Grafting grape root sprout removal device and root sprout removal method

Abstract

The application protects a kind of grafting grape root sprout removal device and root sprout removal method, including driving assembly, identification component, cutting component and main server;Cutting component includes telescopic part, cutting part and auxiliary part, telescopic part is connected driving assembly and auxiliary part, cutting part is connected with auxiliary part;Identification component includes first identification part and second identification part, first identification part is used to obtain root sprout information;Second identification part is used to obtain coordinate information;Main server includes root sprout identification module, model establishment module, telescopic control module and cutting control module, root sprout identification module is used to judge whether there is root sprout according to root sprout information;Telescopic control module is used to control the extension of telescopic part in response to the judgment of root sprout identification module;Model establishment module is used to establish three-dimensional model according to coordinate information;Cutting control module is used to control the rotation and opening of cutting part in response to model establishment module.The problem of high labor intensity and low work efficiency of artificial cutting root sprout is solved by root sprout cutting automation.

Description

Technical Field

[0001] This invention belongs to the field of grape cultivation technology, and specifically relates to a device and method for removing root suckers from grafted grapes. Background Technology

[0002] In grape cultivation, grafting is typically performed using rootstock. Rootstock refers to the plant that receives the scion during grafting. It can be a root segment or branch segment of the vine, serving to fix and support the scion, and allowing the graft to heal and form the new plant for growth and fruiting. After grafting, new root suckers will grow from the grapevine's roots. These are adventitious buds that grow around the roots and extend above the ground, forming new individual plants. When root suckers become overly developed, they can easily compete with the main plant for nutrients. To ensure the plant has sufficient nutrients, root suckers need to be removed.

[0003] In existing technologies, such as Chinese utility model patent CN218072558U, a root sucker cutter is disclosed. Specifically, it includes: 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 and second connecting rods are hinged at their middle portions. One end of the first connecting rod is connected to a first handle, and the other end is connected to an arc-shaped first blade. One end of the second connecting rod is connected to a second handle, and the other end is connected to an arc-shaped second blade. The first blade has a first cutting edge, and the second blade has a second cutting edge, arranged opposite to each other. In use, both the first and second protective rings encircle the plant roots, preventing the first and second cutting edges from accidentally damaging the bark of the plant roots when cutting the suckers. When there are many root suckers around the base of the plant, they can be easily removed using the first and second blades of the blade. This not only reduces labor intensity but also greatly improves the efficiency of removing root suckers.

[0004] However, grape cultivation is mostly done on a large scale, and using root suckers is labor-intensive and inefficient. Summary of the Invention

[0005] Therefore, it is necessary to provide a root sucker removal device and method for grafted grapes to address the problems of high labor intensity and low work efficiency caused by using root sucker pruning shears in large-scale grape cultivation.

[0006] To achieve the above objectives, the present invention adopts the following solution:

[0007] The application discloses a device for removing root suckers of grafted grape, which comprises a driving assembly, an identification assembly, a cutting assembly and a main server; the driving assembly is used for moving in a preset direction; the cutting assembly comprises a telescopic piece, a cutting piece and an auxiliary piece, one end of the telescopic piece is slidably connected to one side of the driving assembly, the other end of the telescopic piece is connected to the auxiliary piece, the cutting piece is provided with at least four and is rotationally connected to the auxiliary piece; the identification assembly comprises a first identification piece and a second identification piece, the first identification piece is arranged on one side of the driving assembly connected to the telescopic piece, and the first identification piece is electrically connected to the main server and is used for acquiring root sucker information at the bottom of a tree root; the second identification piece is provided with at least three and is arranged on the auxiliary piece and is used for acquiring coordinate information of the root sucker; the main server comprises a root sucker identification module, a model establishment module, a telescopic control module and a cutting control module, the root sucker identification module is used for judging whether there is a root sucker at the bottom of a tree root according to the root sucker information at the bottom of the tree root of the first identification piece; the telescopic control module is used for controlling the extension of the telescopic piece in response to the judgment of the root sucker identification module; the model establishment module is used for establishing a three-dimensional model of a root sucker position according to the coordinate information of the root sucker of the second identification piece; and the cutting control module controls the rotation and opening of the cutting piece based on the three-dimensional model.

