Agricultural equipment and control method thereof

Abstract

The application provides an agricultural equipment and a control method thereof. The agricultural equipment comprises a main body, support arms and a cutter assembly. One side of the main body is provided with a receiving cavity, the receiving cavity comprises a recess, a rotating assembly is fixedly arranged below the recess, the first ends of the two groups of support arms are fixedly connected with the rotating assembly, and the rotating assembly is used for relatively rotating the two groups of support arms. The second ends of the two groups of support arms are respectively provided with the cutter assembly. The cutter assembly comprises a power device, a blade assembly and a roller assembly. The power device is drivingly connected with the blade assembly. The center fixed point of the roller assembly is coaxially arranged with the rotation center point of the blade assembly. The rolling direction of the roller assembly and the cutting direction of the blade assembly are respectively arranged perpendicularly to the output shaft of the power device. The maximum radial dimension of the roller relative to the output shaft is greater than the radial dimension of the outer end of the blade assembly relative to the output shaft. The agricultural equipment and the control method thereof can effectively remove plant roots and sprouts and protect the plants from being damaged, and the cleaning efficiency is improved.

Description

TECHNICAL FIELD

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

[0002] Root sprout is a small plant that grows out of the ground from adventitious buds on the roots of a plant. Some plants such as jujube, lacquer tree, and locust tree can have root sprouts, which can spread to the surrounding soil and then asexually reproduce multiple new individuals. Root sprouts will convert part of the important nutrients of the plant into useless growth, so the root sprouts that are not used for seedling raising need to be removed in time to reduce nutrient consumption and make the tree grow healthy.

[0003] At present, there is no good way to remove root sprouts, and they are mostly removed by manual operation. For example, some pruning tools such as weeding machines are used to remove branches on the ground, but they cannot effectively and completely remove root sprouts, and the root sprouts may grow again after a period of pruning. At the same time, the pruning tool makes a loud noise when working, which easily interferes with the surrounding environment, and easily causes damage to normal plants due to improper operation. Some are removed by pure manual operation, bit by bit, or by tools, which wastes a lot of manpower, has low work efficiency, and also has the problem of incomplete root sprout removal. SUMMARY

[0004] Therefore, the present application provides an agricultural equipment and a control method thereof to improve the problems of ineffective removal of root sprouts, damage to normal plants during removal, and low removal efficiency in the prior art.

[0005] To achieve the above-mentioned purpose, the technical scheme of the embodiments of the present application is as follows:

[0006] On the one hand, the present application provides an agricultural equipment for removing root sprouts of a plant, comprising a main body, a support arm and a cutter assembly;

[0007] One side of the main body is provided with a containing cavity, and the containing cavity is formed by a first convex portion, a concave portion and a second convex portion;

[0008] A rotating assembly is fixedly arranged below the concave portion, and the first ends of the two groups of support arms are respectively fixedly connected with the rotating assembly, and the rotating assembly is used for relatively rotating the two groups of support arms;

[0009] The second end of each of the two groups of support arms is provided with a cutter assembly; the cutter assembly comprises a power device, a blade assembly and a roller assembly; the power device is drivingly connected with the blade assembly; the center 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 both arranged perpendicularly 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 of the embodiments, the blade assembly comprises a plurality of blades uniformly arranged around the output shaft; and the roller assembly comprises a plurality of rollers uniformly arranged around the output shaft, and the plurality of rollers are used to simultaneously extend outward or retract inward relative to the output shaft.

[0011] In one of the embodiments, an elastic device is arranged between the two groups of support arms; when the elastic device is in a free state, the distance between the two groups of cutter assemblies is the smallest; and the smallest distance between the two groups of cutter assemblies is smaller than the distance between the first convex part and the second convex part.

[0012] In one of the embodiments, the cutter assembly further comprises a plow board; the outermost end of each blade is fixedly provided with a plow board; and the plow board is arranged perpendicularly to the blade.

[0013] The cutter 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 plant root sprout removing function; and 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 plow board relative to the output shaft.

