Grafted grape root tiller removing device and method

Abstract

The invention discloses a grafted grape root tiller removing device and method. The grafted grape root tiller removing device comprises a driving assembly, an identifying assembly, a cutting assembly and a main server. The cutting assembly comprises a telescopic part, a cutting part and an auxiliary part, the telescopic part is connected with the driving assembly and the auxiliary part, and the cutting part is connected with the auxiliary part; the identification assembly comprises a first identification piece and a second identification piece, and the first identification piece is used for obtaining root tiller information; the second identification piece is used for acquiring coordinate information; the main server comprises a root tiller identification module, a model building module, a telescopic control module and a cutting control module, and the root tiller identification module is used for judging whether root tillers exist or not according to the root tiller information; the telescopic control module is used for responding to judgment of the root tiller identification module and controlling extension of the telescopic piece; the model building module is used for building a three-dimensional model according to the coordinate information; the cutting control module is used for responding to the model building module to control rotation and starting of the cutting piece. The root tiller cutting automation solves the problems of high labor intensity and low working efficiency of manual root tiller cutting.

Description

Technical Field

[0001] The invention belongs to the technical field of grape planting, and particularly relates to a grafted grape root sucker removal device and a root sucker removal method. Background Art

[0002] Grapes are usually grafted through rootstocks during planting. The rootstock refers to the plant that bears the scion during grafting. The rootstock can be a root segment or branch segment of the tree body. It has the function of fixing and supporting the scion, and after healing with the scion, the plant grows and bears fruit. After a period of time after grafting, new root suckers will grow from the roots of the grapes. Root suckers are adventitious buds that grow around the roots of the plant and extend out of the ground to form new individuals. When the root suckers are too developed, they are easy to rob the plant of nutrients. In order to ensure the nutrients of the plant, the root suckers need to be removed.

[0003] In the current prior art, for example, the Chinese utility model patent with publication number CN218072558U discloses a root tiller shear, which specifically discloses: a first connecting rod, a second connecting rod, a first protective ring, a second protective ring, a first connecting device and a second connecting device, the first connecting rod is hinged at the middle of the second connecting rod, one end of the first connecting rod is connected to a first handle, the other end of the first connecting rod is connected to an arc-shaped first blade portion, one end of the second connecting rod is connected to a second handle, the other end of the second connecting rod is connected to an arc-shaped second blade portion, the first blade portion is provided with a first blade, the second blade portion is provided with a second blade, and the first blade and the second blade are arranged oppositely. When in use, the first protective ring and the second protective ring both embrace the root of the plant to prevent the first blade portion and the second blade portion from accidentally damaging the bark of the root of the plant when cutting the root tiller. When there are a large number of root tillers around the root of the plant, they can be easily cut off using the first blade and the second blade, which not only reduces labor intensity but also greatly improves the efficiency of removing root tillers.

[0004] However, grape cultivation is mostly carried out on large areas, and the use of root tiller shears is labor-intensive and has low work efficiency. Summary of the invention

[0005] Based on this, it is necessary to provide a grafted grape root tiller removal device and a root tiller removal method to address the problems of high labor intensity and low work efficiency when using root tiller shears for large-scale grape planting.

[0006] To achieve the above object, the present invention adopts the following scheme: A grafted grape root sucker removal device comprises: a driving component, an identification component, a cutting component and a main server; the driving component is used to move along a preset direction; the cutting component comprises a telescopic member, a cutting member and an auxiliary member, one end of the telescopic member is slidably connected to one side of the driving component, the other end of the telescopic member is connected to the auxiliary member, at least four cutting members are provided, and are rotatably connected to the auxiliary member; the identification component comprises a first identification member and a second identification member, the first identification member is provided on the side of the driving component connected to the telescopic member, and the first identification member is electrically connected to the main server, and is used to obtain root sucker information at the bottom of the tree root; At least three second identification members are provided, and all are provided on the auxiliary member, for obtaining the coordinate information of the root tiller; the main server includes a root tiller identification module, a model building module, a telescopic control module and a cutting control module, the root tiller identification module is used to determine whether there is a root tiller at the bottom of the tree root according to the root tiller information at the bottom of the tree root of the first identification member; the telescopic control module is used to control the extension of the telescopic member in response to the judgment of the root tiller identification module; the model building module is used to establish a three-dimensional model of the root tiller position according to the root tiller coordinate information of the second identification member; the cutting control module controls the rotation and opening of the cutting member based on the three-dimensional model.

