Agricultural equipment and control method thereof

Abstract

The invention provides agricultural equipment and a control method thereof. The agricultural equipment comprises a main body part, a supporting arm and a cutter assembly. A containing cavity is formed in one side of the main body part and comprises a concave part, a rotating assembly is fixedly arranged below the concave part, the first ends of the two sets of supporting arms are fixedly connected with the rotating assembly, and the rotating assembly is used for making the two sets of supporting arms rotate relatively. The second ends of the two groups of supporting arms are respectively provided with a cutter assembly; the cutter assembly comprises a power device, a blade assembly and a roller assembly; the power device is in driving connection with the blade assembly; the center fixing point of the roller assembly and the rotating center point of the blade assembly are coaxially arranged, the rolling direction of the roller assembly and the cutting direction of the blade assembly are perpendicular to the output shaft of the power device, and the maximum radial size of the roller relative to the output shaft is larger than the radial size of the outer end of the blade assembly relative to the output shaft. According to the agricultural equipment and the control method thereof, plant root tillers can be effectively removed, plants are protected against damage, and the removing efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural equipment, and in particular to an agricultural equipment and a control method thereof. Background Art

[0002] Root suckers are small plants that grow from adventitious buds on the roots of plants and extend out of the ground. Some plants, such as jujube, lacquer tree, and locust, can have tillers on their roots, which spread to the surrounding soil and then asexually reproduce multiple new individuals. Root suckers will convert some of the plant's important nutrients into useless growth. Root suckers that are not used for seedling cultivation need to be removed in time to reduce nutrient consumption and make the tree grow strong.

[0003] At present, there is no good way to remove root suckers, and they are mostly removed manually. For example, some people use pruning tools such as lawn mowers to remove branches on the ground, but they cannot effectively and completely remove root suckers. After pruning for a period of time, root suckers may sprout again. At the same time, the pruning tools are noisy when working, which is easy to interfere with the surrounding environment, and it is easy to cause damage to normal plants due to improper operation. Others use pure manual labor, pulling out little by little or digging with tools. This method will waste a lot of manpower, and the work efficiency is low, and there will be incomplete cleaning of root suckers. Summary of the invention

[0004] Based on this, the present application provides an agricultural equipment and a control method thereof to improve the problems existing in the prior art that root suckers cannot be effectively removed, normal plants are easily damaged during removal, and the removal efficiency is low.

[0005] To achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0006] On the one hand, an embodiment of the present application provides an agricultural device for removing root suckers of plants, comprising a main body, a support arm and a cutter assembly;

[0007] A receiving cavity is provided on one side of the main body, and the receiving cavity is formed by surrounding the first convex portion, the concave portion and the second convex portion;

[0008] A rotating assembly is fixedly disposed below the recessed portion, and the first ends of the two groups of support arms are respectively fixedly connected to the rotating assembly, and the rotating assembly is used to make the two groups of support arms rotate relative to each other;

[0009] The second ends of the two groups of support arms are respectively provided with the tool assembly; the tool assembly includes a power device, a blade assembly and a roller assembly; the power device is drivingly connected to the blade assembly; the central fixing point of the roller assembly is coaxially arranged with the rotation center of the blade assembly, the rolling direction of the roller assembly and the cutting direction of the blade assembly are respectively arranged perpendicular to the output shaft of the power device, and the maximum radial dimension of the roller assembly relative to the output shaft is greater than the radial dimension of the outermost end of the blade assembly relative to the output shaft.

[0010] In one embodiment, the blade assembly includes a plurality of blades evenly arranged around the output shaft, and the roller assembly includes a plurality of rollers evenly arranged around the output shaft, and the plurality of rollers are used to extend outward or retract inward relative to the output shaft at the same time.

[0011] In one embodiment, an elastic device is provided between the two groups of support arms. When the elastic device is in a free state, the distance between the two groups of tool assemblies is minimum, and the minimum distance between the two groups of tool assemblies is smaller than the distance between the first protrusion and the second protrusion.