[0008] Preferably, an upper end surface of the auxiliary piece is provided with an angle adjusting piece, the angle adjusting piece is sleeved on the cutting piece and is used for adjusting the cutting angle of the cutting piece; a lower end surface of the auxiliary piece is provided with an angle acquiring piece, the angle acquiring piece is electrically connected to the main server and is used for acquiring position information of the cutting piece; the cutting control module further comprises an angle control unit and a cutting control unit, the angle control unit is used for judging whether the cutting piece coincides with the position of the three-dimensional model of the model establishment module according to the position information of the cutting piece and controlling the rotation of the cutting piece; and the cutting control unit is used for opening or closing the cutting piece in response to the judgment of the angle control unit.

[0009] Preferably, the cutting piece is any one of a laser cutting head, a high-pressure water cutting head and a gas pressure cutting head.

[0010] Preferably, one end of the auxiliary piece close to the telescopic piece is provided with a distance sensor, the distance sensor is electrically connected to the telescopic control module and is used for acquiring distance information of the auxiliary piece and a tree; the telescopic control module judges whether the distance information of the distance sensor is equal to a preset distance and controls the telescopic piece to stop extending.

[0011] Preferably, the recognition assembly further comprises a third recognition member, which is arranged at one end of the auxiliary member away from the telescopic member and at one side of the distance sensor, and is used to acquire cutting information of the root sprout; the third recognition member is electrically connected with the telescopic control module, and the telescopic control module is used to determine whether the root sprout is cut completely according to the cutting information of the third recognition member, and control the telescopic member to retract.

[0012] Preferably, a cylinder is connected at one end of the telescopic member away from the auxiliary member, the other end of the cylinder is connected with the driving assembly, the telescopic direction of the cylinder is perpendicular to the telescopic direction of the telescopic member; the cylinder is electrically connected with the root sprout recognition module and the telescopic control module respectively; the root sprout recognition module is used to determine whether the root sprout exists at the bottom of the tree root according to the root sprout information of the bottom of the tree root of the first recognition member, and control the cylinder to extend; the telescopic control module is used to determine whether the root sprout is cut completely according to the cutting information of the root sprout of the third recognition member, and control the cylinder to retract.

[0013] A root sprout removal method of the grafting grape root sprout removal device according to any one of the above, comprising the following steps:

[0014] Step S10, acquiring root sprout information;

[0015] Step S20, determining whether the root sprout exists at the bottom of the tree root based on the root sprout information;

[0016] If yes, outputting a first instruction of extending the telescopic member;

[0017] Step S30, acquiring coordinate information of the root sprout;

[0018] Step S40, establishing a three-dimensional model of the root sprout according to the coordinate information;

[0019] Step S50, acquiring position information of the cutting member, and determining whether the position information of the cutting member coincides with a standard position based on the three-dimensional model;

[0020] If yes, outputting a second instruction of starting the cutting member.

[0021] Preferably, the step S20 comprises the following steps:

[0022] Step S21, acquiring distance information of the auxiliary member and the tree, and determining whether the distance information coincides with a preset position;

[0023] If yes, outputting a third instruction of stopping the telescopic member from extending.

[0024] Preferably, the method comprises the following steps:

[0025] Step S60, obtaining the cutting information of the root sprout, judging whether the root sprout at the bottom of the tree root is cut off or not;

[0026] If yes, the fourth instruction of the telescopic part contraction is sent out;

[0027] If no, steps S30 to S60 are repeated.

[0028] Preferably, the following steps are further included:

[0029] Step S20, judging whether there is a root sprout at the bottom of the tree root based on the root sprout information;

[0030] If yes, the fifth instruction of the cylinder elongation is outputted;

[0031] Step S60, obtaining the cutting information of the root sprout, judging whether the root sprout at the bottom of the tree root is cut off or not;

[0032] If yes, the sixth instruction of the cylinder contraction is outputted.

[0033] The technical scheme adopted by the present application can achieve the following beneficial effects:

[0034] 1. Through the mutual cooperation of the driving assembly, the recognition assembly, the telescopic assembly, the cutting assembly and the main server, the root sprout cutting is automated, solving the problems of high labor intensity and low work efficiency of manual cutting of root sprouts.