[0007] Preferably, an angle adjusting piece is provided on the upper end face of the auxiliary piece, and the angle adjusting piece is sleeved on the cutting piece for adjusting the cutting angle of the cutting piece; an angle acquiring piece is provided on the lower end face of the auxiliary piece, and the angle acquiring piece is electrically connected to the main server for acquiring the position information of the cutting piece; the cutting control module also includes an angle control unit and a cutting control unit, and the angle control unit is used to determine whether the cutting piece coincides with the three-dimensional model position of the model building module according to the position information of the cutting piece, and control the rotation of the cutting head; the cutting piece control unit is used to respond to the judgment of the angle control unit to turn on or off the cutting piece.

[0008] Preferably, the cutting member is any one of a laser cutting head, a high-pressure water cutting head and a pneumatic cutting head.

[0009] Preferably, a distance sensor is provided at one end of the auxiliary member close to the telescopic member, and the distance sensor is electrically connected to the telescopic control module for obtaining distance information between the auxiliary member and the tree; the telescopic control module determines whether the distance information of the distance sensor is equal to a preset distance based on the distance information, and controls the telescopic member to stop extending.

[0010] Preferably, the identification component also includes a third identification member, which is arranged at an end of the auxiliary member away from the telescopic member and located on one side of the distance sensor, and the third identification member is used to obtain the excision information of the root tiller; the third identification member is electrically connected to the telescopic control module, and the telescopic control module is used to determine whether the root tiller has been excised according to the excision information of the third identification member, and control the contraction of the telescopic member.

[0011] Preferably, one end of the telescopic member away from the auxiliary member is connected to a cylinder, and the other end of the cylinder is connected to the driving assembly, and the telescopic direction of the cylinder is perpendicular to the telescopic direction of the telescopic member; the cylinder is electrically connected to the tiller identification module and the telescopic control module respectively; the tiller identification module is used to determine whether there are tillers at the bottom of the tree root according to the tiller information at the bottom of the tree root of the first identification member, and control the extension of the cylinder; the telescopic control module is used to determine whether the tiller has been removed according to the tiller removal information of the third identification member, and control the contraction of the cylinder.

[0012] A root tiller removal method of a grafted grape root tiller removal device as described in any one of the above items, comprising the following steps: Step S10, obtaining root and tiller information; Step S20: judging whether there are root tillers at the bottom of the tree root based on the root tiller information; If yes, output a first instruction for extending the telescopic member; Step S30, obtaining the coordinate information of the root tiller; Step S40: establishing a three-dimensional model of the root sucker according to the coordinate information; Step S50, obtaining the position information of the cut piece, and judging whether the position information of the cut piece coincides with the standard position based on the three-dimensional model; If so, a second instruction to open the cutting piece is issued.

[0013] Preferably, the step S20 includes the following steps: Step S21, obtaining distance information between the auxiliary component and the tree, and determining whether the distance information coincides with a preset position; If yes, a third instruction is issued to stop the extension of the telescopic member.

[0014] Preferably, the method comprises the following steps: Step S60, obtaining root tiller excision information, and determining whether the root tiller at the bottom of the tree root has been excised; If yes, a fourth instruction for retracting the telescopic member is issued; If not, repeat steps S30 to S60.

[0015] Preferably, the method further comprises the following steps: Step S20: judging whether there are root tillers at the bottom of the tree root based on the root tiller information; If so, output a fifth instruction for extending the cylinder; Step S60, obtaining root tiller excision information, and determining whether the root tiller at the bottom of the tree root has been excised; If so, the sixth instruction for the cylinder to contract is output.

[0016] The technical solution adopted in this application can achieve the following beneficial effects: 1. Through the cooperation of the driving component, the identification component, the telescopic component, the cutting component and the main server, the root tiller cutting is automated, solving the problem of high labor intensity and low work efficiency of manual root tiller cutting.