[0015] In one of the embodiments, the roller assembly further comprises an adjusting structure; the adjusting structure is used to make the rollers extend outward and stay in a maximum radial dimension state or retract inward and stay in a minimum radial dimension state.

[0016] In one of the embodiments, the roller assembly further comprises a plurality of connecting pieces; each connecting piece comprises an arc-shaped fixing part and a connecting part arranged inside the fixing part; the connecting part is connected with the adjusting structure; two rollers are fixedly arranged on the outer side of each fixing part; the curvatures of the fixing parts are equal; and the adjusting structure is used to simultaneously control all the connecting parts to extend outward or retract inward.

[0017] In one of the embodiments, the agricultural equipment further comprises a control assembly, which comprises a controller, and a switch assembly, a positioning module, a visual recognition module, an automatic walking module and a communication module electrically connected to the controller respectively.

[0018] In one of the embodiments, 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 prompt, and the searchlight is used for providing illumination.

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

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

[0021] In another aspect, the embodiments of the present application provide a control method of an agricultural equipment, which is used for the agricultural equipment as described above, and the control method of the agricultural equipment comprises the following steps:

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

[0023] Controlling the agricultural equipment to walk towards a target plant, and making the target plant enter between the two roller assemblies, and the roller assemblies clamp the target plant;

[0024] Starting the power device, and making the agricultural equipment rotate around the target plant for at least one round and then stop, to complete the pruning of the root sprouts of one target plant.

[0025] The agricultural equipment provided by the present application comprises two groups of support arms, one end of which is rotationally connected, and the other end of which can be relatively away or close to each other, so that it can meet the pruning needs of plants with different diameters. When it is necessary to remove the root sprouts of a target plant, the target plant can be clamped between the two roller assemblies, so that the plant enters the accommodating cavity, and the plant is tightly held after being clamped, and the power device is started, so that the blades prune the root sprouts around the target plant. When pruning, the agricultural equipment rotates around the target plant, and the roller walks along the surface of the plant. At this time, the roller is in contact with the surface of the plant, which can avoid causing damage to the target plant during pruning. At the same time, the agricultural equipment rotates around the target plant for cutting, which can effectively avoid omission, so that the root sprouts 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 root sprout removal efficiency. The control method of the agricultural equipment provided by the present application is used for the above-mentioned agricultural equipment, and therefore also has the beneficial effects as described above. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The overall structure schematic diagram of the agricultural equipment of the embodiment of the present application (the cutter assembly and the supporting arm are in the first connection state).

[0027] Figure 2 The overall structure schematic diagram of the agricultural equipment of the embodiment of the present application (the cutter assembly and the supporting arm are in the second connection state).

[0028] Figure 3 The assembly structure schematic diagram of the supporting arm and the cutter assembly of the embodiment of the present application.

[0029] Figure 4 The overall structure schematic diagram of the cutter assembly of the embodiment of the present application.

[0030] Figure 5 The combined structure schematic diagram of the blade and the plow board of the embodiment of the present application.

[0031] Figure 6 The structure schematic diagram of the roller assembly of the embodiment of the present application.

[0032] The meanings of the respective labels in the drawings are as follows:

[0033] 1, main body; 11, first protrusion; 12, recess; 13, second protrusion; 14, accommodating cavity; 2, supporting arm; 21, spring; 22, rotating assembly; 3, cutter assembly; 31, power device; 32, blade; 33, roller assembly; 331, roller; 332, sliding block; 333, fixed part; 334, connecting part; 34, plow board; 4, control screen; 5, warning light; 6, searchlight; 7, traveling wheel; 8, adjusting structure; 81, adjusting handwheel; 82, pinion; 83, gear; 84, sliding groove. DETAILED DESCRIPTION

[0034] The technical solutions of the present application are further described in detail below in combination with the drawings and specific embodiments of the present application.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0036] In the description of the present application, it needs to be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0037] In the description of the present application, it needs to be understood that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] Please refer to Figure 1 and Figure 2 The agricultural equipment of the embodiment of the present application is used for removing root sprouts, and comprises a main body part 1, support arms 2 and a cutter assembly 3.