[0035] 2. The automatic recognition of the recognition assembly and the control by the main server make the removal of root sprouts more simple and convenient, solving the problem of high labor intensity of artificial judgment and artificial control.

[0036] 3. Through the cooperation of the second recognition part, the main server and the cutting assembly, the cutting is more accurate, solving the problem of cutting damage to the tree root, which affects the subsequent growth of the grape tree. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is the overall schematic diagram of the anti-collision telescopic hydraulic column of the present application Figure One .

[0038] Figure 2 It is the overall schematic diagram of the anti-collision telescopic hydraulic column of the present application Figure Two .

[0039] Figure 3 It is the partial schematic diagram of the anti-collision telescopic hydraulic column of the present application Figure One .

[0040] Figure 4 It is the enlarged view of A part of the anti-collision telescopic hydraulic column of the present application.

[0041] Figure 5 It is the partial schematic diagram of the anti-collision telescopic hydraulic column of the present applicationFigure Two .

[0042] Figure 6 Figure 6 is an enlarged view of part B of the anti-collision telescopic hydraulic column of the present application.

[0043] Figure 7 Figure 7 is a partial schematic view of the anti-collision telescopic hydraulic column of the present application. Figure Three .

[0044] In the figure: driving assembly 100, cutting assembly 200, telescopic part 210, cutting part 220, auxiliary part 230, angle adjusting part 231, c-shaped frame 232, pushing rod 233, sliding rod 234, distance sensor 235, identification assembly 300, first identification part 310, second identification part 320, third identification part 330, air cylinder 400. DETAILED DESCRIPTION

[0045] In order to facilitate the understanding of the present application, the present application will be described more fully below. The present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0046] It should be noted that when a device is considered to be "connected" to another device, it can be directly connected to the other device or a mediating device can be present at the same time. The terms "internal", "top", "upper", "lower", "up", "down" and similar expressions used herein are only for illustrative purposes and do not represent the only embodiment.

[0047] 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 the present application belongs. The terms used in the specification of the present application herein are only for the purpose of describing the specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0048] Please refer to Figures 1 to 7The application provides a device for removing grapevine root sprouts, which comprises a driving assembly 100, an identification assembly 300, a cutting assembly 200 and a main server. The driving assembly 100 is used for moving in a preset direction. The cutting assembly 200 comprises a telescopic piece 210, cutting pieces 220 and an auxiliary piece 230. One end of the telescopic piece 210 is slidably connected to one side of the driving assembly 100, and the other end of the telescopic piece 210 is connected to the auxiliary piece 230. The cutting pieces 220 are arranged in at least four and rotationally connected to the auxiliary piece 230. The identification assembly 300 comprises first identification pieces 310 and second identification pieces 320. The first identification pieces 310 are arranged on one side of the driving assembly 100 connected to the telescopic piece 210, and electrically connected to the main server, and used for acquiring root sprout information at the bottom of a tree root. The second identification pieces 320 are arranged in at least three and arranged on the auxiliary piece 230, and used for acquiring coordinate information of the root sprouts. The main server comprises a root sprout identification module, a model establishment module, a telescopic control module and a cutting control module. The root sprout identification module is used for judging whether there is a root sprout at the bottom of a tree root according to the root sprout information at the bottom of the tree root of the first identification piece 310. The telescopic control module is used for controlling the extension of the telescopic piece 210 in response to the judgment of the root sprout identification module. The model establishment module is used for establishing a three-dimensional model of the position of the root sprout according to the coordinate information of the root sprout of the second identification piece 320. The cutting control module controls the rotation and opening of the cutting pieces 220 based on the three-dimensional model.