[0017] 2. The automatic identification of the identification component and the control by the main server make the removal of root suckers simpler and more convenient, solving the problem of high labor intensity of manual judgment and manual control.

[0018] 3. Through the cooperation of the second identification part, the main server and the cutting component, the cutting is more accurate, solving the problem of damaging the tree roots and affecting the subsequent growth of the grapevine. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is the overall schematic diagram of the anti-collision telescopic hydraulic column for this application Figure 1 .

[0020] Figure 2 This is the overall schematic diagram of the anti-collision telescopic hydraulic column for this application Figure 2 .

[0021] Figure 3 A partial schematic diagram of the anti-collision telescopic hydraulic column for this application Figure 1 .

[0022] Figure 4 This is an enlarged view of part A of the anti-collision telescopic hydraulic column of this application.

[0023] Figure 5 A partial schematic diagram of the anti-collision telescopic hydraulic column for this application Figure 2 .

[0024] Figure 6 This is an enlarged view of part B of the anti-collision telescopic hydraulic column of this application.

[0025] Figure 7 A partial schematic diagram of the anti-collision telescopic hydraulic column for this application Figure 3 .

[0026] In the figure: driving component 100, cutting component 200, telescopic member 210, cutting member 220, auxiliary member 230, angle adjustment member 231, C-shaped frame 232, push rod 233, sliding rod 234, distance sensor 235, identification component 300, first identification member 310, second identification member 320, third identification member 330, cylinder 400. DETAILED DESCRIPTION

[0027] In order to facilitate understanding of the present application, the present application will be described more comprehensively below. The present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly understood.

[0028] It should be noted that when a device is considered to be "connected" to another device, it may be directly connected to the other device or there may be an intermediate device at the same time. The terms "inside", "top", "upper", "lower", "upper", "lower" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0029] 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 this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0030] See also Figures 1 to 7The present application provides a grafted grape sucker removal device, comprising: a driving component 100, an identification component 300, a cutting component 200 and a main server; the driving component 100 is used to move along a preset direction; the cutting component 200 comprises a telescopic member 210, a cutting member 220 and an auxiliary member 230, one end of the telescopic member 210 is slidably connected to one side of the driving component 100, and the other end of the telescopic member 210 is connected to the auxiliary member 230, at least four cutting members 220 are provided, and are rotatably connected to the auxiliary member 230; the identification component 300 comprises a first identification member 310 and a second identification member 320, the first identification member 310 is provided on the side of the driving component 100 connected to the telescopic member 210, and the first identification member 310 is connected to the auxiliary member 230 The main server is electrically connected and is used to obtain the tiller information at the bottom of the tree root; at least three second identification members 320 are set, and all are set on the auxiliary member 230, for obtaining the coordinate information of the tiller; the main server includes a tiller identification module, a model building module, a telescopic control module and a cutting control module, the tiller identification module is used to determine whether there is a tiller at the bottom of the tree root according to the tiller information at the bottom of the tree root of the first identification member 310; the telescopic control module is used to control the extension of the telescopic member 210 in response to the judgment of the tiller identification module; the model building module is used to establish a three-dimensional model of the tiller position according to the tiller coordinate information of the second identification member 320; the cutting control module controls the rotation and opening of the cutting member 220 based on the three-dimensional model.

[0031] Specifically, the driving component 100 adopts mechanical equipment such as a car and a robot car that can drive the overall movement; the telescopic part 210 in the cutting component 200 uses but is not limited to a telescopic rod, a hydraulic rod, etc., and the telescopic part 210 is slidably connected to one side of the driving component 100 through a slide groove, a push-pull rod, etc., and the cutting part 220 adopts but is not limited to cutting equipment such as a blade, a high-pressure water gun, and a laser, and the auxiliary part 230 adopts but is not limited to a C-shaped, U-shaped or other shaped plate, and a plurality of through holes are provided on the plate, and the cutting part 220 is rotatably connected in the through hole by a spherical hinge; according to the spacing between the vines, the cutting component 200, the identification component 300 and the main server are each provided with two and symmetrically arranged on both sides of the driving component 100; the identification component 300 adopts but is not limited to imaging equipment such as a camera and a video camera.