[0039] One side of the main body part 1 is provided with a containing cavity 14, which is formed by a first protruding part 11, a recessed part 12 and a second protruding part 13. The containing cavity 14 is provided with through openings at the side wall and the upper and lower ends of the main body part 1, so that the target plant can enter the containing cavity 14 from the openings, and the target plant is conveniently held around. The recessed part 12 can be specifically provided in an arc shape to match the contour of the target plant as much as possible, so as to conveniently hold the target plant.

[0040] A rotating assembly 22 is fixedly arranged below the recessed part 12, and the first ends of the two groups of support arms 2 are respectively fixedly connected with the rotating assembly 22. The rotating assembly 22 is used for relatively rotating the two groups of support arms 2.

[0041] As Figure 3 and Figure 4As shown, the second ends of the two sets of support arms 2 are respectively provided with a cutter assembly 3; the cutter assembly 3 comprises a power device 31, a blade assembly and a roller assembly 33. The power device 31 is drivingly connected with the blade assembly. Specifically, the blade assembly can comprise a plurality of blades 32 which are uniformly arranged around the output shaft of the power device 31, the center fixing point of the roller assembly 33 is coaxially arranged with the rotation center of the blade assembly, the roller assembly 33 comprises a plurality of rollers 331 which are uniformly 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 blades 32 relative to the output shaft.

[0042] Specifically, as shown in Figure 4 and Figure 5 In this embodiment, the power device 31 can be an electric motor, for example, and the number of blades 32 can be four, for example. The four blades 32 are uniformly arranged around the outer periphery of the blade wheel disc, and the included angle between every two adjacent blades 32 is 90 degrees. The blade wheel disc is fixedly connected with the output shaft of the electric motor, reducing the setting of intermediate transmission structure, and improving transmission efficiency and accuracy, so that the overall structure is more compact and stable. The four-blade design of the blades 32 can uniformly and smoothly shear the plants during pruning, while providing a large shearing range and uniform distribution of shearing force, thereby improving the shearing efficiency.

[0043] Specifically, in this embodiment, the rotating assembly 22 can be a bearing, for example, and the first ends of the two sets of support arms 2 are fixed to the inner ring and the outer ring of the bearing, respectively. Pushing the support arms 2 can make the two sets of support arms 2 relatively close or far away. At this time, one or two stop blocks can be arranged at a position of the inner ring and / or the outer ring of the bearing, so that the support arms 2 abut against the stop blocks when they are rotated to open, thereby limiting the maximum angle at which the two sets of support arms 2 can be opened. Alternatively, the rotating assembly 22 can also be intermeshing gears, and each gear is fixedly provided with a set of support arms 2. The gear can be provided with only part of the teeth for realizing the mutual rotation of the two sets of support arms 2, and the part of the teeth itself also forms a limiting structure. When the gear is rotated to the end of the teeth, it cannot be rotated any further, thereby realizing the limiting function, preventing the angle between the two sets of support arms 2 from being opened too large to contact the first convex part 11 or the second convex part 13, and avoiding damage to the main body part 1. The first ends of the two sets of support arms 2 are located below the recessed part 12, and the second ends are respectively located below the first convex part 11 and the second convex part 13. The arrangement of the rotating assembly 22 ensures the stability of the connection of the cutter assembly 3 and the smoothness of the operation, while reducing wear and maintenance requirements. The included angle between the two sets of support arms 2 can be set to be between 45 degrees and 75 degrees.

[0044] As shown in Figure 3As shown, an elastic device can also be installed between the two sets of support arms 2. When the elastic device is in a free state, the distance between the two sets of blade assemblies 3 is minimized, and the minimum distance between the two sets of blade assemblies 3 is less than the distance between the first protrusion 11 and the second protrusion 13. This elastic device can be, for example, a spring 21. When the spring 21 is in a free state without external force, the included angle between the two sets of support arms 2 is minimized, and the distance between the two roller assemblies 33 is minimized, which is less than the diameter of a typical plant. In this way, when the target plant enters between the two roller assemblies 33, it can drive the two sets of support arms 2 to open, thereby pulling the spring 21 to extend. The tension of the spring 21 allows the two roller assemblies 33 to clamp the target plant. At the same time, it enables agricultural equipment to meet the needs of removing root suckers from plants of different diameters.