[0049] Specifically, the driving assembly 100 adopts a mechanical device capable of driving the whole body to move, such as a car or a robot trolley. The telescopic piece 210 in the cutting assembly 200 uses but is not limited to a telescopic rod, a hydraulic rod and the like. The telescopic piece 210 is slidably connected to one side of the driving assembly 100 through a sliding groove, a push-pull rod or the like. The cutting pieces 220 use but are not limited to cutting devices such as blades, high-pressure water guns and lasers. The auxiliary piece 230 uses but is not limited to a plate with a c-shaped or u-shaped shape. The plate is provided with a plurality of through holes, and the cutting pieces 220 are rotationally connected in the through holes through a spherical hinge. According to the distance between grapevines, the cutting assembly 200, the identification assembly 300 and the main server are arranged in two and symmetrically arranged on both sides of the driving assembly 100. The identification assembly 300 uses but is not limited to image devices such as cameras and video cameras.

[0050] Further, the driving assembly 100 can be provided with a driver's seat, the main server is arranged in the cab, the driving assembly 100 moves, the first identification member 310 is arranged at one end of the driving direction of the driving assembly 100, the first identification member 310 takes a photo of the root part when passing the grape tree to obtain the root sucker information, and the root sucker information is sent to the root sucker identification module; the root sucker identification module judges whether there is a root sucker at the tree root; if yes, the telescopic member 210 is controlled to be elongated, and the auxiliary member 230 is arranged above the tree root, and then the second identification member 320 is used to take a photo downward from the auxiliary member 230 to determine the position of the root sucker and obtain the coordinate information of the root sucker; after the coordinate information is received by the model establishment module, the three-dimensional model is established; according to the three-dimensional model, the cutting control module is used to compare whether the position of the actual cutting member 220 coincides with the position of the standard cutting member 220; if yes, the cutting member 220 is directly started to cut the root sucker; if not, the angle of the cutting member 220 is adjusted so as to coincide, and then the cutting is performed.

[0051] The technical scheme of the grafting grape root sucker removal device can achieve the following beneficial effects:

[0052] 1. Through the cooperation of the driving assembly 100, the identification assembly 300, the telescopic assembly, the cutting assembly 200 and the main server, the root sucker cutting is automated, and the problems of high labor intensity and low work efficiency of manual cutting of the root sucker are solved.

[0053] 2. The automatic identification of the identification assembly 300 is controlled by the main server, and the root sucker is removed more simply and conveniently, and the problems of high labor intensity of artificial judgment and artificial control are solved.

[0054] 3. Through the cooperation of the second identification member 320, the main server and the cutting assembly 200, the cutting is more accurate, and the problem of cutting damage to the tree root and affecting the subsequent growth of the grape tree is solved.

[0055] In one preferred embodiment of the present application, in order to improve the accuracy of the cutting member 220, the upper end face of the auxiliary member 230 is provided with an angle adjusting member 231, the angle adjusting member 231 is sleeved on the cutting member 220, and is used for adjusting the cutting angle of the cutting member 220; the lower end face of the auxiliary member 230 is provided with an angle acquiring member, the angle acquiring member is electrically connected with the main server, and is used for acquiring the position information of the cutting member 220; the cutting control module further comprises an angle control unit and a cutting control unit, the angle control unit is used for judging whether the cutting member 220 coincides with the position of the three-dimensional model of the model establishment module according to the position information of the cutting member 220, and controlling the rotation of the cutting member 220; the cutting control unit is used for starting or stopping the cutting member 220 in response to the judgment of the angle control unit.

[0056] The angle adjusting part 231 comprises a c-shaped frame 232, a pushing rod 233 and a sliding rod 234, one end of the c-shaped frame 232 is connected with the sliding rod 234, the other end of the sliding rod 234 is connected with the auxiliary part 230, and the sliding rod 234 can drive the c-shaped frame 232 to slide in the horizontal direction, the pushing rod 233 is provided with two and is 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 with one end of the cutting part 220; the cutting part 220 is arranged in the through hole of the auxiliary part 230 in a ball-type hinged manner; the angle obtaining part uses but is not limited to a plurality of detection devices such as angle detectors and range finders, and is arranged at the lower end face of the auxiliary part 230 away from the angle adjusting part 231; wherein the sliding rod 234 and the pushing rod 233 are telescopic rods.