[0012] In one embodiment, the tool assembly further comprises a plowboard, and a plowboard is fixedly provided at the outermost end of each blade, and the plowboard and the blade are arranged perpendicular to each other;

[0013] The tool assembly and the support arm have a first connection state and a second connection state. When in the first connection state, the output shaft is arranged in a vertical direction to perform a function of clearing plant root suckers; when in the second connection state, the output shaft is arranged in a horizontal direction to perform a plowing function;

[0014] The minimum radial dimension of the roller relative to the output shaft is smaller than the radial dimension of the outer periphery of the moldboard relative to the output shaft.

[0015] In one embodiment, the roller assembly further includes an adjustment structure, and the adjustment structure is used to make the roller extend outward and stay in a maximum radial dimension state or retract inward and stay in a minimum radial dimension state.

[0016] In one embodiment, the roller assembly also includes a plurality of connecting parts, each of the connecting parts includes an arc-shaped fixing portion and a connecting portion arranged on the inner side of the fixing portion, the connecting portion is connected to the adjustment structure, two of the rollers are fixed on the outer side of each of the fixing portions, the curvature of each of the fixing portions is equal, and the adjustment structure is used to simultaneously control all the connecting parts to extend outward or retract inward.

[0017] In one embodiment, the agricultural equipment further includes a control component, which includes a controller, and a switch component, a positioning module, a visual recognition module, an automatic travel module and a communication module electrically connected to the controller respectively.

[0018] In one embodiment, the agricultural equipment further comprises a warning light and / or a searchlight electrically connected to the controller respectively, the warning light is used for alarm prompting, and the searchlight is used for providing lighting;

[0019] And / or, the bottom of the main body is provided with running wheels.

[0020] In one embodiment, the number of the blades is 4, and the 4 blades are evenly distributed along the circumference of the output shaft.

[0021] On the other hand, an embodiment of the present application provides a control method for agricultural equipment, which is used for the agricultural equipment as described above. The control method for agricultural equipment includes the following steps:

[0022] Adjusting the installation direction of the tool assembly so that the cutting direction of the blade assembly is horizontal, and adjusting the roller assembly so that the roller assembly is kept in a maximum radial dimension state with the output shaft;

[0023] Controlling the agricultural equipment to move toward a target plant and causing the target plant to enter between two roller assemblies, wherein the roller assemblies clamp the target plant;

[0024] The power device is started, and the agricultural equipment is rotated around the target plant for at least one circle and then stopped, thereby completing the pruning of a root sucker of the target plant.

[0025] The present application has at least the following beneficial effects: the agricultural equipment provided by the present application comprises two groups of support arms, one end of the two groups of support arms is rotatably connected, and the other end can be relatively far away or close, so that it can meet the pruning requirements of plants of different diameters. When it is necessary to remove the root tillers of the target plant, the target plant can be clamped between the two roller assemblies, so that the plant enters the accommodating cavity, and the power device is turned on after the plant is tightly held, so that the blade prunes the root tillers around the target plant. During pruning, the agricultural equipment rotates around the target plant, and the roller walks along the surface of the plant. At this time, the roller contacts the surface of the plant, which can prevent the blade from causing damage to the target plant during pruning. At the same time, the agricultural equipment rotates and cuts around the target plant, which can effectively avoid omissions, so that the root tillers around the plant can be completely removed. The agricultural equipment provided by the present application has a simple overall structure, low equipment investment cost, easy maintenance, and effectively improves the efficiency of root tiller removal. The control method of the agricultural equipment provided by the present application is used for the above-mentioned agricultural equipment, so it also has the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of the agricultural equipment according to an embodiment of the present application (the tool assembly and the support arm are in a first connection state).

[0027] Figure 2 This is a schematic diagram of the overall structure of the agricultural equipment according to an embodiment of the present application (the tool assembly and the support arm are in the second connection state).

[0028] Figure 3 This is a schematic diagram of the assembly structure of the support arm and the tool assembly according to an embodiment of the present application.