[0032] Further, the driving component 100 can be set to a driving position, the main server is set in the cab, the driving component 100 moves, and the first identification component 300 is set at one end of the driving direction of the driving component 100. When the first identification component 300 passes by the grape tree, it takes a picture of its root to obtain root tiller information, and sends the root tiller information to the root tiller identification module. The root tiller identification module determines whether there is a root tiller at the root of the tree. If there is, the telescopic component 210 is controlled to extend, and the auxiliary component 230 is pressed against the top of the tree root. Then, the second identification component 300 takes a picture downward from the auxiliary component 230 to determine the position of the root tiller and obtain the coordinate information of the root tiller. After receiving the coordinate information, the model building module builds a three-dimensional model; according to the three-dimensional model, the cutting control module compares whether the position of the actual cutting component 220 coincides with the position of the standard cutting component 220. If they coincide, the cutting component 220 is directly opened to cut off the root tiller. If they do not coincide, the angle of the cutting component 220 is adjusted to make them coincide, and then cutting is performed.

[0033] The present application adopts a technical solution of a grafted grape sucker removal device to achieve the following beneficial effects: 1. Through the cooperation of the driving component 100, the identification component 300, the telescopic component, the cutting component 200 and the main server, the root tiller cutting is automated, solving the problem of high labor intensity and low work efficiency in manual root tiller cutting.

[0034] 2. The automatic identification of the identification component 300 and the control by the main server make the removal of root suckers simpler and more convenient, solving the problem of high labor intensity of manual judgment and manual control.

[0035] 3. Through the cooperation of the second identification component 320, the main server and the cutting assembly 200, the cutting is more accurate, which solves the problem of damaging the tree roots and affecting the subsequent growth of the grapevine.

[0036] In a preferred implementation scheme of the present application, in order to improve the accuracy of the cutting piece 220, the upper end face of the auxiliary piece 230 is provided with an angle adjustment piece 231, and the angle adjustment piece 231 is mounted on the cutting piece 220 to adjust the cutting angle of the cutting piece 220; the lower end face of the auxiliary piece 230 is provided with an angle acquisition piece, and the angle acquisition piece is electrically connected to the main server to obtain the position information of the cutting piece 220; the cutting control module also includes an angle control unit and a cutting control unit, and the angle control unit is used to determine whether the cutting piece 220 coincides with the three-dimensional model position of the model building module according to the position information of the cutting piece 220, and control the rotation of the cutting head; the cutting piece 220 control unit is used to respond to the judgment of the angle control unit to open or close the cutting piece 220.

[0037] The angle adjustment member 231 includes a C-shaped frame 232, a pushing rod 233 and a sliding rod 234, one end of the C-shaped frame 232 is connected to the sliding rod 234, the other end of the sliding rod 234 is connected to the auxiliary member 230, and the sliding rod 234 can drive the C-shaped frame 232 to slide in the horizontal direction, two pushing rods 233 are arranged, and are symmetrically arranged at one end of the C-shaped frame 232 away from the sliding rod 234, and the other end of the pushing rod 233 is connected to one end of the cutting member 220; the cutting member 220 is arranged in the through hole of the auxiliary member 230 by a spherical hinge; the angle acquisition member uses but is not limited to a plurality of detection devices such as a plurality of angle detectors and rangefinders, and the angle acquisition member is arranged on the lower end surface of the auxiliary member 230 away from the angle adjustment member 231; wherein the sliding rod 234 and the pushing rod 233 are both retractable telescopic rods.

