo root shredding mechanism.

[0015] The present invention also provides an operation method of the bamboo root shredding device based on any one of the above technical solutions, including the following steps:

[0016] Chassis traveling mechanism and frame adjustment:

[0017] Drive the two sets of crawler wheel sets to rotate by driving hydraulic motors respectively, and control the rotation of the frame by a steering hydraulic motor. The driving hydraulic motor on the right is connected to the first solenoid valve, and the output torque is controlled through the first solenoid valve. The driving hydraulic motor on the left is connected to the second solenoid valve, and the output torque is controlled through the second solenoid valve. When the operating handle controls the chassis traveling mechanism to move forward or backward, the first solenoid valve and the second solenoid valve are simultaneously turned on. When a right turn is required, the second solenoid valve is turned on to control the movement of the left crawler wheel set, and the right crawler wheel set slips in place. When a left turn is required, the first solenoid valve is turned on to control the movement of the right crawler wheel set, and the left crawler wheel set slips in place;

[0018] The steering hydraulic motor is connected to the first proportional flow solenoid valve, and the output torque is controlled through the first proportional flow solenoid valve. An angle sensor is installed on the frame. When the operating handle is in the manual mode, the angle sensor is powered off or skipped. At this time, the state of the first proportional flow solenoid valve is manually controlled through the operating handle to control the rotation angle and the staying position of the frame, so as to drive the cutter head to move circumferentially and align with the left and right positions of the bamboo root;

[0019] The support cylinder corresponding to the front support leg on the right is connected to the third solenoid valve, and the output torque is controlled through the third solenoid valve. The support cylinder corresponding to the front support leg on the left is connected to the fourth solenoid valve, and the output torque is controlled through the fourth solenoid valve. The support cylinder corresponding to the rear support leg is connected to the fifth solenoid valve, and the output torque is controlled through the fifth solenoid valve. The operating handle controls the states of the third solenoid valve, the fourth solenoid valve and the fifth solenoid valve respectively to control the opening states of the two front support legs and the rear support leg respectively, so that the rear support leg touches the ground and cooperates with the crawler wheel set to bear the reaction force exerted when the cutter head rotates downward, and the two front support legs are adjusted to be parallel to the frame and the ground, and the cutter head and the bamboo root are parallel. At the same time, the two front support legs bear the reverse torque when the cutter head rotates downward;

[0020] Adjustment of the bamboo root shredding mechanism:

[0021] The circumferential rotation and direction change of the bamboo root shredding mechanism are realized by driving the frame to rotate by a shredding hydraulic motor. The forward and backward movement of the bamboo root shredding mechanism is realized by the telescopic movement of the installation cylinder. The cutter head is driven to rotate by the shredding hydraulic motor, and the cutter head is driven to lift by the flange cylinder; The installation cylinder is connected to the second proportional flow solenoid valve, and the output displacement is controlled through the second proportional flow solenoid valve. When the operating handle is in the manual mode, the state of the second proportional flow solenoid valve is controlled to further control the front and rear positions of the cutter head to align with the bamboo root; The shredding hydraulic motor is connected to the sixth solenoid valve, and the two flange cylinders are simultaneously connected to the seventh solenoid valve. When the operating handle is in the manual mode, when the cutter head is controlled to move downward or upward through the telescopic movement of the flange cylinder, the sixth solenoid valve and the seventh solenoid valve are simultaneously turned on, that is, when the cutter head moves downward, it simultaneously starts to rotate and cut the bamboo root in the reverse spiral direction, and when the cutter head moves upward, the cutter head rotates in the spiral direction to reduce the retraction resistance;

[0022] Visual system adjustment and automatic mode control adjustment:

[0023] The bamboo root chopping device is designed with two operation modes: manual and automatic. In the manual mode, the sensor detection and visual system are not enabled, and the operation handle is directly electrically connected to the electric control system to control the movement. In the automatic mode, the visual system and the sensor detection feedback loop are enabled. In the automatic mode, the operation handle can only control the movement of the chassis walking mechanism, the adjustment of the front support leg and the rear support leg, and the rest of the control keys are in the invalid state;

[0024] Visual system adjustment method: The visual system collects multiple bamboo root pictures in different environments to make a data set for the binocular camera to perform deep learning recognition of bamboo roots. Then, using the binocular camera ranging principle, the spatial position x, y, z of the bamboo root based on the binocular camera coordinates is calculated;

[0025] Tool head origin adjustment: After the bamboo root chopping device switches to the automatic mode, the tool head first returns to the zero position. The establishment of the zero position coordinate system is realized by parameter setting relying on the rope-pulling displacement sensor, the ultrasonic displacement sensor and the angle sensor, and the zero position coordinate system is in the same direction as the binocular camera coordinate system. The X direction is set by the angle sensor, the middle axis of the frame along the forward direction is the zero position, and the swing angle of the frame is θ. The Y direction is set by the rope-pulling displacement sensor, and the zero position is when the piston of the installation oil cylinder is in the fully retracted state. The Z direction is set by the ultrasonic displacement sensor, and the zero position is when the piston of the flange oil cylinder is in the fully extended state. After the visual system locates the actual coordinate position (x, y, z) of the bamboo root, the actual coordinate position of the bamboo root is converted to the coordinate system established with the tool head zero position through calculation, and the position is recorded as (X, Y, Z). When the tool head returns to the zero position, to avoid interference, the settings are carried out in the order of Z direction first, then X direction, and finally Y direction;

[0026] Tool head positioning adjustment: For the convenience of program calculation, after each operation in the automatic mode is completed, the tool head returns to the zero position. After the binocular camera detects the bamboo root and determines its position, the coordinates of the binocular camera are converted to the coordinate system established with the tool head as the zero point through the calculation of the industrial control computer, and then instructions are sent to the controller to control the installation oil cylinder, the steering hydraulic motor and the flange oil cylinder to work respectively:

[0027] First, control the installation oil cylinder to achieve Y-direction positioning, and the installation oil cylinder needs to move a distance in the Y direction , and the moving distance is fed back to the industrial control computer in real time through the rope-pulling displacement sensor, and the moving distance is compared with the calculated value through the industrial control computer. After reaching the tolerance range, the second proportional flow solenoid valve resets to the middle position;