[0029] Figure 4 This is a schematic diagram of the overall structure of the tool assembly of an embodiment of the present application.

[0030] Figure 5 This is a schematic diagram of the combined structure of the blade and the plowboard according to an embodiment of the present application.

[0031] Figure 6 Schematic diagram of the structure of the roller assembly according to an embodiment of the present application.

[0032] The meanings of the symbols in the accompanying drawings are as follows:

[0033] 1. Main body; 11. First convex part; 12. Concave part; 13. Second convex part; 14. Accommodating chamber; 2. Support arm; 21. Spring; 22. Rotating assembly; 3. Tool assembly; 31. Power device; 32. Blade; 33. Roller assembly; 331. Roller; 332. Sliding block; 333. Fixed part; 334. Connecting part; 34. Plowboard; 4. Control panel; 5. Warning light; 6. Searchlight; 7. Traveling wheel; 8. Adjusting structure; 81. Adjusting hand wheel; 82. Small gear; 83. Large gear; 84. Slide. DETAILED DESCRIPTION

[0034] The technical solution of the present application is further elaborated in detail below in conjunction with the accompanying drawings and specific embodiments of the specification.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the implementation of this application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0036] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating positions or positional relationships, are based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0037] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] See also Figure 1 and Figure 2 The agricultural equipment of the embodiment of the present application is used for removing root tillers and includes a main body 1, a support arm 2 and a tool assembly 3.

[0039] A receiving cavity 14 is provided on one side of the main body 1, and the receiving cavity 14 is formed by the first convex portion 11, the concave portion 12, and the second convex portion 13. The receiving cavity 14 is provided with through openings on the side wall and the upper and lower ends of the main body 1, so that the target plant can enter the receiving cavity 14 through the openings, so as to be surrounded and hugged. The concave portion 12 can be specifically configured as an arc-shaped depression to match the outer contour of the target plant as much as possible, so as to facilitate hugging the target plant.

[0040] A rotating assembly 22 is fixedly disposed below the recessed portion 12 , and the first ends of the two groups of support arms 2 are respectively fixedly connected to the rotating assembly 22 . The rotating assembly 22 is used to enable the two groups of support arms 2 to rotate relative to each other.

[0041] like Figure 3 and Figure 4As shown, the second ends of the two groups of support arms 2 are respectively provided with a tool assembly 3; the tool assembly 3 includes a power device 31, a blade assembly and a roller assembly 33. The power device 31 is drivingly connected to the blade assembly. Specifically, the blade assembly may include a plurality of blades 32, and the plurality of blades 32 are evenly arranged around the output shaft of the power device 31. The central fixed point of the roller assembly 33 is coaxially arranged with the rotation center of the blade assembly. The roller assembly 33 includes a plurality of rollers 331, and the plurality of rollers 331 are evenly arranged around the output shaft. The rolling direction of the rollers 331 and the cutting direction of the blades 32 are respectively arranged perpendicular to the output shaft, and the maximum radial dimension of the rollers 331 relative to the output shaft is greater than the radial dimension of the outermost end of the blade 32 relative to the output shaft.

[0042] Specifically, Figure 4 and Figure 5 As shown, in this embodiment, the power device 31 can be, for example, a motor, and the number of blades 32 can be, for example, four. The four blades 32 are evenly arranged on the periphery of the blade disc, and the angle between every two adjacent blades 32 is 90 degrees. The blade disc is fixedly connected to the output shaft of the motor, which reduces the setting of the intermediate transmission structure, improves the transmission efficiency and accuracy, and makes the overall structure more compact and stable. The four-leaf blade 32 design can evenly and smoothly shear the plants during the pruning process, while providing a large shearing range and uniform shear force distribution, thereby improving the shearing efficiency.