[0038] Furthermore, the angle acquisition component acquires the actual position information of the cutting component 220 and feeds it back to the angle control unit of the main server. The angle control unit acquires the three-dimensional model of the root sucker from the model building module. The standard position information of the cutting component 220 exists in the three-dimensional model. By putting the actual position information of the cutting component 220 into the three-dimensional model and comparing it with the position information of the standard cutting component 220, if the position information is farther or closer in the horizontal direction, the control sliding rod 234 drives the C-shaped frame 232 to slide in the horizontal direction until the actual position information of the cutting component 220 is in the horizontal direction with the standard position information of the cutting component 220. If the vertical direction is far or close, the two relative push rods 233 are controlled to extend or retract until the actual cutting member 220 position information coincides with the standard cutting member 220 position information in the vertical direction; after both the vertical and horizontal directions coincide, the cutting member 220 control unit controls the cutting member 220 to open and cut the root sucker; the angle adjustment member 231 adjusts the cutting member 220, and completes the angle adjustment of the cutting member 220 under the comparison of the angle control unit, so that it coincides with the standard cutting member 220 position information, thereby solving the problem of damage to the roots of the grapevine caused by inaccurate cutting.

[0039] Based on the above scheme, in order to make cutting the root suckers more convenient, the cutting member 220 is any one of a laser cutting head, a high-pressure water cutting head, and a pneumatic cutting head. Through experiments, the three ways of cutting the root suckers are simpler and faster, and do not damage the roots of the grapevines; the above cutting member 220 is selected, and the end of the cutting member 220 away from the ground is correspondingly provided with a laser generator, an air duct and a water pipe, and the driving assembly 100 is provided with a water tank, a fan and other equipment, and connected to the end of the cutting member 220 to provide it with cutting power.

[0040] In another preferred implementation scheme of the present application, in order to make the extension and retraction more precise, a distance sensor 235 is provided at one end of the auxiliary component 230 close to the telescopic component 210, and the distance sensor 235 is electrically connected to the telescopic control module to obtain the distance information between the auxiliary component 230 and the tree; the telescopic control module determines whether the distance information of the distance sensor 235 is equal to the preset distance, and controls the telescopic component 210 to stop extending.

[0041] Specifically, the auxiliary part 230 is C-shaped, the cutting parts 220 are equidistantly arranged on the auxiliary part 230, the second identification parts 320 are respectively arranged on the peripheral sides of the auxiliary part 230 by means of connecting rods, and the distance sensor 235 is arranged in the middle of the auxiliary part 230 and is located at the unopened end of the auxiliary part 230. The distance sensor 235 is used to detect the length of the root of the grape tree from the auxiliary part 230, and the preset distance (the preset distance is preset by the operator to avoid the auxiliary part 230 still moving forward after contacting the bottom of the grape tree and causing damage to the bottom of the grape tree), and the distance sensor 235 feeds back the distance information to the telescopic control module, and by comparing the actual distance with the preset distance, when the actual distance is the same as the preset distance, the telescopic control module stops telescoping; the operation is simpler and the telescoping is more precise.

[0042] In a preferred embodiment of the present application, the identification component 300 also includes a third identification member 330, which is arranged at one end of the auxiliary member 230 away from the telescopic member 210 and is located on one side of the distance sensor 235, and the third identification member 330 is used to obtain the excision information of the tiller; the third identification member 330 is electrically connected to the telescopic control module, and the telescopic control module is used to determine whether the root tiller has been excised according to the excision information of the third identification member 330, and control the contraction of the telescopic member 210.

[0043] The third recognition component 300 is arranged on the lower end surface of the auxiliary component 230, and a plurality of the third recognition components 300 are arranged. The third recognition component 300 adopts, but is not limited to, imaging devices such as cameras and video cameras. After the cutting control module controls the cutting component 220 to cut the root tillers, the third recognition component 300 is used to check the roots of the grape tree. If the root tillers are cut off, the contraction component is controlled to contract. If the root tillers are not cut off, the coordinate information of the root tillers is obtained again by the second recognition component 300, and the three-dimensional model is re-established. The cutting steps are repeated until the root tillers are cut off after the third recognition component 330 checks. By checking the roots of the grape tree, the problem of missing the cutting of the root tillers is solved.

[0044] In another preferred embodiment of the present application, in order to ensure the continuity of the movement of the driving component 100, the end of the telescopic member 210 away from the auxiliary member 230 is connected to the cylinder 400, and the other end of the cylinder 400 is connected to the driving component 100, and the telescopic direction of the cylinder 400 is perpendicular to the telescopic direction of the telescopic member 210; the cylinder 400 is electrically connected to the tiller identification module and the telescopic control module respectively; the tiller identification module is used to determine whether there are tillers at the bottom of the tree roots according to the tiller information at the bottom of the tree roots of the first identification member 310, and control the extension of the cylinder 400; the telescopic control module is used to determine whether the tiller has been removed according to the tiller removal information of the third identification member 330, and control the contraction of the cylinder 400.