[0028] Then, control the steering hydraulic motor to rotate to achieve X-direction positioning, and the rotation angle of the steering hydraulic motor , the rotation angle is transmitted to the industrial control computer in real time through the rotation angle sensor, and the rotation angle is compared with the calculated value θ by the industrial control computer. When the rotation angle is within the range of θ ± 1°, the second proportional flow solenoid valve resets, and the X-direction positioning of the bamboo root is completed. Subsequently, the chopping hydraulic motor starts and drives the cutter head to rotate, and the flange oil cylinder drives the cutter head to move downward. When the cutter head touches the bamboo root, the oil return pressure suddenly increases and transmits the real-time pressure to the industrial control computer. The real-time pressure is compared with the set value of the industrial control computer by the industrial control computer. If it exceeds the set value range of the industrial control computer, it is determined that the cutter head touches the bamboo root. At this time, the displacement position of the ultrasonic displacement sensor from the origin of the cutter head is recorded to obtain the distance Z1 that the cutter head moves downward. Then the cutter head continues to move downward by Z2, where Z2 is the maximum depth of the bamboo root. Then the sixth solenoid valve and the seventh solenoid valve change directions simultaneously. At this time, the distance of the cutter head from the origin reaches Z1 + Z2, and it is determined that the bamboo root cutting is completed. During this process, the displacement of the cutter head moving downward is transmitted to the industrial control computer by the ultrasonic displacement sensor in real time for signal processing and an instruction is sent to the controller.

[0029] The present invention has achieved the following technical effects compared with the prior art:

[0030] The bamboo root chopping device and its operation method provided by the present invention, the hydraulic system is connected to the power system, and the hydraulic system can adjust the motion state of the power system. The power system is connected to the chassis traveling mechanism and is used to drive the chassis traveling mechanism to drive the frame to move. The vision system and the bamboo root chopping mechanism are both electrically connected to the electric control system. The vision system is used to identify and position the bamboo root. The electric control system controls the action of the bamboo root chopping mechanism according to the information identified by the vision system, and enables the bamboo root chopping mechanism to chop the bamboo root, ensuring that the bamboo root chopping mechanism can accurately and effectively cut the bamboo root, improving the bamboo root cutting efficiency and cutting effect. At the same time, the bamboo root is mechanically cut by the bamboo root chopping mechanism, eliminating the need for manual use of a hoe to dig the bamboo root, saving manpower, and having a small load on the operating workers, reducing the human injury to the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 It is a schematic structural diagram of the bamboo root chopping device at an angle in Embodiment 1;

[0033] Figure 2 It is a schematic structural diagram of the bamboo root chopping device at another angle in Embodiment 1;

[0034] Figure 3Schematic diagram of the chassis walking mechanism at an angle in Embodiment 1;

[0035] Figure 4 Schematic diagram of the chassis walking mechanism at another angle in Embodiment 1;

[0036] Figure 5 Schematic diagram of the connection relationship at the frame in Embodiment 1;

[0037] Figure 6 Schematic diagram of the installation position of the bamboo root chopping mechanism in Embodiment 1;

[0038] Figure 7 Schematic diagram of the structure of the bamboo root chopping mechanism in Embodiment 1;

[0039] Figure 8 Front view of the bamboo root chopping mechanism in Embodiment 1;

[0040] Figure 9 Schematic diagram of the structure of the chopping plane slewing bearing in Embodiment 1;

[0041] Figure 10 Schematic diagram of the positions of the vision system and the electric control system in Embodiment 1;

[0042] Figure 11 Hydraulic control system method diagram of the first hydraulic pump in Embodiment 2;

[0043] Figure 12 Hydraulic control system method diagram of the second hydraulic pump in Embodiment 2;

[0044] Figure 13 Control flow chart of the electric control system and the hydraulic system in Embodiment 2;

[0045] In the figure: 1 - Chassis traveling mechanism, 11 - Crawler wheel set, 111 - Driving wheel, 12 - Axle, 13 - Driving hydraulic motor, 14 - Traveling plane slewing bearing, 15 - Steering gear, 16 - Steering hydraulic motor; 2 - Frame, 21 - Front support leg, 22 - Rear support leg, 23 - Upper support guide rail, 24 - Lower support guide rail, 25 - Mounting oil cylinder, 211 - Support connecting piece, 212 - Support oil cylinder, 213 - Support channel steel, 214 - Support foot, 215 - Support rotating shaft; 3 - Bamboo root chopping mechanism, 31 - Flange oil cylinder, 32 - Chopping hydraulic motor, 33 - Tool head mounting plate, 34 - Chopping plane slewing bearing, 35 - Traveling plate, 36 - Tapered roller bearing, 37 - Tool head, 371 - Tool body, 3711 - Cylindrical rod, 3712 - Mounting body, 3713 - Lower reinforcing rib, 3714 - Upper reinforcing rib, 372 - Blade, 373 - Drill bit, 38 - Chopping gear; 4 - Hydraulic system, 41 - Hydraulic oil tank, 42 - First hydraulic pump, 43 - Hydraulic pipeline, 44 - Second hydraulic pump, 45 - Hydraulic control valve; 5 - Vision system, 51 - Binocular camera; 6 - Electric control system, 61 - Electric cabinet box, 62 - Battery, 63 - Operating handle, 64 - Pressure sensor, 65 - Cable displacement sensor, 66 - Ultrasonic displacement sensor, 67 - Angle sensor; 7 - Power system, 71 - Engine, 72 - Driving pulley, 73 - First belt, 74 - Second belt, 75 - Driven pulley; 81 - First solenoid valve, 82 - Second solenoid valve, 83 - Third solenoid valve, 84 - Fourth solenoid valve, 85 - Fifth solenoid valve, 86 - Sixth solenoid valve, 87 - Seventh solenoid valve, 88 - First proportional flow solenoid valve, 89 - Second proportional flow solenoid valve. Specific embodiments

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0047] The purpose of the present invention is to provide a bamboo root chopping device and its operation method to solve the problems existing in the prior art, improve the bamboo root cutting efficiency, and save the labor cost.

[0048] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0049] Embodiment 1

[0050] As Figures 1 - 10As shown in the figure, this embodiment provides a bamboo root chopping device, which includes a frame 2, and a chassis walking mechanism 1, a bamboo root chopping mechanism 3, a hydraulic system 4, a vision system 5, an electric control system 6 and a power system 7 installed on the frame 2. The frame 2 plays an integrating role for other components to ensure integrity. The hydraulic system 4 is connected to the power system 7, and the hydraulic system 4 can adjust the motion state of the power system 7, thereby meeting the needs of different working states. The power system 7 is connected to the chassis walking mechanism 1 and is used to drive the chassis walking mechanism 1 to drive the frame 2 to move, realizing continuous operation. Both the vision system 5 and the bamboo root chopping mechanism 3 are electrically connected to the electric control system 6. The vision system 5 is used to identify and locate the bamboo root, and then accurately locate the bamboo root. The electric control system 6 controls the action of the bamboo root chopping mechanism 3 according to the information identified by the vision system 5, and makes the bamboo root chopping mechanism 3 chop the bamboo root, ensuring that the bamboo root chopping mechanism 3 can accurately and effectively cut the bamboo root, improving the bamboo root cutting efficiency and cutting effect. At the same time, the bamboo root is mechanically cut by the bamboo root chopping mechanism 3, eliminating the need for manual use of a hoe to dig the bamboo root, saving manpower, and having a small load on the operator, reducing the human injury to the operator.