[0045] To improve the effectiveness and thoroughness of root sucker removal, and to further enhance the efficiency and functionality of this agricultural equipment, a plow plate 34 can be added. For example... Figure 5 As shown, for example, a plow plate 34 can be fixed to the outermost end of each blade 32. The direction of the plow plate 34 is perpendicular to the direction of the blade 32, and the middle part of the plow plate 34 is fixedly connected to the outer end of the blade 32. The four-blade plow plate 34 design enables agricultural equipment to provide a more uniform, deep, and effective tillage effect during plowing, which helps to improve soil quality, increase crop yield and quality, and protect the soil's ecological environment.

[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 first connection state, the output shaft is set vertically; in the second connection state, the output shaft is set horizontally. 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 fixed on the outer wall of the power unit 31, with one end fixedly connected to the power unit 31 and the other end detachably connected to the support arm 2. The two connection states of the tool assembly 3 can be 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 unit 31 is set vertically, and the blade 32 is set horizontally to achieve the shearing function of the root suckers. In the second connection state, the output shaft of the power unit 31 is set horizontally, and rotating the wheel of the blade 32 can make the plow plate 34 rotate vertically to achieve the tilling function. The tilling function can be used alone on plots where soil loosening is required, or it can be used in conjunction with the removal of root suckers. Tilling the soil on plots where root suckers have been pruned can destroy the root sucker buds under the soil surface, thereby achieving complete removal of root suckers and preventing them from growing again after pruning.

[0047] likeFigure 6 As shown, the roller assembly 33 can further comprise an adjusting structure 8 for extending the roller 331 outwardly to a maximum radial dimension state or retracting the roller 331 inwardly to a minimum radial dimension state, the minimum radial dimension of the roller assembly 33 being smaller than the radial dimension of the outer periphery of the plow plate 34. When the roller 331 is extended outwardly to the maximum radial dimension state, it can be used to trim the root sprouts on the ground surface, at this time, the outer periphery of the blade 32 is within the coverage range of the outer periphery of the roller 331, 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 is retracted inwardly to the minimum radial dimension state, at this time, the outer periphery of the plow plate 34 is outside the coverage range of the outer periphery of the roller 331, when the plow plate 34 rotates to plow the ground, the roller 331 will not interfere with it, so that the plowing work can be smoothly carried out. Specifically, the adjusting structure 8 comprises a pinion 82, a gear wheel 83 and an adjusting hand wheel 81. The gear wheel 83 is arranged at the center of the roller 331, coaxially arranged with the blade 32 and can rotate around the rotating shaft, the pinion 82 is fixed opposite to the rotating shaft, the pinion 82 is engaged with the gear wheel 83, and the adjusting hand wheel 81 is arranged on the pinion 82. An arc-shaped sliding groove 84 is further arranged on the gear wheel 83, and a sliding block 332 is correspondingly arranged on the connecting piece of the roller 331. Rotating the adjusting hand wheel 81, the pinion 82 drives the gear wheel 83 to rotate, which can make the sliding block 332 move along the track of the sliding groove 84, and at the same time, the fixed frame drives the roller 331 to realize the outward extension and inward retraction relative to the output shaft. The sliding groove 84 extends from the center of the gear wheel 83 to the edge direction, when the sliding block 332 slides to the innermost side of the sliding groove 84, the roller 331 is retracted to the state of the minimum peripheral diameter, and when the sliding block 332 slides to the outermost side of the sliding groove 84, the roller 331 is extended to the state of the maximum peripheral diameter. And since the sliding groove 84 is an arc-shaped groove, it has a self-locking function, when the roller 331 is extended to the state of the maximum peripheral diameter, even if the roller 331 is pushed inwardly, the roller 331 will not be retracted.