[0045] Specifically, the driving component 100 slowly moves forward in a predetermined direction. When the first identification component 310 identifies the existence of root suckers at the root of the grape tree, the telescopic component 210 moves toward the direction of the grape tree, and at the same time, the cylinder 400 slowly extends in a direction perpendicular to the extension and retraction direction of the telescopic component 210. When the telescopic component 210 is extended to the position, the cylinder 400 continues to extend, and the extension and retraction speed of the cylinder 400 is the same as the moving speed of the driving component 100. When the telescopic component 210 contracts, the cylinder 400 contracts quickly; when the first identification component 300 performs recognition again, the cylinder 400 has contracted to the initial position before extension and retraction, and when the third identification component 300 controls the telescopic component 210 to contract, the cylinder 400 still has not extended to the limit stroke; by setting the cylinder 400, the cutting of root suckers can be carried out continuously, solving the problem that the driving component 100 needs to stop while moving.

[0046] Based on the above-mentioned grafted grape root tiller removal device, a root tiller removal method of the grafted grape root tiller removal device is provided, comprising the following steps: Step S10, obtaining root tiller information; identifying the root tillers at the root of the grape tree through the first identification component 300, and sending the root tiller information to the main server.

[0047] Step S20: based on the root tiller information, determine whether there is a root tiller at the bottom of the tree root; and compare the root tiller information with the root tiller information to determine whether there is a root tiller at the bottom of the tree root.

[0048] If so, a first instruction for the extension of the telescopic member 210 is output; when there are root suckers at the roots of the grapevine, a first instruction is issued to the telescopic member 210, and the telescopic member 210 begins to extend in response to the first instruction and extends to a specified position.

[0049] Step S30, obtaining the coordinate information of the root tiller; after the telescopic member 210 is telescoped to the specified position, the second identification member 320 takes a photo for identification, thereby obtaining the coordinate information of the root tiller, and feeding the coordinate information back to the main server.

[0050] Step S40, establishing a three-dimensional model of the root tiller according to the coordinate information; the model building module of the main server establishes a three-dimensional model of the root tiller according to the coordinate information of the root tiller, and the three-dimensional model includes a three-dimensional model of the position of the root of the grape tree and a three-dimensional model of the position of the root tiller at the root of the grape tree.

[0051] Step S50, obtain the position information of the cutting piece 220, and determine whether the position information of the cutting piece 220 coincides with the standard position based on the three-dimensional model; obtain the position information of the cutting piece 220 through the angle acquisition piece, compare the position information with the standard position information of the cutting piece 220 in the three-dimensional model, and control the angle adjustment piece 231 to adjust the angle position of the cutting piece 220 so that it coincides with the standard position information.

[0052] If so, a second instruction to open the cutting member 220 is issued; after the overlap, the cutting control unit controls the cutting member 220 to perform cutting.

[0053] Specifically, the step S20 includes the following steps: Step S21, obtaining the distance information between the auxiliary component 230 and the tree, and determining whether the distance information coincides with a preset position; If yes, a third instruction to stop the extension of the telescopic member 210 is issued. The distance information between the auxiliary member 230 and the bottom of the tree root is fed back to the telescopic control module of the main server through the distance sensor 235. The telescopic control module compares the distance between the preset position and the bottom of the tree root with the distance information to determine whether they overlap. If they do not overlap, the telescopic member 210 continues to extend. If they overlap, the telescopic member 210 stops extending.

[0054] Further, the following steps are included: Step S60, obtaining the excision information of the root tillers, and determining whether the root tillers at the bottom of the tree root have been excised; taking a photo through the third identification element 330, obtaining the excision information, and determining whether there are unexcised root tillers at the root of the grape tree.

[0055] If yes, a fourth instruction for the telescopic member 210 to retract is issued; if it is determined that there are no uncut root suckers at the root of the grape tree, the telescopic member 210 starts to retract.