[0051] The chassis walking mechanism 1 is used to support the mobile operation of the bamboo root chopping device; the chassis walking mechanism 1 is a crawler type, and the chassis walking mechanism 1 includes a crawler wheel set 11, an axle 12, a driving hydraulic motor 13, a walking plane slewing bearing 14, a steering gear 15 and a steering hydraulic motor 16. The driving hydraulic motor 13 is used to output walking power. Two crawler wheel sets 11 are respectively installed on both sides of the axle 12 to realize the overall movement. And the two driving hydraulic motors 13 can be differentially driven to realize a small-radius turn of the chassis walking mechanism 1. The turning radius depends on the distance between the two crawler wheel sets 11. The two crawler wheel sets 11 correspond to the two driving hydraulic motors 13 one by one. The inner ring of the crawler wheel set 11 is provided with a driving wheel 111. The output shaft of the driving hydraulic motor 13 is connected to the driving wheel 111, thereby driving the driving wheel 111 to rotate. The driving wheel 111 drives the crawler wheel set 11 to rotate, realizing the walking function. The walking plane slewing bearing 14 is installed at the upper end of the axle 12, and the outer ring of the steering gear 15 meshes with the inner ring of the walking plane slewing bearing 14. The steering hydraulic motor 16 is installed at the lower end of the axle 12. The output shaft of the steering hydraulic motor 16 is connected to the steering gear 15 to drive the steering gear 15 to rotate. The steering gear 15 drives the inner ring of the walking plane slewing bearing 14 to rotate. The inner ring of the walking plane slewing bearing 14 is also connected to the frame 2, thereby realizing the rotation of the frame 2, and finally realizing the angle adjustment of the bamboo root chopping mechanism 3. The driving hydraulic motor 13 and the steering hydraulic motor 16 are both connected to the hydraulic system 4 to realize hydraulic control.

[0052] On both sides of the front end of the frame 2, guide rail groups are symmetrically installed. An installation oil cylinder 25 is installed on the frame 2. A walking plate 35 is slidably connected between the two guide rail groups. The output end of the installation oil cylinder 25 is hinged to the walking plate 35, and the installation oil cylinder 25 can drive the walking plate 35 to reciprocate horizontally. During this process, the movement of the walking plate 35 is guided by the two groups of guide rail groups. The bamboo root chopping mechanism 3 is installed on the walking plate 35, thereby realizing the linear movement of the bamboo root chopping mechanism 3 to adapt to the position of the bamboo root; at one end of each guide rail group away from the frame 2, a front support leg 21 is rotatably installed respectively. A rear support leg 22 is installed on one side of the axle 12 away from the frame 2. The front support leg 21 and the rear support leg 22 have the same structure, and both include a support connecting piece 211, a support oil cylinder 212, a support channel steel 213, a support foot 214 and a support rotating shaft 215. The support connecting piece 211 is installed on the outside of the guide rail group or on the axle 12. The first end of the support channel steel 213 is rotatably connected to the support connecting piece 211. The second end of the support channel steel 213 is rotatably connected to the support foot 214 through the support rotating shaft 215. The support foot 214 is used to support on the ground. The support oil cylinder 212 is located inside the support channel steel 213, and the output end of the support oil cylinder 212 is connected to the support rotating shaft 215. By the telescopic drive of the support oil cylinder 212, the support channel steel 213 rotates and drives the support foot 214 to move to contact the ground. The support foot 214 freely rotates around the support rotating shaft 215 under the action of gravity and freely adjusts according to the ground slope after contacting the ground to adapt to the environment and improve adaptability. The front support leg 21 is used to support and adjust the frame 2 to be approximately parallel to the ground. The rear support leg 22 is used to contact the ground and jointly resist the reaction force exerted on the bamboo root chopping device when the bamboo root chopping mechanism 3 rotates downward with the track wheel group 11.

[0053] The guide rail group includes an upper support guide rail 23 and a lower support guide rail 24 arranged vertically; the bamboo root chopping mechanism 3 serves as an actuator for realizing the terminal function of chopping bamboo roots. The bamboo root chopping mechanism 3 includes a flange oil cylinder 31, a chopping hydraulic motor 32, a cutter head mounting plate 33, a chopping planar slewing bearing 34, a walking plate 35, tapered roller bearings 36, cutter heads 37 and chopping gears 38. Two flange oil cylinders 31 are symmetrically mounted on the frame 2, and both two flange oil cylinders 31 are connected to the cutter head mounting plate 33 and can drive the cutter head mounting plate 33 to move up and down. The chopping hydraulic motor 32 is mounted at the upper end of the cutter head mounting plate 33. The outer ring of the chopping planar slewing bearing 34 is mounted at the lower end of the cutter head mounting plate 33. The chopping gear 38 meshes with the inner ring of the chopping planar slewing bearing 34, and the number of teeth of the outer ring of the chopping gear 38 is the same as that of the inner ring of the chopping planar slewing bearing 34 and they form a spline drive. The output end of the chopping hydraulic motor 32 is connected to the chopping gear 38 and can drive the chopping gear 38 to rotate. The inner ring flange of the chopping planar slewing bearing 34 is connected to the cutter head 37 and can drive the cutter head 37 to rotate, outputting rotary cutting torque, and the chopping planar slewing bearing 34 can bear axial force, with a simple transmission mechanism. The cutter head 37 can extend downward through the central through hole of the walking plate 35 and is used for chopping bamboo roots. Two groups of tapered roller bearings 36 are respectively mounted back-to-back on both sides of the walking plate 35, and two groups of guide rail groups and two groups of tapered roller bearings. Each group of tapered roller bearings 36 has four. The tapered roller bearings 36 are used as walking wheels and can bear axial force and radial force of a relatively large load at the same time.