[0057] Further, the angle obtaining part obtains the actual position information of the cutting part 220 and feeds back to the angle control unit of the main server, the angle control unit obtains the three-dimensional model of the root sucker from the model establishing module, the standard position information of the cutting part 220 exists in the three-dimensional model, by putting the actual position information of the cutting part 220 into the three-dimensional model, the standard position information of the cutting part 220 is compared, if it is far or close in the horizontal direction, the sliding rod 234 drives the c-shaped frame 232 to slide in the horizontal direction until the actual position information of the cutting part 220 coincides with the standard position information of the cutting part 220 in the horizontal direction; if it is far or close in the vertical direction, the opposite two pushing rods 233 are controlled to be elongated or contracted until the actual position information of the cutting part 220 coincides with the standard position information of the cutting part 220 in the vertical direction; after the vertical direction and the horizontal direction coincide, the cutting part 220 is controlled to be opened by the cutting part 220 control unit, and the root sucker is cut; the angle adjusting part 231 adjusts the cutting part 220, and the angle adjustment of the cutting part 220 is completed under the comparison of the angle control unit, so that the cutting part 220 coincides with the standard position information of the cutting part 220, thereby solving the problem that the damage to the root of the grape tree is caused by inaccurate cutting.

[0058] Based on the above scheme, in order to cut the root sucker more conveniently, the cutting part 220 is any one of a laser cutting head, a high-pressure water cutting head and a gas pressure cutting head. Through experiments, the three kinds of cutting root sucker are more simple and fast, and have no damage to the root of the grape tree; the laser generator, the air pipe and the water pipe are correspondingly arranged at one end of the cutting part 220 away from the ground, the water storage tank, the fan and other equipment are arranged on the driving assembly 100, and are connected at the end of the cutting part 220, so as to provide cutting power for the cutting part 220.

[0059] In another preferred embodiment of the present application, in order to make the stretching more accurate, the auxiliary member 230 is provided with a distance sensor 235 near one end of the stretching member 210, the distance sensor 235 is electrically connected with the stretching control module, and is used to obtain the distance information between the auxiliary member 230 and the tree; the stretching control module judges whether the distance information of the distance sensor 235 is equal to the preset distance, and controls the stretching member 210 to stop stretching.

[0060] Specifically, the auxiliary member 230 is c-shaped, the cutting member 220 is equidistantly arranged on the auxiliary member 230, the second identification member 320 is arranged on the circumferential side of the auxiliary member 230 by means of a connecting rod, and the distance sensor 235 is arranged at the middle part of the auxiliary member 230 and at one end of the auxiliary member 230 which is not opened, the distance sensor 235 is used to detect the length between the root of the grape tree and the auxiliary member 230, the distance between the preset distance (the preset distance is preset by the operator, so as to avoid the phenomenon that the bottom of the grape tree is damaged due to the further advance of the auxiliary member 230 after the auxiliary member 230 contacts the bottom of the grape tree), and the distance sensor 235 feeds back the distance information to the stretching control module, and the actual distance is compared with the preset distance, and when the actual distance is equal to the preset distance, the stretching is stopped; the operation is simpler, and the stretching is more accurate.

[0061] In the preferred embodiment of the present application, the identification assembly 300 further comprises a third identification member 330, the third identification member 330 is arranged at one end of the auxiliary member 230 away from the stretching member 210, and is located at one side of the distance sensor 235, the third identification member 330 is used to obtain the cutting information of the root sucker, the third identification member 330 is electrically connected with the stretching control module, and the stretching control module is used to judge whether the root sucker is cut completely according to the cutting information of the third identification member 330, and controls the stretching member 210 to contract.

[0062] The third identification member 330 is arranged at the lower end surface of the auxiliary member 230, and a plurality of third identification members 330 are arranged, and the same third identification member 330 adopts but is not limited to an image device such as a camera or a video camera, after the cutting control module controls the cutting member 220 to cut the root sucker completely, the third identification member 330 is used to recheck the root of the grape tree, if the root sucker is cut completely, the contraction member is controlled to contract, if the root sucker is not cut completely, the coordinate information of the root sucker is obtained by the second identification member 320 again, a three-dimensional model is reestablished, the cutting step is repeated until the root sucker is cut completely after the rechecking of the third identification member 330; the rechecking of the root of the grape tree solves the problem of missing cutting of the root sucker.