[0043] Specifically, in this embodiment, the rotating assembly 22 can be, for example, a bearing, and the first ends of the two groups of support arms 2 are fixed on the inner ring of the bearing, and the first ends are fixed on the outer ring of the bearing. Pushing the support arms 2 can make the two groups of support arms 2 relatively close to or away from each other. At this time, one or two blocks can be set at a certain position of the inner ring and / or outer ring of the bearing, so that the support arms 2 abut against the blocks when rotating to open, thereby limiting the maximum angle that the two groups of support arms 2 can open. Alternatively, the rotating assembly 22 can also be a mutually meshing gear, each gear is respectively fixed with a group of support arms 2, and the gear can only be provided with part of the gear teeth for realizing the mutual rotation of the two groups of support arms 2. At the same time, the part of the gear teeth itself also forms a limiting structure. When rotating to the end of the gear teeth, it can no longer continue to rotate, thereby realizing the limiting function, thereby preventing the angle between the two groups of support arms 2 from opening too large and contacting the first protrusion 11 or the second protrusion 13, thereby avoiding damage to the main body 1. The first ends of the two sets of support arms 2 are located below the recessed portion 12, and the second ends are located below the first convex portion 11 and the second convex portion 13, respectively. The setting of the rotating assembly 22 ensures the stability of the connection of the tool assembly 3 and the smoothness of operation, while reducing wear and maintenance requirements. The angle between the two sets of support arms 2 can be set between 45 degrees and 75 degrees.

[0044] like Figure 3As shown, an elastic device can also be provided between the two groups of support arms 2. When the elastic device is in a free state, the distance between the two groups of tool assemblies 3 is the smallest, and the smallest distance between the two groups of tool assemblies 3 is smaller than the distance between the first protrusion 11 and the second protrusion 13. The elastic device can be, for example, a spring 21. When the spring 21 is in a free state without external force, the angle between the two groups of support arms 2 is at the smallest angle, and the distance between the two roller assemblies 33 is the smallest, which is smaller than the diameter of a general plant. In this way, when the target plant enters between the two roller assemblies 33, the two groups of support arms 2 can be driven to open, thereby pulling the spring 21 to extend. The tension of the spring 21 enables the two roller assemblies 33 to clamp the target plant. At the same time, the agricultural equipment can meet the root and sucker removal requirements of plants with different diameters.

[0045] In order to make the root tiller removal effect better and more thorough, and at the same time, further improve the efficiency of root tiller removal and increase the function of the agricultural equipment, a moldboard 34 can be additionally provided. Figure 5 As shown, for example, a moldboard 34 can be fixedly arranged at the outermost end of each blade 32, the arrangement direction of the moldboard 34 is perpendicular to the arrangement direction of the blade 32, and the middle part of the moldboard 34 is fixedly connected to the outer end of the blade 32. The four-blade moldboard 34 design enables the agricultural equipment to provide a more uniform, in-depth and effective soil turning effect during the plowing process, which helps to improve soil quality, increase crop yield and quality, and protect the ecological environment of the soil.

[0046] The tool assembly 3 and the support arm 2 include a first connection state (such as Figure 1 as shown) and the second connection state (as shown Figure 2 As shown in the figure, when in the first connection state, the output shaft is arranged in the vertical direction; when in the second connection state, the output shaft is arranged in the horizontal direction. That is, the tool assembly 3 in the second connection state is rotated 90 degrees relative to the first connection state. For example, a connecting rod can be fixedly provided on the outer wall of the power device 31, one end of the connecting rod is fixedly connected to the power device 31, and the other end is detachably connected to the support arm 2, and the two connection states of the tool assembly 3 are achieved by adjusting the connection direction between the connecting rod and the support arm 2. In the first connection state, the output shaft of the power device 31 is arranged in the vertical direction, and the blade 32 is arranged in the horizontal direction at this time, so as to realize the shearing function of the root tiller. In the second connection state, the output shaft of the power device 31 is arranged in the horizontal direction, and the wheel disc of the rotating blade 32 can cause the plowboard 34 to rotate in the vertical direction, so as to realize the function of turning the soil. The soil turning function can be used alone in plots where the soil needs to be loosened, or it can be used in conjunction with the removal of root tillers. Tilling the soil in plots where the root tillers have been pruned can destroy the root tiller buds under the surface, thereby completely removing the root tillers and preventing them from growing again after pruning.