[0054] The cutter head 37 includes a cutter body 371, a cutting edge 372 and a drill bit 373. The cutter body 371 includes a cylindrical rod 3711, a mounting body 3712, an upper reinforcing rib 3714 and a lower reinforcing rib 3713. The whole cutter body 371 is made of Q345B material. The cylindrical rod 3711 is formed by turning. The upper end of the cylindrical rod 3711 is connected to the inner ring of the rotary support 34 of the chopping plane. The lower end of the cylindrical rod 3711 is connected to the drill bit 373. The mounting body 3712 is mounted on the outer periphery of the cylindrical rod 3711, and the lower end of the mounting body 3712 is connected to the cutting edge 372. The lower end of the drill bit 373 extends out of the cylindrical rod 3711 and the cutting edge 372. The drill bit 373 and the cutter body 371 are welded for destroying the bamboo root system. The drill bit 373 is made of SKH-51 material and has the same heat treatment process as the cutting edge 372. It needs to be preheated to 200°C - 300°C before welding. After the welding of the cutter body 371 is completed, stress relief annealing is carried out. The cutter body 371 is put into a heating furnace preheated to 200°C, heated to 560°C - 620°C and then held for 3h - 5h, and then cooled in the furnace to 300°C, and finally taken out of the furnace and air-cooled to room temperature. The upper reinforcing rib 3714 is mounted on the outer periphery of the cylindrical rod 3711 and the end face of the inner ring of the rotary support 34 of the chopping plane. The lower reinforcing rib 3713 is mounted on the outer periphery of the cylindrical rod 3711 and the upper end face of the mounting body 3712. Both the upper reinforcing rib 3714 and the lower reinforcing rib 3713 are triangular reinforcing ribs. The triangular reinforcing ribs and the mounting body 3712 are welded to the cylindrical rod 3711 by CO2 shielded welding. The mounting body 3712 is spiral and welded obliquely at an angle of α. A slope is formed at the lower end of the mounting body 3712. It is appropriate that α is 15° - 25° for mounting the cutting edge 372. At the same time, the mounting body 3712 is equally welded on the cylindrical rod 3711 and is conical as a whole, effectively reducing the contact area between the cutting edge 372 and the bamboo root system, thereby reducing the cutting force.The cutting edge 372 is also spiral, with the machining slope being consistent with the slope of the mounting body 3712. It is installed on the mounting body 3712 with screws. For the machining of the threaded holes, the two parts should be clamped together before welding to complete the machining of the bottom holes. The cutting edge 372 is made of SKH-51 material and has good hardness, wear resistance and seismic resistance after heat treatment. After the machining of the spiral surface of the cutting edge 372 is completed, annealing treatment is carried out. The cutting edge 372 is placed in a heating furnace preheated to 800 °C - 880 °C and kept warm for 2h - 4h, and then cooled gradually with the furnace. Then quenching treatment is carried out. It is loaded into a heating furnace preheated to 550 °C - 600 °C, kept warm for T1 time (T1 = workpiece thickness × 30min / 25mm), then heated with the furnace to 850 °C - 900 °C, kept warm for T2 time (T2 = workpiece thickness × 20s / 1mm), then heated with the furnace to 1170 °C - 1240 °C, kept warm for T3 time (T3 = workpiece thickness × 10s / 1mm), and then taken out immediately and put into quenching oil preheated to 40 °C - 60 °C to cool to room temperature. Finally, tempering treatment is carried out. The cutting edge 372 is heated to 550 °C - 570 °C and kept warm for ≥ T4 time (T4 = workpiece thickness × 60min / 25mm), and then air-cooled to room temperature. The tempering treatment needs to be repeated twice.;

[0055] The hydraulic system 4 is used to adjust and control the movement and posture of each component; the hydraulic system 4 includes a hydraulic oil tank 41, a first hydraulic pump 42, a second hydraulic pump 44, hydraulic pipelines 43 and a hydraulic control valve 45. The hydraulic oil tank 41, the first hydraulic pump 42 and the second hydraulic pump 44 are all installed on the frame 2. And between the hydraulic oil tank 41 and the first hydraulic pump 42, and between the hydraulic oil tank 41 and the second hydraulic pump 44 are connected through the hydraulic pipelines 43. The hydraulic oil tank 41 is used to store hydraulic oil and is conducive to the heat dissipation of the oil and the precipitation of impurities. The hydraulic pipelines 43 include oil fluid shunt pipes, hoses, etc., and are used to connect each hydraulic pump and each actuator. The hydraulic control valve 45 is installed on the side wall of the hydraulic oil tank 41 and is connected to each hydraulic pipeline 43 to adjust the pressure and the direction of the hydraulic oil of the hydraulic system 4. Each hydraulic motor cooperates with the hydraulic cylinder to convert hydraulic energy into mechanical energy output to drive the actuator to move. The first hydraulic pump 42 and the second hydraulic pump 44 are both gear pumps. The anchor bolt holes are grooved waist-shaped holes. The first hydraulic pump 42 and the second hydraulic pump 44 are installed on the frame 2 through anchor bolts and are connected to the hydraulic oil tank 41 to provide energy and pressure for the movement of the hydraulic system 4.

[0056] The power system 7 provides power support for the operation of the whole machine; the power system 7 includes an engine 71 (which can be a diesel engine or a gasoline engine), a driving pulley, a first belt 73, a second belt 74 and two driven pulleys. The output shaft of the engine 71 is coaxially connected to the driving pulley. The driving pulley is connected to one of the driven pulleys through the first belt 73, and the driving pulley is connected to the other driven pulley through the second belt 74. The first hydraulic pump 42 and the second hydraulic pump 44 are respectively connected to the two driven pulleys. Pull the rope to start the engine 71 to drive the active rotation. The driving pulley 72 drives the first belt 73 and the second belt 74 to move, thereby driving the rotation of the two driven pulleys 75 respectively. The rotation of the driven pulley 75 drives the first hydraulic pump 42 and the second hydraulic pump 44 to work, pumping the hydraulic oil in the hydraulic oil tank 41 and supplying oil to the hydraulic system 4 to effectively control each moving part.

[0057] The vision system 5 is used to identify and accurately position the bamboo root; the vision system 5 includes a binocular camera 51 and an industrial control computer. Both the binocular camera 51 and the industrial control computer are electrically connected to the electric control system 6. The binocular camera 51 is installed on the frame 2 and is used to identify the bamboo roots respectively, and the binocular camera 51 can transmit the identified image information to the industrial control computer through a data cable. The industrial control computer can analyze and calculate the position of the cutter head 37 of the bamboo root cutting mechanism 3 according to the image information, and transmit the calculation result to the electric control system 6 through a pulse signal to realize the automatic positioning function of the bamboo root.