[0056] If not, repeat steps S30 to S60. If there are uncut root tillers, the second identification element 320 performs secondary identification to obtain the root tiller position information, re-establish the three-dimensional model, and repeat the root tiller cutting steps until there are no uncut root tillers at the root of the grapevine.

[0057] Furthermore, the method further comprises the following steps: Step S20: judging whether there are root tillers at the bottom of the tree root based on the root tiller information; If yes, a fifth instruction is outputted to extend the cylinder 400; The first identification member 310 identifies the root suckers at the root of the grape tree, and if there are root suckers, the first instruction and the fifth instruction are issued simultaneously, and when the telescopic member 210 is extended, the cylinder 400 is extended accordingly.

[0058] Step S60, obtaining root tiller excision information, and determining whether the root tiller at the bottom of the tree root has been excised; If yes, the sixth instruction for the cylinder 400 to retract is output. When the third identification component 330 verifies and there are no root suckers at the root of the grapevine that need to be removed, the sixth instruction and the fourth instruction are output simultaneously, and the cylinder 400 is retracted while the telescopic component 210 is retracted.

[0059] The specific working steps are as follows: The driving assembly 100 moves in a preset direction. When the first identification member 310 passes through the grapevine, its root is identified. After obtaining the tiller information, the tiller identification module is fed back to the tiller identification module, and the telescopic control module controls the telescopic member 210 to extend, and the cylinder 400 extends accordingly; when the distance sensor 235 obtains the distance information and feeds it back to the telescopic control module, when the auxiliary member 230 reaches the preset position, the telescopic control module controls the telescopic member 210 to stop extending and retracting, and the second identification member 320 obtains the position of the tiller and sends the coordinate information to the model building module, which performs three-dimensional modeling according to the coordinate information. After the three-dimensional model is established, the standard position information of the cutting member 220 in the three-dimensional model is compared with the angle obtaining member to feed back the cutting position information. The actual position information of the component 220 is controlled by the angle control unit to control the angle adjustment component 231 so that the actual position information coincides with the standard position information, and then the cutting control unit controls the cutting component 220 to cut; after the cutting is completed, the third identification component 330 is checked to identify the root of the grape tree, and the cutting information is fed back to the main server. If the cutting information is that there is a root tiller, the second identification component 320 performs a second identification, sends the second root tiller coordinate information to the model building module, re-establishes the three-dimensional model, and repeats the above-mentioned cutting steps until the cutting information of the third identification component 330 is that there is no root tiller; if the cutting information is that there is no root tiller, the telescopic control module controls the telescopic component 210 to retract, and the cylinder 400 retracts at the same time.

[0060] When the first identification component 300 identifies whether there is a root sucker at the root of the next grape tree, the cylinder 400 has driven the telescopic member 210 back to the original position; then the above steps are repeated until all the root suckers at the roots of all grape trees are removed.

[0061] The above-described embodiments only express the way of equipment layout of the present application, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application; it should be pointed out that for ordinary technicians in this field, several adjustments and improvements can be made without departing from the concept of the present application, which all belong to the scope of protection of the present application; therefore, the scope of protection of the patent of this application shall be based on the attached claims.

Claims

1. A grafted grape sucker removal device, characterized in that: include: Driving component, identification component, cutting component and main server; The driving assembly is used to move along a preset direction; The cutting assembly comprises a telescopic member, a cutting member and an auxiliary member, one end of the telescopic member is slidably connected to one side of the driving assembly, the other end of the telescopic member is connected to the auxiliary member, at least four cutting members are provided and are rotatably connected to the auxiliary member; The identification component includes a first identification member and a second identification member, wherein the first identification member is arranged on a side of the drive component connected to the telescopic member, and the first identification member is electrically connected to the main server, and is used to obtain the root tiller information at the bottom of the tree root; at least three second identification members are arranged, and are all arranged on the auxiliary member, and are used to obtain the coordinate information of the root tiller; The main server includes a tiller identification module, a model building module, a telescopic control module and a cutting control module. The tiller identification module is used to determine whether there is a tiller at the bottom of the tree root according to the tiller information at the bottom of the tree root of the first identification member; the telescopic control module is used to control the extension of the telescopic member in response to the judgment of the tiller identification module; the model building module is used to establish a three-dimensional model of the tiller position according to the tiller coordinate information of the second identification member; and the cutting control module controls the rotation and opening of the cutting member based on the three-dimensional model.