[0048] The roller assembly 33 further comprises a plurality of connecting members, each of which comprises an arc-shaped fixing portion 333 and a connecting portion 334 arranged inside the fixing portion 333, the connecting portion 334 being connected with the adjusting structure 8, and two rollers 331 being arranged on the outer side of each fixing portion 333, each roller 331 being fixed on the fixing portion 333 through a roller support, a rotating shaft being arranged on the roller support, and the roller 331 being rotatably connected with the roller support through the rotating shaft, and a sliding block 332 being arranged near one end of the fixing portion 333 close to the output shaft, the curvatures 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. In the embodiment, the rollers 331 are totally 10, and two rollers 331 are arranged on the same fixing portion 333. The sliding block 332 is arranged at the end of the connecting portion 334 away from the roller 331. The design of two rollers 331 can make the rollers 331 more stable when walking around the tree. The 10 rollers 331 are completely the same in size and shape, which can prevent the blade 32 from contacting the plant and reduce the abrasion and damage to the surface of the plant during shearing. The arrangement of the 10 rollers 331 in the mode of two-by-two uniform spacing can ensure the stability and balance during shearing and reduce the shaking and vibration degree on uneven ground.

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

[0050] To further improve the degree of automation of the agricultural equipment, a control assembly can also be provided on the agricultural equipment. The control assembly can include, for example, a controller, and a switch assembly, a positioning module, a visual recognition module, an automatic walking module, a battery module, and a communication module that are respectively electrically connected to the controller. Specifically, a control screen 4 can be provided at the top end of the main body 1, and the control screen 4 is electrically connected to each component to realize the control of the agricultural equipment through the control screen 4. The control screen 4 also has a display function, which is convenient for operation and observation. The switch assembly is controlled through the control screen 4 to realize the on / off operation of the agricultural equipment. The positioning module, the visual recognition module, and the automatic walking module can make the agricultural equipment automatically walk along the route set by the controller and recognize the target plant (the plant with root sprouts). Through the communication module, the agricultural equipment can be connected with other devices, so that the user can observe the working state of the agricultural equipment at any time. The battery module is used to provide power for the agricultural equipment to realize automatic operation. For example, after starting the agricultural equipment, the user clicks the direction control key on the control screen 4 to make the agricultural equipment reach the starting point of the work, and then plans the working route for the agricultural equipment through the Beidou positioning module or other positioning modules, adjusts the speed of the power device 31 through the controller, and then starts the visual recognition module and the automatic walking module to make the robot start to automatically walk and perform the pruning or plowing work. In the pruning step, the agricultural equipment can identify whether the trees in the working path have root sprouts, and prune the target plants with root sprouts. When the user uses the agricultural equipment, the communication module on the agricultural equipment can be interconnected with the electronic device, so that the real-time motion trajectory and working state of the agricultural equipment can be obtained at any time, and the working state or the direction of travel can be adjusted in time.

[0051] The warning light 5 and / or the searchlight 6 can also be provided on the main body 1. The warning light 5 is used for alarm prompt, and the searchlight 6 is used for providing illumination. The warning light 5 and the searchlight 6 are respectively electrically connected to the controller. For example, one warning light 5 and one searchlight 6 can be respectively installed on the first protruding part 11 and the second protruding part 13. When the warning light 5 is on, it can be used to prompt the machine failure, such as deviating from the preset action trajectory, staying at the same position for a long time, or the power of the agricultural equipment being too low, etc. The specific setting can be made according to the needs. When the warning light 5 is on, the alarm sound prompt function can also be set. When the controller receives the low power signal, the agricultural equipment can also be automatically controlled to walk to the charging position to supplement the power. When the corresponding failure of the alarm is cleared, the warning light 5 is also turned off. At the same time, the warning light 5 can also be manually controlled to be turned off through the control screen 4. When the light in the working environment is relatively dark, the searchlight 6 can be controlled to be turned on, so that the agricultural equipment can work normally. When the light brightness can meet the working requirements, the searchlight 6 does not need to be turned on. The use of the light improves the accuracy of image recognition of the agricultural equipment, enhances the safety of the work, and improves the working efficiency.

[0052] The embodiment also provides a control method of the agricultural equipment, which is used for the agricultural equipment and specifically comprises a pruning step and a plowing step.