[0058] The electronic control system 6 serves as the control center of the bamboo root chopping device, coordinating the entire device to operate in an orderly manner. The electronic control system 6 includes an electric cabinet 61, a battery 62, a controller, an operating handle 63, an integrated circuit, and multiple sensors. The electric cabinet 61 is installed on the side wall of the hydraulic oil tank 41 of the hydraulic system 4, and is used to install the controller, inverter, integrated circuit, industrial computer, etc. The battery 62 is installed on the frame 2 and is used to supply power to the electrical components of the bamboo root chopping device. The battery 62 is electrically connected to the integrated circuit. The integrated circuit can convert and rectify the output voltage of the battery 62 to convert the voltage provided by the battery 62 into the rated voltage of each electrical appliance and rectify it to stabilize the voltage. The controller is used to output signals to control the precise and orderly movement of each moving part. The operating handle 63 is electrically connected to the controller, thereby realizing human-machine interaction to manually control the equipment. The multiple sensors are respectively a pressure sensor 64, a rope displacement sensor 65, an ultrasonic displacement sensor 66, and a rotation angle sensor 67. Each sensor is electrically connected to the controller, used to receive signals, realize closed-loop control, and transmit the signals to the controller to control the relevant circuits. Among them, the pressure sensor 64 is installed in the return oil pipe of the flange oil cylinder 31 to detect the oil return pressure of the oil cylinder to determine whether the cutter head 37 of the bamboo root chopping mechanism 3 contacts the bamboo root. The rope displacement sensor 65 is installed on the frame 2, and the rope of the rope displacement sensor 65 is connected to the walking plate 35. The position of the cutter head 37 of the bamboo root chopping mechanism 3 in the y direction is detected by the elongated length of the rope. The ultrasonic displacement sensor 66 is used to detect the position of the cutter head mounting plate 33, that is, the position of the cutter head 37 of the bamboo root chopping mechanism 3 in the z direction. The rotation angle sensor 67 is used to detect the rotation angle of the frame 2, that is, the swing angle of the cutter head 37 of the bamboo root chopping mechanism 3.

[0059] Embodiment 2

[0060] As Figures 1 - 13 shown, this embodiment provides an operation method based on the bamboo root chopping device in Embodiment 1, including the following steps:

[0061] Adjustment of the chassis traveling mechanism 1 and the frame 2:

[0062] By driving the hydraulic motor 13 to drive the two sets of crawler wheel sets 11 to rotate respectively, and controlling the rotation of the frame 2 through the steering hydraulic motor 16. The driving hydraulic motor 13 on the right is connected to the first solenoid valve 81, and the output torque is controlled through the first solenoid valve 81. The driving hydraulic motor 13 on the left is connected to the second solenoid valve 82, and the output torque is controlled through the second solenoid valve 82. Both the first solenoid valve 81 and the second solenoid valve 82 are "O-type" three-position four-way solenoid directional control valves. When the operating handle 63 controls the chassis traveling mechanism 1 to move forward or backward, the first solenoid valve 81 and the second solenoid valve 82 are simultaneously turned on. When a right turn is required, the second solenoid valve 82 is turned on to control the movement of the left crawler wheel set 11, and the right crawler wheel set 11 slips in place. When a left turn is required, the first solenoid valve 81 is turned on to control the movement of the right crawler wheel set 11, and the left crawler wheel set 11 slips in place;

[0063] The steering hydraulic motor 16 is connected to the first proportional flow solenoid valve 88, and the output torque is controlled through the first proportional flow solenoid valve 88. The first proportional flow solenoid valve 88 is an "O-type" three-position four-way proportional flow solenoid directional control valve. An angle sensor is installed on the frame 2. When the operating handle 63 is in the manual mode, the angle sensor is powered off or skipped. At this time, the state of the first proportional flow solenoid valve 88 is manually controlled through the operating handle 63 to control the rotation angle and the staying position of the frame 2, so as to drive the cutter head 37 to move circumferentially and align with the left and right positions of the bamboo root. When the operating handle 63 is in the automatic state, refer to the visual system 5 adjustment and automatic mode control adjustment steps;

[0064] The support cylinder 212 corresponding to the right front support leg 21 is connected to the third solenoid valve 83, and the output torque is controlled through the third solenoid valve 83. The support cylinder 212 corresponding to the left front support leg 21 is connected to the fourth solenoid valve 84, and the output torque is controlled through the fourth solenoid valve 84. The support cylinder 212 corresponding to the rear support leg 22 is connected to the fifth solenoid valve 85, and the output torque is controlled through the fifth solenoid valve 85. The third solenoid valve 83, the fourth solenoid valve 84 and the fifth solenoid valve 85 are all "O-type" three-position four-way solenoid directional control valves. The operating handle 63 controls the states of the third solenoid valve 83, the fourth solenoid valve 84 and the fifth solenoid valve 85 respectively to control the opening states of the two front support legs 21 and the rear support leg 22 respectively, so that the rear support leg 22 contacts the ground and cooperates with the crawler wheel set 11 to bear the reaction force exerted when the cutter head 37 rotates downward, and to adjust the two front support legs 21 so that the frame is basically parallel to the ground and the cutter head 37 is basically parallel to the bamboo root. At the same time, the two front support legs bear the reverse torque when the cutter head 37 rotates downward;

[0065] Adjustment of the bamboo root shredding mechanism 3:

[0066] The circumferential rotation and direction change of the bamboo root chopping mechanism 3 are realized by driving the frame 2 to rotate through the chopping hydraulic motor 32. The forward and backward movement of the bamboo root chopping mechanism 3 is realized by the telescopic movement of the installation oil cylinder 25. The rotation of the cutter head 37 is driven by the chopping hydraulic motor 32, and the lifting of the cutter head 37 is driven by the flange oil cylinder 31. The installation oil cylinder 25 is connected to the second proportional flow solenoid valve 89, and the output displacement is controlled through the second proportional flow solenoid valve 89. The second proportional flow solenoid valve 89 is an "O"-type three-position four-way proportional flow electromagnetic reversing valve. When the operating handle 63 is in the manual mode, the state of the second proportional flow solenoid valve 89 is controlled to further control the front and rear positions of the cutter head 37 to align with the bamboo root. The chopping hydraulic motor 32 is connected to the sixth solenoid valve 86, and the two flange oil cylinders 31 are simultaneously connected to the seventh solenoid valve 87. Both the sixth solenoid valve 86 and the seventh solenoid valve 87 are "O"-type three-position four-way electromagnetic reversing valves. When the operating handle 63 is in the manual mode, when the cutter head 37 is controlled to move downward or upward through the telescopic movement of the flange oil cylinder 31, the sixth solenoid valve 86 and the seventh solenoid valve 87 are simultaneously turned on. That is, when the cutter head 37 moves downward, it simultaneously starts to rotate and cut the bamboo root in the reverse spiral direction. When the cutter head 37 moves upward, the cutter head 37 rotates in the forward spiral direction to reduce the retraction resistance. When the operating handle 63 is in the automatic state, refer to the adjustment steps of the vision system 5 and the automatic mode control adjustment;