[0047] like Figure 6 As shown, the roller assembly 33 may also include an adjustment structure 8, which is used to make the roller 331 extend outward and stay in the maximum radial dimension state or retract inward and stay in the minimum radial dimension state. The minimum radial dimension of the roller assembly 33 is smaller than the radial dimension of the periphery of the plowboard 34. When the roller 331 extends outward to the maximum peripheral radial dimension state, it can be used to prune the root suckers on the ground surface. At this time, the periphery of the blade 32 is located within the peripheral coverage range of the roller 331, and the roller 331 is in direct contact with the target plant, so that a certain distance is maintained between the blade 32 and the plant, thereby preventing the blade 32 from causing damage to the plant. When the roller 331 retracts inward to the minimum peripheral radial dimension state, the periphery of the plowboard 34 is located outside the peripheral coverage range of the roller 331. When the plowboard 34 rotates to turn the soil, the roller 331 will not interfere with it, so that the plowing work can be carried out smoothly. Specifically, the adjustment structure 8 includes a pinion 82, a gear 83 and an adjustment hand wheel 81. The large gear 83 is arranged at the center of the roller 331, coaxially arranged with the blade 32, and can rotate around the rotation axis. The small gear 82 is relatively fixed to the rotation axis, meshing with the large gear 83, and the adjusting hand wheel 81 is arranged on the small gear 82. An arc-shaped slide groove 84 is also arranged on the large gear 83, and a slider 332 is correspondingly arranged on the connecting piece of the roller 331. When the adjusting hand wheel 81 is turned, the small gear 82 drives the large gear 83 to rotate, so that the slider 332 can move along the track of the slide groove 84, and at the same time, the fixed frame drives the roller 331 to extend outward and retract inward relative to the output shaft. The slide groove 84 extends from the center of the large gear 83 to the edge direction. When the slider 332 slides to the innermost side of the slide groove 84, the roller 331 retracts to the state with the smallest outer diameter. When the slider 332 slides to the outermost side of the slide groove 84, the roller 331 extends to the state with the largest outer diameter. Furthermore, since the slide groove 84 is an arc-shaped groove, it has a self-locking function. When the roller 331 is extended to the state with the largest outer diameter, the roller 331 will not retract even if it is pushed inward.

[0048] The roller assembly 33 also includes a plurality of connecting members, each of which includes an arc-shaped fixing portion 333 and a connecting portion 334 disposed inside the fixing portion 333, the connecting portion 334 being connected to the adjustment structure 8, two rollers 331 being disposed outside each fixing portion 333, each roller 331 being fixed to the fixing portion 333 through a roller bracket, a rotating shaft being disposed on the roller bracket, the roller 331 being rotationally connected to the roller bracket through the rotating shaft, a slider 332 being disposed near one end of the fixing portion 333 close to the output shaft, the curvature of each fixing portion 333 being equal, and the adjustment structure 8 being used to simultaneously control all the connecting portions 334 to extend outward or retract inward. There are a total of 10 rollers 331 in this embodiment, which are disposed in groups of two on the same fixing portion 333. The slider 332 is disposed at one end of the connecting portion 334 away from the roller 331. The design of the rollers 331 in groups of two can make the rollers 331 more stable when walking while hugging a tree. The 10 rollers 331 are all the same size and shape, which can prevent the blade 32 from contacting the plant, reducing wear and damage to the plant surface during the shearing process. The 10 rollers 331 are arranged in pairs and evenly spaced to ensure stability and balance during the shearing process, reducing the degree of shaking and vibration on uneven ground.

[0049] like Figure 2 As shown, walking wheels 7 can also be provided at the bottom of the main body 1 to facilitate the walking of the agricultural equipment.