[0053] The pruning step comprises:

[0054] The installation direction of the cutter assembly 3 is adjusted so that the cutting direction of the blade 32 is horizontal, and the roller assembly 33 is adjusted so that the rollers 331 extend and stay in the maximum radial dimension state.

[0055] The agricultural equipment is controlled to move towards the target plant, and the target plant is made to enter between the two roller assemblies 33, and the rollers 331 clamp the target plant.

[0056] The power device 31 is started, and the agricultural equipment is made to rotate around the target plant for at least one round and then stop, thereby completing the pruning of the root sprouts of one target plant.

[0057] When the pruning step of the root sprouts is performed, the installation direction of the cutter assembly 3 is first adjusted so that the cutter assembly 3 is in the first connection state, i.e., the output shaft is arranged in the vertical direction, and at this time, the cutting direction of the blade 32 is horizontal. Then, the roller assembly 33 is adjusted by rotating the adjusting handle 81 so that the rollers 331 extend outward to the state of the maximum peripheral diameter.

[0058] The agricultural equipment is controlled by the control screen 4 to move towards the target plant, so as to ensure that the agricultural equipment is accurately aligned with the operation area, and the front end opening of the accommodating cavity 14 is aligned with the target plant and continues to move towards the target plant. At this time, the included angle between the two support arms 2 is minimum and smaller than the diameter of the target plant. The target plant first contacts the frontmost roller 331, and with the continuous movement of the agricultural equipment, the roller 331 rolls on the surface of the trunk, 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 rollers 331 always clamp the trunk, 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 started, and the power device 31 drives the blade 32 to rotate, and at the same time, the agricultural equipment rotates around the trunk to shear the root sprouts around the plant. After one round of rotation, the pruning of the root sprouts of one plant is completed. If there is a situation that is not removed cleanly, the plant can be sheared again after one round of rotation.

[0060] The plowing step comprises:

[0061] The agricultural equipment is controlled by the control screen 4 to enter the target area, the installation direction of the cutter assembly 3 is adjusted so that the cutter assembly 3 is in the second connection state, i.e., the output shaft is arranged in the horizontal direction. Then, the roller assembly 33 is adjusted by rotating the adjusting handle 81 so that the rollers 331 retract inward to the state of the minimum peripheral diameter.

[0062] The agricultural equipment is controlled to move forward, and the power device 31 is started to drive the plow blade 34 to rotate in the vertical direction, thereby completing the plowing task.

[0063] During the plowing process, the agricultural equipment moves forward slowly, the plow blade 34 at the outer end of the blade 32 rotates in the vertical plane, the four-leaf plow blade 34 contacts the soil, and the soil is uniformly plowed, which can be used to improve the air permeability and water permeability of the soil, and also can be used to remove the branches and buds of the root sprouts under the ground surface. At this time, the pushing speed and strength of the plow blade 34 of the agricultural equipment can be adjusted in time according to the needs to achieve the best plowing effect.

[0064] The agricultural equipment provided by the embodiment of the present application can achieve good root sprout trimming and removing functions, not only avoids the high labor input cost of the traditional trimming machine, but also has small noise and high working efficiency, and greatly reduces the damage to the plants. Based on the function of trimming and removing the root sprouts, the control screen and other control components are additionally arranged, the multi-sensor fusion SLAM, motion control, man-machine interaction and image recognition and other full-link artificial intelligence algorithm technologies are combined, the agricultural equipment can be controlled in real time, automatic tracking and the identification of the trimming (plowing) area are realized, the degree of automation is high, the frequency of manual operation is greatly reduced, the maintenance and maintenance cost of the equipment is reduced, and high economic benefits are obtained. The tool assembly of the agricultural equipment provided by the embodiment of the present application can realize two connection states, the root sprouts can be sheared when in the first connection state, and the plowing function can be realized 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 the root sprouts is more thorough. The agricultural equipment provided by the embodiment of the present application can be widely applied to 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 the agricultural equipment, and is convenient for users to use and operate.

[0065] It should be noted that in this document, the terms "comprise", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or device that includes a series of elements not only includes those elements, but also includes other elements not explicitly listed, or inherent to such a process, method, article, or device. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of another identical element in the process, method, article, or device that includes the element.