[0067] Adjustment of the vision system 5 and automatic mode control adjustment:

[0068] The bamboo root chopping device is designed with two operation modes: manual and automatic. In the manual mode, the sensor detection and the vision system 5 are not enabled, and the operating handle 63 is directly electrically connected to the electric control system 6 to control the movement. In the automatic mode, the vision system 5 and the sensor detection feedback loop are enabled. In the automatic mode, the operating handle 63 can only control the movement of the chassis traveling mechanism 1, the adjustment of the front support leg 21 and the rear support leg 22, and the rest of the control keys are in the disabled state;

[0069] Adjustment method of the vision system 5: The vision system 5 collects more than 100 pictures of bamboo roots in different environments to make a data set for the binocular camera 51 to perform deep learning recognition of bamboo roots. Then, the spatial position x, y, z of the bamboo root based on the coordinates of the binocular camera 51 is calculated using the ranging principle of the binocular camera 51;

[0070] Origin adjustment of the cutter head 37: After the bamboo root chopping device is switched to the automatic mode, the cutter head 37 first returns to the zero position. The establishment of the zero position coordinate system is realized by parameter setting relying on the rope-pull displacement sensor 65, the ultrasonic displacement sensor 66 and the angle sensor 67. And the directions of the zero position coordinate system and the binocular camera 51 coordinate system are the same. The X direction is set by the angle sensor 67, with the middle axis of the frame 2 along the forward direction as the zero position, and the swing angle of the frame 2 is θ. The Y direction is set by the rope-pull displacement sensor 65, with the piston of the mounting oil cylinder 25 in the fully retracted state as the zero position. The Z direction is set by the ultrasonic displacement sensor 66, with the piston of the flange oil cylinder 31 in the fully extended state as the zero position. After the vision system 5 locates the actual coordinate position (x, y, z) of the bamboo root, the actual coordinate position of the bamboo root is converted to the coordinate system established with the zero position of the cutter head 37 through calculation, and the position is recorded as (X, Y, Z). When the cutter head 37 returns to the zero position, to avoid interference, the operations are carried out in the order of Z direction first, then X direction, and finally Y direction;

[0071] Positioning adjustment of the cutter head 37: For the convenience of program calculation, after each operation in the automatic mode is completed, the cutter head 37 returns to the zero position. After the binocular camera 51 detects the bamboo root and determines its position, the coordinates of the binocular camera 51 are converted to the coordinate system established with the cutter head 37 as the zero point through the calculation of the industrial control computer, and then instructions are sent to the controller to control the mounting oil cylinder 25, the steering hydraulic motor 16 and the flange oil cylinder 31 to work respectively:

[0072] First, control the mounting oil cylinder 25 to achieve Y-direction positioning, and the mounting oil cylinder 25 needs to move a distance in the Y direction. The moving distance is fed back to the industrial control computer in real time through the rope-pull displacement sensor 65, and the moving distance is compared with the calculated value through the industrial control computer. After reaching the tolerance range, the second proportional flow solenoid valve 89 resets to the middle position;

[0073] Next, control the rotation of the steering hydraulic motor 16 to achieve X-direction positioning. The rotation angle of the steering hydraulic motor 16 is transmitted to the industrial control computer in real time by the angle sensor 67. The rotation angle is compared with the calculated value θ by the industrial control computer. When the rotation angle is within the range of θ±1°, the second proportional flow solenoid valve 89 resets, and the X-direction positioning of the bamboo root is completed. Subsequently, the shredding hydraulic motor 32 is started to drive the cutter head 37 to rotate, and the flange oil cylinder 31 drives the cutter head 37 to move downward. When the cutter head 37 contacts the bamboo root, the back oil pressure suddenly increases and transmits the real-time pressure to the industrial control computer. The actual pressure is compared with the set value of the industrial control computer by the industrial control computer. If it exceeds the set value range of the industrial control computer, it is judged that the cutter head 37 contacts the bamboo root. At this time, the displacement position of the ultrasonic displacement sensor 66 from the origin of the cutter head 37 is recorded to obtain the downward movement distance Z1 of the cutter head 37. Then the cutter head 37 continues to move downward by 120 mm (set according to the maximum depth of the bamboo root). Then the sixth solenoid valve 86 and the seventh solenoid valve 87 change directions simultaneously. At this time, the distance of the cutter head 37 from the origin reaches Z1 + 120 mm, and it is judged that the bamboo root cutting is completed. During this process, the downward displacement of the cutter head 37 is transmitted to the industrial control computer by the ultrasonic displacement sensor 66 in real time for signal processing and an instruction is sent to the controller.

[0074] In the present invention, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A bamboo stump chopping device, characterized in that: The machine comprises a frame, a chassis travel mechanism, a bamboo stump chopping mechanism, a hydraulic system, a visual system, an electric control system and a power system installed on the frame, wherein the hydraulic system is connected to the power system and the hydraulic system can adjust the motion state of the power system, the power system is connected to the chassis travel mechanism and is used to drive the chassis travel mechanism to drive the frame to move, the visual system and the bamboo stump chopping mechanism are both electrically connected to the electric control system, the visual system is used to identify and locate bamboo stumps, and the electric control system controls the action of the bamboo stump chopping mechanism according to the information identified by the visual system, and enables the bamboo stump chopping mechanism to chop the bamboo stumps; The chassis walking mechanism is a crawler type, and the chassis walking mechanism includes a track wheel group, an axle, a driving hydraulic motor, a walking plane slewing support, a steering gear and a steering hydraulic motor. Two groups of the track wheel groups are respectively installed on both sides of the axle, and the two groups of the track wheel groups correspond to the two driving hydraulic motors one by one. The inner ring of the track wheel group is provided with a driving wheel, and the output shaft of the driving hydraulic motor is connected to the driving wheel. The walking plane slewing support is installed at the upper end of the axle, and the outer ring of the steering gear is meshed with the inner ring of the walking plane slewing support. The steering hydraulic motor is installed at the lower end of the axle, and the output shaft of the steering hydraulic motor is connected to the steering gear. The inner ring of the walking plane slewing support is also connected to the frame. The driving hydraulic motor and the steering hydraulic motor are both connected to the hydraulic system. Guide rail groups are symmetrically installed on both sides of the front end of the frame, and a mounting cylinder is installed on the frame. A walking board is slidably connected between the two guide rail groups. The output end of the mounting cylinder is hinged to the walking board, and the mounting cylinder can drive the walking board to reciprocate in the horizontal direction, and the bamboo stump chopping mechanism is installed on the walking board; each guide rail group is rotatably installed with a front supporting leg at the end away from the frame, and a rear supporting leg is installed on the side of the axle away from the frame.