[0050] In order to further improve the automation level of agricultural equipment, a control component can also be set on the agricultural equipment. The control component can include, for example, a controller, and a switch component, a positioning module, a visual recognition module, an automatic walking module, a battery module and a communication module electrically connected to the controller. Specifically, a control screen 4 can be set at the top of the main body 1, and the control screen 4 is electrically connected to each component. The control of the agricultural equipment is realized through the control screen 4. The control screen 4 also has a display function, which is convenient for operation and observation. The switch component is controlled by the control screen 4 to realize the opening and closing operation of the agricultural equipment. The positioning module, the visual recognition module, and the automatic walking module can make the agricultural equipment automatically walk according to the route set by the controller and identify the target plant (plant with root tiller). The communication module can realize the interconnection between the agricultural equipment and other equipment, so that the user can observe the working status of the agricultural equipment at any time. The battery module is used to provide power for the agricultural equipment so that the agricultural equipment can be operated automatically. For example, after turning on the agricultural equipment, click the travel direction control key on the control screen 4 to make the agricultural equipment reach the starting point of the work, then plan the working route for the agricultural equipment through the Beidou positioning module or other positioning modules, adjust the power device 31 to a suitable speed through the controller, and then turn on the visual recognition module and the automatic walking module to let the robot start automatic walking and perform pruning or turning the soil. In the pruning step, the agricultural equipment can identify whether there are root suckers in the trees in the working path, and prune the target plants with root suckers. When using, the user can interconnect with the electronic device through the communication module on the agricultural equipment, so that the real-time motion trajectory and working status of the agricultural equipment can be obtained at any time, and its working status or travel direction can be adjusted in time.

[0051] A warning light 5 and / or a searchlight 6 may also be provided on the main body 1. The warning light 5 is used for alarm prompts, and the searchlight 6 is used for providing lighting. The warning light 5 and the searchlight 6 are electrically connected to the controller respectively. For example, a warning light 5 and a searchlight 6 may be installed on the first convex portion 11 and the second convex portion 13 respectively. When the warning light 5 is on, it can be used to indicate a machine failure, such as deviating from the preset action trajectory, staying in the same position for a long time, or the power of the agricultural equipment is too low. It can be set specifically as needed. When the warning light 5 is on, an alarm sound prompt function can also be set. When the controller receives a low power signal, the agricultural equipment can also be controlled to automatically walk to the charging position to replenish the power. When the fault corresponding to the alarm is cleared, the warning light 5 is also turned off. At the same time, the control panel 4 can also be manually operated to control the warning light 5 to turn off. When the light in the working environment is dark, the searchlight 6 can be controlled to turn on so that the agricultural equipment can work normally. When the light brightness can meet the working requirements, there is no need to turn on the searchlight 6. The use of light improves the accuracy of image recognition of agricultural equipment, enhances the safety of work, and improves work efficiency.

[0052] This embodiment also provides a control method for agricultural equipment, which is used for the above-mentioned agricultural equipment. Specifically, the control method for agricultural equipment includes a pruning step and a plowing step.

[0053] The pruning steps include:

[0054] Adjust the installation direction of the tool assembly 3 so that the cutting direction of the blade 32 is horizontal, and adjust the roller assembly 33 so that the roller 331 extends out and stays in the maximum radial dimension state;

[0055] Control the agricultural equipment to move toward the target plant, and make the target plant enter between the two roller assemblies 33, and the roller 331 clamps the target plant;

[0056] The power device 31 is started, and the agricultural equipment is rotated around the target plant for at least one circle and then stopped, thereby completing the pruning of the root suckers of one target plant.

[0057] When pruning the root suckers, the installation direction of the tool assembly 3 needs to be adjusted first, so that the tool assembly 3 is in the first connection state, that is, the output shaft is arranged in the vertical direction, and the cutting direction of the blade 32 is in the horizontal direction. Then, the roller 331 is extended outward to the state with the largest outer diameter by rotating the adjustment hand wheel 81.