[0063] In another preferred embodiment of the present application, in order to ensure the continuity of the driving assembly 100, the telescopic member 210 is connected with a pneumatic cylinder 400 at one end away from the auxiliary member 230, the other end of the pneumatic cylinder 400 is connected with the driving assembly 100, the telescopic direction of the pneumatic cylinder 400 is perpendicular to the telescopic direction of the telescopic member 210; the pneumatic cylinder 400 is electrically connected with the sucker recognition module and the telescopic control module respectively; the sucker recognition module is used for judging whether there is a sucker at the bottom of the tree root according to the sucker information at the bottom of the tree root of the first recognition member 310, and controlling the extension of the pneumatic cylinder 400; the telescopic control module is used for judging whether the cutting of the sucker is completed according to the cutting information of the sucker of the third recognition member 330, and controlling the contraction of the pneumatic cylinder 400.

[0064] Specifically, the driving assembly 100 slowly moves in a predetermined direction, when the first recognition member 310 identifies that there is a sucker at the bottom of the grape tree, the telescopic member 210 moves towards the grape tree, at the same time, the pneumatic cylinder 400 slowly extends in a direction perpendicular to the telescopic direction of the telescopic member 210, when the telescopic member 210 extends to a position, the pneumatic cylinder 400 continues to extend, and the extension speed of the pneumatic cylinder 400 is the same as the moving speed of the driving assembly 100, when the telescopic member 210 contracts, the pneumatic cylinder 400 quickly contracts, when the first recognition member 310 identifies again, the pneumatic cylinder 400 has contracted to the initial position before the telescoping, and when the third recognition member 330 controls the contraction of the telescopic member 210, the pneumatic cylinder 400 still does not extend to the limit stroke; by setting the pneumatic cylinder 400, the cutting of the sucker can be continuously performed, and the problem that the driving assembly 100 needs to stop while walking is solved.

[0065] Based on the above grafting grape sucker removal device, a sucker removal method of the grafting grape sucker removal device is provided, including the following steps:

[0066] Step S10, obtaining sucker information; the sucker at the bottom of the grape tree is identified by the first recognition member 310, and the sucker information is sent to the host server.

[0067] Step S20, judging whether there is a sucker at the bottom of the tree root based on the sucker information; according to the sucker information, whether there is a sucker at the bottom of the tree root in the sucker information is compared.

[0068] If yes, a first instruction of extending the telescopic member 210 is output; when there is a sucker at the bottom of the grape tree, the first instruction is sent to the telescopic member 210, the telescopic member 210 starts to extend in response to the first instruction, and extends to a specified position.

[0069] Step S30, obtaining coordinate information of the sucker; after the telescopic member 210 is telescoped to the specified position, the second recognition member 320 performs photographing identification, so as to obtain the coordinate information of the sucker, and the coordinate information is fed back to the host server.

[0070] Step S40, according to the coordinate information, a three-dimensional model of the root sprout is established; the model establishment module of the main server establishes a three-dimensional model of the root sprout according to the coordinate information of the root sprout, and the three-dimensional model includes a three-dimensional model of the root position of the grape tree and a three-dimensional model of the root sprout position of the grape tree root.

[0071] Step S50, the position information of the cutting member 220 is obtained, and whether the position information of the cutting member 220 coincides with the standard position is judged based on the three-dimensional model; the position information of the cutting member 220 is obtained by the angle obtaining member, the position information is compared with the standard position information of the cutting member 220 in the three-dimensional model, and the angle adjusting member 231 is controlled to adjust the angle position of the cutting member 220, so that it coincides with the standard position information.

[0072] If yes, a second instruction for starting the cutting member 220 is sent; after coincidence, the cutting member 220 is controlled by the cutting control unit to cut.

[0073] Specifically, the step S20 includes the following steps:

[0074] Step S21, the distance information between the auxiliary member 230 and the tree is obtained, and whether the distance information coincides with the preset position is judged;

[0075] If yes, a third instruction for stopping the extension of the telescopic member 210 is sent. 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 by 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, judges whether they coincide, the telescopic member 210 continues to extend if they do not coincide, and the telescopic member 210 stops extending after they coincide.