2. The grafted grape sucker removal device according to claim 1, characterized in that: The upper end surface of the auxiliary member is provided with an angle adjustment member, which is sleeved on the cutting member and is used to adjust the cutting angle of the cutting member; the lower end surface of the auxiliary member is provided with an angle acquisition member, which is electrically connected to the main server and is used to acquire the position information of the cutting member; The cutting control module also includes an angle control unit and a cutting control unit. The angle control unit is used to determine whether the cutting piece coincides with the three-dimensional model position of the model building module based on the position information of the cutting piece, and control the rotation of the cutting head; the cutting piece control unit is used to respond to the judgment of the angle control unit to turn on or off the cutting piece.

3. The grafted grape sucker removal device according to claim 1, characterized in that: The cutting piece is any one of a laser cutting head, a high-pressure water cutting head, and a pneumatic cutting head.

4. The grafted grape sucker removal device according to claim 1, characterized in that: A distance sensor is provided at one end of the auxiliary member close to the telescopic member, and the distance sensor is electrically connected to the telescopic control module to obtain distance information between the auxiliary member and the tree; The telescopic control module determines whether the distance information of the distance sensor is equal to a preset distance according to the distance information, and controls the telescopic member to stop extending.

5. The grafted grape sucker removal device according to claim 4, characterized in that: The identification component also includes a third identification member, which is arranged at an end of the auxiliary member away from the telescopic member and located on one side of the distance sensor, and the third identification member is used to obtain the excision information of the root tiller; the third identification member is electrically connected to the telescopic control module, and the telescopic control module is used to determine whether the root tiller has been excised according to the excision information of the third identification member, and control the contraction of the telescopic member.

6. The grafted grape sucker removal device according to claim 5, characterized in that: One end of the telescopic member away from the auxiliary member is connected to a cylinder, and the other end of the cylinder is connected to the driving assembly. The telescopic direction of the cylinder is perpendicular to the telescopic direction of the telescopic member; the cylinder is electrically connected to the tiller identification module and the telescopic control module respectively; the tiller identification module is used to determine whether there are tillers at the bottom of the tree root according to the tiller information at the bottom of the tree root of the first identification member, and control the extension of the cylinder; the telescopic control module is used to determine whether the tiller has been removed according to the tiller removal information of the third identification member, and control the contraction of the cylinder.

7. A root tiller removal method of a grafted grape root tiller removal device according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step S10, obtaining root and tiller information; Step S20: judging whether there are root tillers at the bottom of the tree root based on the root tiller information; If yes, output a first instruction for extending the telescopic member; Step S30, obtaining the coordinate information of the root sucker; Step S40: establishing a three-dimensional model of the root sucker according to the coordinate information; Step S50, obtaining the position information of the cut piece, and judging whether the position information of the cut piece coincides with the standard position based on the three-dimensional model; If so, a second instruction to open the cutting piece is issued.

8. The root tiller removal method according to claim 7, characterized in that: The step S20 comprises the following steps: Step S21, obtaining distance information between the auxiliary component and the tree, and determining whether the distance information coincides with a preset position; If yes, a third instruction is issued to stop the extension of the telescopic member.

9. The root sucker removal method according to claim 7, characterized in that: The following steps are involved: Step S60, obtaining root tiller excision information, and determining whether the root tiller at the bottom of the tree root has been excised; If yes, a fourth instruction for retracting the telescopic member is issued; If not, repeat steps S30 to S60.

10. The root sucker removal method according to claim 9, characterized in that: The following steps are also included: Step S20: judging whether there are root tillers at the bottom of the tree root based on the root tiller information; If so, output a fifth instruction for extending the cylinder; Step S60, obtaining root tiller excision information, and determining whether the root tiller at the bottom of the tree root has been excised; If so, the sixth instruction for the cylinder to contract is output.

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