[0058] The agricultural equipment is controlled to move toward the target plant through the control panel 4, ensuring that the agricultural equipment is accurately aligned with the operating area, so that the front end opening of the accommodating cavity 14 is aligned with the target plant, and continues to move toward the target plant. At this time, the angle between the two support arms 2 is the smallest and is smaller than the diameter of the target plant. The target plant first contacts the frontmost roller 331. As the agricultural equipment continues to move forward, the roller 331 rolls on the surface of the trunk, and the trunk is squeezed between the two groups of support arms 2 and enters the accommodating cavity 14. Due to the elastic force of the spring 21, the roller 331 always clamps the trunk to protect the trunk from being scratched by the rotating blade 32 and hold the trunk tightly.

[0059] At this time, the power device 31 is turned on, the power device 31 drives the blade 32 to rotate, and the agricultural equipment rotates around the tree trunk to cut the root suckers around the plant. After one rotation, the root suckers of a plant can be trimmed. If there are any that are not removed completely, they can be rotated again for another rotation to cut again.

[0060] The plowing steps include:

[0061] The agricultural equipment is controlled to enter the target area through the control panel 4, and the installation direction of the tool assembly 3 is adjusted to make the tool assembly 3 in the second connection state, that is, the output shaft is not arranged in the horizontal direction. Then, the roller 331 is retracted inwardly to the state with the smallest outer diameter by rotating the adjustment hand wheel 81.

[0062] The agricultural equipment is controlled to move forward and the power device 31 is started at the same time. The power device 31 drives the moldboard 34 to rotate in the vertical direction to complete the soil turning task.

[0063] During the tillage process, the agricultural equipment moves forward slowly, and the moldboard 34 on the outer end surface of the blade 32 rotates in a vertical plane. The four-blade moldboard 34 contacts the soil and tills the soil evenly, which can be used to improve the air permeability and water permeability of the soil, and can also be used to remove the root shoots under the ground surface. At this time, the pushing speed and force of the moldboard 34 of the agricultural equipment can be adjusted in time according to needs to achieve the best tillage effect.

[0064] The agricultural equipment provided in the embodiment of the present application can realize a good root tiller pruning and removal function, which not only avoids the excessive labor input cost of traditional pruning machines, but also has low noise, high work efficiency, and minimizes the damage to the plant itself. On the basis of the function of pruning and removing root tillers, it adds control components such as a control screen, combines multi-sensor fusion SLAM, motion control, human-computer interaction, and image recognition and other full-link artificial intelligence algorithm technologies, can control agricultural equipment in real time, realize automatic tracking and recognition of pruning (turning) areas, has a high degree of automation, greatly reduces the frequency of manual operation, and reduces the maintenance and maintenance costs of equipment, with high economic benefits. The agricultural equipment provided in the embodiment of the present application, its tool assembly can realize two connection states, can be used to realize the cutting of root tillers when in the first connection state, and can be used to realize the turning function when in the second connection state, so that the functionality of the agricultural equipment is more, the application range is wider, and the removal of root tillers can be made more thorough. The agricultural equipment provided in the embodiment of the present application can be widely used in gardens and various agricultural fields, and has universality. The control method of the embodiment of the present application is simple, can effectively improve the working efficiency of agricultural equipment, and is easy for users to use and operate.

[0065] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0066] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An agricultural device for removing root suckers of plants, characterized in that: It comprises a main body (1), a support arm (2) and a cutter assembly (3); A receiving cavity (14) is provided on one side of the main body (1), and the receiving cavity (14) is formed by surrounding a first convex portion (11), a concave portion (12) and a second convex portion (13); A rotating assembly (22) is fixedly provided below the recessed portion (12), and the first ends of the two groups of support arms (2) are respectively fixedly connected to the rotating assembly (22), and the rotating assembly (22) is used to make the two groups of support arms (2) rotate relative to each other; The second ends of the two groups of support arms (2) are respectively provided with the tool assembly (3); the tool assembly (3) comprises a power device (31), a blade assembly and a roller assembly (33); the power device (31) is drivingly connected to the blade assembly; the central fixing point of the roller assembly (33) is coaxially arranged with the rotation center of the blade assembly, the rolling direction of the roller assembly (33) and the cutting direction of the blade assembly are respectively arranged perpendicular to the output shaft of the power device (31), and the maximum radial dimension of the roller assembly (33) relative to the output shaft is greater than the radial dimension of the outermost end of the blade assembly relative to the output shaft.