[0066] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An agricultural apparatus for clearing plant root sprouts, characterized by, The utility model relates to a cutting tool, including main part (1), support arm (2) and cutter assembly (3); One side of the main part (1) is provided with a containing cavity (14), the containing cavity (14) is formed by the first convex part (11), the recess (12) and the second convex part (13) surrounding; The lower side of the recess (12) is fixed with a rotating assembly (22), the first end of two groups of support arms (2) is fixedly connected with the rotating assembly (22) respectively, and the rotating assembly (22) is used for relatively rotating two groups of support arms (2). The second end of two groups of support arms (2) is respectively provided with the cutter assembly (3); the cutter assembly (3) includes power device (31), blade assembly and roller assembly (33); the power device (31) is drivingly connected with the blade assembly; the center fixed 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 vertically arranged with the output shaft of the power device (31) respectively, 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; the blade assembly includes a plurality of blades (32) surrounding the output shaft, and the roller assembly (33) includes a plurality of rollers (331) surrounding the output shaft. The cutter assembly (3) further includes a plow plate (34), and the outermost end of each blade (32) is fixedly provided with one plow plate (34), and the plow plate (34) is vertically arranged with the blade (32). The cutter 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, for executing the function of removing plant root sprouts, when in the second connection state, the output shaft is arranged in a horizontal direction, for executing the function of plowing. The minimum radial dimension of the roller (331) relative to the output shaft is less than the radial dimension of the periphery of the plow plate (34) relative to the output shaft.

2. The agricultural device of claim 1, wherein, A plurality of blades (32) are uniformly distributed around the output shaft, a plurality of rollers are uniformly distributed around the output shaft, and a plurality of rollers (331) are used to simultaneously extend outward or retract inward relative to the output shaft.

3. The agricultural device of claim 1, wherein, The rotating assembly (22) is provided with a limiting structure, and the limiting structure is used for limiting the maximum included angle range between two groups of support arms (2), to prevent the cutter assembly (3) from contacting the first convex part (11) or the second convex part (13).

4. The agricultural device of claim 3, wherein, Two groups of support arms (2) are provided with elastic devices, when the elastic devices are in a free state, the distance between two groups of cutter assemblies (3) is minimum, and the minimum distance between two groups of cutter assemblies (3) is less than the distance between the first convex part (11) and the second convex part (13).

5. The agricultural device of claim 1, wherein, The roller assembly (33) further comprises an adjusting structure (8) for extending the rollers (331) outward to the maximum radial size state or retracting the rollers (331) inward to the minimum radial size state.

6. The agricultural device of claim 5, wherein, The roller assembly (33) further comprises a plurality of connecting members, each of which comprises an arc-shaped fixing part (333) and a connecting part (334) arranged inside the fixing part (333), the connecting part (334) being connected with the adjusting structure (8), and two rollers (331) being arranged on the outside of each fixing part (333), the curvatures of the fixing parts (333) being equal, and the adjusting structure (8) being used for simultaneously controlling all the connecting parts (334) to extend outward or retract inward.

7. The agricultural device of claim 1, wherein, The control assembly comprises a controller and a switch assembly, a positioning module, a visual recognition module, an automatic walking module and a communication module which are electrically connected with the controller.

8. The agricultural device of claim 7, wherein, The control assembly further comprises a warning light (5) and / or a searchlight (6) which are electrically connected with the controller, the warning light (5) being used for alarming and the searchlight (6) being used for providing illumination. The bottom of the main body (1) is provided with a walking wheel (7).

9. A control method of an agricultural implement, characterized by, The control method of the agricultural equipment as claimed in any one of claims 1 to 8 comprises the following steps: Adjusting the installation direction of the cutter 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 the maximum radial size state with the output shaft; Controlling the agricultural equipment to move towards a target plant, and making the target plant enter between the two roller assemblies (33), the roller assemblies (33) clamping the target plant; Starting the power device (31), and making the agricultural equipment rotate around the target plant for at least one round and then stop, thereby completing the pruning of the root sprouts of one target plant.

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