2. The bamboo stump chopping device according to claim 1, characterized in that: The front support leg and the rear support leg have the same structure and both include a support connector, a support cylinder, a support channel steel, a support foot and a support shaft. The support connector is installed on the outer side of the guide rail group or on the axle. The first end of the support channel steel is rotatably connected to the support connector, and the second end of the support channel steel is rotatably connected to the support foot via the support shaft. The support foot is used to be supported on the ground. The support cylinder is located in the support channel steel, and the output end of the support cylinder is connected to the support shaft.

3. The bamboo stump chopping device according to claim 2, characterized in that: The guide rail group includes an upper support rail and a lower support rail arranged up and down; the bamboo stump chopping mechanism includes a flange cylinder, a chopping hydraulic motor, a cutter head mounting plate, a chopping plane slewing support, the walking plate, a tapered roller bearing, a cutter head and a chopping gear, two of the flange cylinders are symmetrically installed on the frame, and both of the flange cylinders are connected to the cutter head mounting plate and can drive the cutter head mounting plate to rise and fall, the chopping hydraulic motor is installed at the upper end of the cutter head mounting plate, the outer ring of the chopping plane slewing support is installed at the lower end of the cutter head mounting plate, and the chopping gear is meshed On the inner ring of the slewing support of the shredding plane, the output end of the shredding hydraulic motor is connected to the shredding gear and can drive the shredding gear to rotate. The inner ring flange of the slewing support of the shredding plane is connected to the cutter head and can drive the cutter head to rotate. The cutter head can extend downward through the middle through hole of the walking board and is used to shred bamboo stumps. The two groups of tapered roller bearings are respectively installed on both sides of the walking board with their backs to each other, and the two groups of guide rail groups and the two groups of tapered roller bearings correspond one to one. The tapered roller bearings are installed between the upper support rail and the lower support rail on the same side.

4. The bamboo stump chopping device according to claim 3, characterized in that: The cutter head includes a cutter body, a blade and a drill bit. The cutter body includes a cylindrical rod, a mounting body, an upper reinforcing rib and a lower reinforcing rib. The upper end of the cylindrical rod is connected to the inner ring of the slewing support of the shredding plane, and the lower end of the cylindrical rod is connected to the drill bit. The mounting body is mounted on the outer circumference of the cylindrical rod, and the lower end of the mounting body is connected to the blade. The lower end of the drill bit extends out of the cylindrical rod and the blade. The upper reinforcing rib is mounted on the outer circumference of the cylindrical rod and the end face of the inner ring of the slewing support of the shredding plane, and the lower reinforcing rib is mounted on the outer circumference of the cylindrical rod and the upper end face of the mounting body. The mounting body is spiral, and the lower end of the mounting body has an inclined surface.

5. The bamboo stump chopping device according to claim 1, characterized in that: The hydraulic system includes a hydraulic oil tank, a first hydraulic pump, a second hydraulic pump, a hydraulic pipeline and a hydraulic control valve. The hydraulic oil tank, the first hydraulic pump and the second hydraulic pump are all installed on the frame, and the hydraulic oil tank and the first hydraulic pump, as well as the hydraulic oil tank and the second hydraulic pump are connected through hydraulic pipelines. The hydraulic control valve is installed on the side wall of the hydraulic oil tank. The first hydraulic pump and the second hydraulic pump are both gear pumps.

6. The bamboo stump chopping device according to claim 5, characterized in that: The power system includes an engine, a driving pulley, a first belt, a second belt and two driven pulleys, the output shaft of the engine is coaxially connected to the driving pulley, the driving pulley is connected to one of the driven pulleys through the first belt, the driving pulley is connected to the other driven pulley through the second belt, and the first hydraulic pump and the second hydraulic pump are respectively connected to the two driven pulleys.

7. The bamboo stump chopping device according to claim 1, characterized in that: The visual system includes a binocular camera and an industrial computer, both of which are electrically connected to the electronic control system. The binocular camera is installed on the frame and is used to identify bamboo stumps respectively, and the binocular camera can transmit the identified image information to the industrial computer. The industrial computer can analyze and calculate the blade position of the bamboo stump cutting mechanism based on the image information, and transmit the calculation result to the electronic control system.

8. The bamboo stump chopping device according to claim 1, characterized in that: The electric control system includes an electric cabinet, a battery, a controller, an operating handle, an integrated circuit and a plurality of sensors. The electric cabinet is installed on the side wall of the hydraulic oil tank of the hydraulic system. The battery is installed on the frame and is electrically connected to the integrated circuit. The integrated circuit can convert and rectify the output voltage of the battery. The operating handle is electrically connected to the controller. The plurality of sensors are respectively a pressure sensor, a pull-rope displacement sensor, an ultrasonic displacement sensor and an angle sensor. The pressure sensor is used to detect the return oil pressure to determine whether the cutter head of the bamboo stump chopping mechanism is in contact with the bamboo stump. The pull-rope displacement sensor is installed on the frame, and the pull rope of the pull-rope displacement sensor is connected to the bottom of the bamboo stump chopping mechanism and is used to detect the position of the cutter head of the bamboo stump chopping mechanism in the y direction. The ultrasonic displacement sensor is used to detect the position of the cutter head of the bamboo stump chopping mechanism in the z direction. The angle sensor is used to detect the swing angle of the cutter head of the bamboo stump chopping mechanism.