2. The agricultural equipment according to claim 1, characterized in that The blade assembly comprises a plurality of blades (32) evenly arranged around the output shaft, and the roller assembly (33) comprises a plurality of rollers (331) evenly arranged around the output shaft. The plurality of rollers (331) are used to extend outward or retract inward relative to the output shaft at the same time.

3. The agricultural equipment according to claim 1, characterized in that: The rotating assembly (22) is provided with a limiting structure, which is used to limit the maximum angle range between the two groups of support arms (2) to prevent the tool assembly (3) from contacting the first convex portion (11) or the second convex portion (13).

4. The agricultural equipment according to claim 3, characterized in that An elastic device is provided between the two groups of support arms (2); when the elastic device is in a free state, the distance between the two groups of tool assemblies (3) is minimum, and the minimum distance between the two groups of tool assemblies (3) is smaller than the distance between the first convex portion (11) and the second convex portion (13).

5. The agricultural equipment according to claim 2, characterized in that: The tool assembly (3) further comprises a plowboard (34), wherein the outermost end of each of the blades (32) is respectively provided with a plowboard (34), and the plowboard (34) and the blades (32) are arranged perpendicular to each other; The tool assembly (3) and the support arm (2) have a first connection state and a second connection state. When in the first connection state, the output shaft is arranged in a vertical direction to perform a function of clearing plant root suckers; when in the second connection state, the output shaft is arranged in a horizontal direction to perform a function of plowing the land. The minimum radial dimension of the roller (331) relative to the output shaft is smaller than the radial dimension of the outer periphery of the moldboard (34) relative to the output shaft.

6. The agricultural equipment according to claim 5, characterized in that The roller assembly (33) further comprises an adjustment structure (8), wherein the adjustment structure (8) is used to allow the roller (331) to extend outward and remain in a state of maximum radial dimension or to retract inward and remain in a state of minimum radial dimension.

7. The agricultural equipment according to claim 6, characterized in that The roller assembly (33) further comprises a plurality of connecting members, each of the connecting members comprising an arc-shaped fixing portion (333) and a connecting portion (334) arranged on the inner side of the fixing portion (333), the connecting portion (334) being connected to the adjusting structure (8), two rollers (331) being fixedly arranged on the outer side of each fixing portion (333), the curvature of each fixing portion (333) being equal, and the adjusting structure (8) being used for simultaneously controlling all the connecting portions (334) to extend outward or retract inward.

8. The agricultural equipment according to claim 1, characterized in that: It also includes a control component, which includes a controller and a switch component, a positioning module, a visual recognition module, an automatic walking module and a communication module that are electrically connected to the controller respectively.

9. The agricultural equipment according to claim 8, characterized in that It also includes a warning light (5) and / or a searchlight (6) electrically connected to the controller, the warning light (5) is used for alarming, and the searchlight (6) is used for providing lighting; And / or, the bottom of the main body (1) is provided with running wheels (7).

10. A method for controlling agricultural equipment, characterized in that: For the agricultural equipment according to any one of claims 1 to 9, the control method of the agricultural equipment comprises the following steps: Adjusting the installation direction of the tool assembly (3) so that the cutting direction of the blade assembly is horizontal, and adjusting the roller assembly (33) so that the roller assembly (33) is kept in a state of maximum radial dimension with the output shaft; Controlling the agricultural equipment to move toward a target plant and causing the target plant to enter between two roller assemblies (33), wherein the roller assemblies (33) clamp the target plant; The power device (31) is started, and the agricultural equipment is caused to rotate around the target plant for at least one cycle and then stop, thereby completing the pruning of a root sucker of the target plant.

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