[0076] Further, the following steps are included:

[0077] Step S60, the cutting information of the root sprout is obtained, and whether the root sprout of the tree root bottom is cut is judged; the cutting information is obtained by the third identification member 330 for photographing, and whether there is an uncut root sprout of the grape tree root is judged.

[0078] If yes, a fourth instruction for retracting the telescopic member 210 is sent; if there is no uncut root sprout of the grape tree root, the telescopic member 210 starts to retract.

[0079] If no, steps S30 to S60 are repeated. If there is an uncut root sprout, the second identification member 320 performs secondary identification, obtains the root sprout position information, reestablishes the three-dimensional model, and repeats the cutting step of the root sprout until there is no uncut root sprout of the grape tree root.

[0080] Further, the following steps are included:

[0081] Step S20, based on the root sucker information, judge whether there is root sucker at the bottom of the tree root;

[0082] If yes, output the fifth instruction of the extension of the cylinder 400;

[0083] The first identification member 310 identifies the root sucker of the grape tree root, and if there is a root sucker, the first instruction and the fifth instruction are output at the same time, and the extension member 210 is extended at the same time, and the cylinder 400 is extended.

[0084] Step S60, get the cutting information of the root sucker, and judge whether the root sucker at the bottom of the tree root is cut off;

[0085] If yes, output the sixth instruction of the contraction of the cylinder 400. The third identification member 330 reviews and the grape tree root has no root sucker to be cut off, and outputs the sixth instruction and the fourth instruction at the same time, and the extension member 210 is contracted at the same time, and the cylinder 400 is contracted.

[0086] The specific working steps are as follows:

[0087] The driving assembly 100 advances to the preset direction, the first identification member 310 identifies the root of the grape tree when passing through the grape tree, obtains the root sucker information, and feeds back to the root sucker identification module, and the extension control module controls the extension member 210 to extend, and the cylinder 400 is extended at the same time; When the distance sensor 235 obtains the distance information and feeds back to the extension control module, when the auxiliary member 230 reaches the preset position, the extension control module controls the extension member 210 to stop extension, and the second identification member 320 obtains the position of the root sucker, and sends the coordinate information to the model establishment module, and the model establishment module establishes a three-dimensional model according to the coordinate information, and 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 actual position information of the cutting member 220 fed back by the angle acquisition member, the angle adjusting member 231 is controlled by the angle control unit to make the actual position information coincide with the standard position information, and then the cutting member 220 is controlled by the cutting control unit to cut; After cutting, the third identification member 330 is reviewed, the root of the grape tree is identified, and the cutting information is fed back to the host server, if the cutting information is with root sucker, the second identification member 320 is identified for the second time, the second root sucker coordinate information is sent to the model establishment module, the three-dimensional model is re-established, and the above cutting step is repeated until the cutting information of the third identification member 330 is all without root sucker; If the cutting information is without root sucker, the extension control module controls the extension member 210 to contract, and the cylinder 400 is contracted at the same time.

[0088] When the first identification member 310 identifies whether the next grape tree root has root sucker, the cylinder 400 has driven the extension member 210 to return to the original position; Then repeat the above steps until all the root suckers of the grape tree roots are cut off.