9. An operating method of the bamboo stump chopping device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Chassis walking mechanism and frame adjustment: The two sets of crawler wheel assemblies are driven to rotate respectively by driving hydraulic motors, and the frame rotation is controlled by the steering hydraulic motor. The driving hydraulic motor on the right side is connected to the first solenoid valve, and the output torque is controlled by the first solenoid valve. The driving hydraulic motor on the left side is connected to the second solenoid valve, and the output torque is controlled by the second solenoid valve. When the operating handle controls the chassis walking mechanism to move forward or backward, the first solenoid valve and the second solenoid valve are connected at the same time. When turning right is required, the second solenoid valve is connected to control the movement of the crawler wheel assembly on the left side, and the crawler wheel assembly on the right side slides on the spot. When turning left is required, the first solenoid valve is connected to control the movement of the crawler wheel assembly on the right side, and the crawler wheel assembly on the left side slides on the spot. The steering hydraulic motor is connected to the first proportional flow solenoid valve, and the output torque is controlled by the first proportional flow solenoid valve. An angle sensor is installed on the frame. When the operating handle is in manual mode, the angle sensor is in a power-off or skip state. At this time, the state of the first proportional flow solenoid valve is manually controlled by the operating handle to control the rotation angle and the stop position of the frame, thereby driving the cutter head to move circumferentially and align with the left and right positions of the bamboo stumps. The supporting oil cylinder corresponding to the front supporting leg on the right side is connected to the third solenoid valve, and the output torque is controlled by the third solenoid valve; the supporting oil cylinder corresponding to the front supporting leg on the left side is connected to the fourth solenoid valve, and the output torque is controlled by the fourth solenoid valve; the supporting oil cylinder corresponding to the rear supporting leg is connected to the fifth solenoid valve, and the output torque is controlled by the fifth solenoid valve; the operating handle controls the states of the third solenoid valve, the fourth solenoid valve and the fifth solenoid valve respectively, so as to respectively control the opening states of the two front supporting legs and the rear supporting legs, so that the rear supporting legs contact the ground and cooperate with the track wheel group to withstand the reaction force applied when the cutter head is rotary cut downward, and the two front supporting legs are adjusted to be parallel to the frame and the ground, and the cutter head and the bamboo stump are parallel, and at the same time, the two front supporting legs withstand the reverse torque when the cutter head is rotary cut downward; Bamboo stump chopping mechanism adjustment: The shredding hydraulic motor drives the frame to rotate to realize the circumferential rotation reversal of the bamboo stump shredding mechanism, the front-to-back movement of the bamboo stump shredding mechanism is realized by the extension and contraction of the installation cylinder, the cutter head is driven to rotate by the shredding hydraulic motor, and the cutter head is driven to rise and fall by the flange cylinder; the installation cylinder is connected to the second proportional flow solenoid valve, and the output displacement is controlled by the second proportional flow solenoid valve. When the operating handle is in manual mode, the state of the second proportional flow solenoid valve is controlled to control the front and back position of the cutter head to align with the bamboo stump; the shredding hydraulic motor is connected to the sixth solenoid valve, and the two flange cylinders are connected to the seventh solenoid valve at the same time. When the operating handle is in manual mode, the sixth solenoid valve and the seventh solenoid valve are connected at the same time when the cutter head is moved downward or upward by the extension and contraction control of the flange cylinder, that is, when the cutter head moves downward, it starts to rotate in the opposite direction of the spiral line to cut the bamboo stump, and when the cutter head moves upward, the cutter head rotates in the direction of the spiral line to reduce the retraction resistance; Visual system adjustment and automatic mode control adjustment: The bamboo stump chopping device is designed with two operating modes: manual and automatic. In the manual mode, the sensor detection and visual system are not enabled, and the operating handle is directly connected to the electronic control system to control the movement; in the automatic mode, the visual system and sensor detection feedback loop are enabled. In the automatic mode, the operating handle can only control the movement of the chassis walking mechanism and the adjustment of the front and rear support legs, and the other control keys are in an invalid state. Visual system adjustment method: The visual system collects multiple bamboo stump images in different environments to create a data set for deep learning of the binocular camera to identify bamboo stumps, and then uses the binocular camera ranging principle to calculate the spatial position x, y, z of the bamboo stump based on the binocular camera coordinates; Adjustment of the origin of the cutter head: After the bamboo stump chopping device is switched to the automatic mode, the cutter head first returns to the zero position. The establishment of the zero position coordinate system is achieved by parameterizing the pull-rope displacement sensor, ultrasonic displacement sensor and angle sensor, and the zero position coordinate system is in the same direction as the binocular camera coordinate system. The X direction is set by the angle sensor, the center axis of the frame is zero along the forward direction, the swing angle of the frame is θ, the Y direction is set by the pull-rope displacement sensor, and the piston of the installation cylinder is in a fully retracted state when it is zero position, the Z direction is set by the ultrasonic displacement sensor, and the flange cylinder piston is in a fully extended state when it is zero position; after the visual system locates the actual coordinate position (x, y, z) of the bamboo stump, the actual coordinate position of the bamboo stump is converted to the coordinate system established with the cutter head zero position by calculation, and the position is recorded as (X, Y, Z). When the cutter head returns to the zero position, in order to avoid interference, the setting is carried out in the order of Z direction first, then X direction, and finally Y direction; Cutter head positioning adjustment: To facilitate program calculation, the cutter head returns to zero position after each operation is completed in automatic mode. When the binocular camera detects the bamboo stump and determines the position of the bamboo stump, the industrial computer calculates and converts the coordinates of the binocular camera into the coordinate system established with the cutter head as the zero point, and then sends instructions to the controller to control the installation cylinder, steering hydraulic motor and flange cylinder to work respectively: First, control the installation cylinder to achieve Y-axis positioning, and the installation cylinder needs to move a certain distance in the Y direction. The moving distance is fed back to the industrial computer in real time through the pull-rope displacement sensor, and the moving distance is compared with the calculated value through the industrial computer. After reaching the tolerance range, the second proportional flow solenoid valve is reset to the middle position; Then control the steering hydraulic motor to rotate to achieve X-axis positioning, and the steering hydraulic motor rotates at an angle of , the rotation angle is transmitted to the industrial computer in real time through the angle sensor, and the industrial computer compares the rotation angle with the calculated value θ. When the rotation angle is within the range of θ±1°, the second proportional flow solenoid valve is reset, and the bamboo stump X-axis positioning is completed. Then the shredding hydraulic motor starts and drives the cutter head to rotate, and the flange cylinder drives the cutter head to move downward. When the cutter head contacts the bamboo stump, the return oil pressure increases suddenly, and the real-time pressure is transmitted to the industrial computer. The implemented pressure is compared with the set value of the industrial computer through the industrial computer. If it exceeds the set value range of the industrial computer, it is judged that the cutter head contacts the bamboo stump. At this time, the displacement position of the ultrasonic displacement sensor from the origin of the cutter head is recorded to obtain the distance Z1 of the cutter head moving downward. Then the cutter head continues to move downward by Z2, and Z2 is the maximum depth of the bamboo stump. Then the sixth solenoid valve and the seventh solenoid valve are reversed at the same time. At this time, the distance between the cutter head and the origin reaches Z1+Z2, and it is judged that the bamboo stump removal is completed. In this process, the displacement of the cutter head moving downward is transmitted to the industrial computer by the ultrasonic displacement sensor in real time for signal processing and sending instructions to the controller.

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