[0089] The above-described embodiments only express the device arrangement manner of the present application, which is described in a more specific and detailed manner, but cannot be understood as a limitation to the patent scope of the application; it should be pointed out that, for ordinary skilled persons in the art, some adjustments and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application; therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A device for removing root suckers from grafted grapevines, characterized in that, The utility model relates to a cutting device for cutting root sprouts of tree roots, comprising: a driving assembly, an identification assembly, a cutting assembly and a main server; the driving assembly is used for advancing 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 slidingly connected to one side of the driving assembly, the other end of the telescopic member is connected to the auxiliary member, and the cutting member is provided with at least four and is rotationally connected to the auxiliary member; the identification assembly comprises a first identification member and a second identification member, the first identification member is provided on one side of the driving assembly connected to the telescopic member, and the first identification member is electrically connected to the main server to obtain root sprout information at the bottom of a tree root; the second identification member is provided with at least three and is arranged on the auxiliary member to obtain coordinate information of the root sprouts; the main server comprises a root sprout identification module, a model establishment module, a telescopic control module and a cutting control module, the root sprout identification module is used for judging whether there is a root sprout at the bottom of a tree root according to root sprout information at the bottom of the tree root of the first identification member, if yes, controlling the telescopic member to elongate and making the auxiliary member abut on the top of the tree root; the telescopic control module is used for controlling the elongation of the telescopic member in response to the judgment of the root sprout identification module; the model establishment module is used for establishing a three-dimensional model of the position of the root sprout according to the coordinate information of the root sprout 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; wherein, the upper end surface of the auxiliary member is provided with an angle adjusting member, the angle adjusting member is sleeved on the cutting member to adjust the cutting angle of the cutting member; the lower end surface of the auxiliary member is provided with an angle obtaining member, the angle obtaining member is electrically connected to the main server to obtain position information of the cutting member; the cutting control module further comprises an angle control unit and a cutting control unit, the angle control unit is used for judging whether the cutting member coincides with the position of the three-dimensional model of the model establishment module according to the position information of the cutting member and controlling the rotation of the cutting member; and the cutting control unit is used for opening or closing the cutting member in response to the judgment of the angle control unit; one end of the auxiliary member close to the telescopic member is provided with a distance sensor, the distance sensor is electrically connected to the telescopic control module to obtain distance information between the auxiliary member and a tree; the telescopic control module judges whether the distance information of the distance sensor is equal to a preset distance and controls the telescopic member to stop elongating according to the distance information of the distance sensor; the identification assembly further comprises a third identification member, the third identification member is arranged on one 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 for obtaining cutting information of the root sprout; the third identification member is electrically connected to the telescopic control module, and the telescopic control module is used for judging whether the root sprout is cut completely according to the cutting information of the third identification member and controlling the telescopic member to contract. The telescopic part is connected with a cylinder at one end away from the auxiliary part, the other end of the cylinder is connected with the driving assembly, the telescopic direction of the cylinder is perpendicular to the telescopic direction of the telescopic part; the cylinder is electrically connected with the root sprout identification module and the telescopic control module respectively; the root sprout identification module is used for judging whether there is root sprout at the bottom of the tree root according to the root sprout information of the bottom of the tree root of the first identification part, and controlling the extension of the cylinder; the telescopic control module is used for judging whether the root sprout is cut off completely according to the cutting information of the root sprout of the third identification part, and controlling the contraction of the cylinder.

2. The device according to claim 1, characterized in that The cutting part is any one of a laser cutting head, a high-pressure water cutting head and a gas pressure cutting head.

3. A root sprout removal method of the root sprout removal apparatus for grafted grapevines according to any one of claims 1 to 2, characterized by, The method comprises the following steps: Step S10, acquiring root sprout information; Step S20, judging whether there is root sprout at the bottom of the tree root based on the root sprout information; If yes, outputting a first instruction of extending the telescopic part; Step S30, acquiring coordinate information of the root sprout; Step S40, establishing a three-dimensional model of the root sprout according to the coordinate information; Step S50, acquiring position information of the cutting part, and judging whether the position information of the cutting part coincides with a standard position based on the three-dimensional model; If yes, outputting a second instruction of starting the cutting part.

4. The root sprout removal method according to claim 3, characterized by The step S20 comprises the following steps: Step S21, acquiring distance information between the auxiliary part and the tree, and judging whether the distance information coincides with a preset position; If yes, outputting a third instruction of stopping the extension of the telescopic part.

5. The root sprout removal method according to claim 3, characterized by The method comprises the following steps: Step S60, acquiring cutting information of the root sprout, and judging whether the root sprout at the bottom of the tree root is cut off completely; If yes, outputting a fourth instruction of contracting the telescopic part; If no, repeating steps S30 to S60.

6. The root sprout removal method according to claim 5, characterized by The method further comprises the following steps: Step S20, judging whether there is root sprout at the bottom of the tree root based on the root sprout information; If yes, outputting a fifth instruction of extending the cylinder; Step S60, acquiring cutting information of the root sprout, and judging whether the root sprout at the bottom of the tree root is cut off completely; If yes, outputting a sixth instruction of contracting the cylinder.

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