Grape vine burying and soil cleaning machine

Abstract

The invention belongs to the technical field of agricultural machinery, and particularly relates to a grape vine burying soil cleaning machine which comprises a grape vine burying depth detection mechanism and a portal frame, the grape vine burying depth detection mechanism is arranged on the portal frame, and the portal frame stretches across grape vine ridges and can move in the extending direction of the grape vine ridges. The grape vine burial depth detection mechanism comprises a mounting frame, a detection assembly and a controller. And a plurality of through holes are formed in one side of the mounting frame. The detection assembly comprises a driving part, a pushing plate and a plurality of return springs, the driving part is connected with the pushing plate in the mounting frame, the return springs are arranged on one side of the pushing plate and connected with a probe, the probe can penetrate through the through hole to do reciprocating motion to detect the burial depth of the grape vine, and a displacement sensor is arranged at the first end of the probe and outputs first monitoring data and second monitoring data when the distance is not changed. The controller is electrically connected with the displacement sensor and outputs a grape vine ridge overall three-dimensional boundary model according to data. According to the technical scheme, soil around grape vines can be accurately cleaned, and the grape vines are prevented from being damaged during blind cleaning.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a grape vine burying and soil cleaning machine. Background Art

[0002] In order to prevent the grape vines from being frostbitten in severe cold, grape-growing farms will lay down the grape vines in order along the grape planting row spacing in early winter and bury them with soil to keep the grape vines warm and retain moisture. When the weather warms up in spring, the soil layer covering the vines is removed and the grape vines are erected on the grape racks again. In order to improve the efficiency of spring grape vine burying and soil cleaning operations, grape-growing farms often use mechanical drives to clear the soil layer of grape vines. For example, the Chinese invention patent "Self-propelled Grape Vine Burying and Soil Cleaning Machine" with publication number CN116458285A specifically discloses a self-propelled grape vine burying and soil cleaning machine, including a gantry, a drive control system, a crawler walking mechanism, a soil cleaning component and a flexible cleaning mechanism. The gantry can span the grape rack, and the gantry has an operating platform; the drive control system is arranged on the operating platform; the crawler walking mechanism is arranged at the bottom of the gantry and is connected to the drive control system. Used to drive the gantry to move forward; the soil cleaning component is arranged on the front side of the gantry, and the soil cleaning component includes a soil cleaning knife, a cutter disc and a cutter disc rotation drive device. There are multiple soil cleaning knives, and multiple soil cleaning knives are spirally arranged on the cutter disc. The cutter disc rotation drive device is connected to the cutter disc to drive the cutter disc and the soil cleaning knife to rotate; the flexible cleaning mechanism is arranged on the rear side of the gantry, and the flexible cleaning mechanism includes a soil cleaning brush, a brush holder and a brush holder rotation drive device. The soil cleaning brush is arranged on the brush holder, and the brush holder rotation drive device is connected to the brush holder to drive the brush holder and the soil cleaning brush to rotate. The present invention is equipped with a crawler self-propelled gantry operating platform and a grape vine burying soil cleaning component, a rotating lifting mechanism, a drive control system, etc., which can solve the problem of cleaning the buried soil layer in large-scale standardized grape planting farms when the grape vines open in spring, reduce manual assistance, and improve work efficiency.

[0003] In the above-mentioned prior art, when using a soil-clearing knife to remove the soil covering the grape vines, it is easy to accidentally damage or cut the grape vines because the actual buried depth of the grape vines is unknown, thereby causing losses. Summary of the Invention

[0004] In order to solve the above technical problems, the present application provides a grape vine buried soil cleaning machine, including a grape vine buried depth detection mechanism and a gantry, the grape vine buried depth detection mechanism is arranged on the gantry, the gantry spans the grape vine ridge, and can move along the extension direction of the grape vine ridge, the grape vine buried depth detection mechanism includes: a mounting frame, a detection component and a controller, the mounting frame is arranged on the inner side of the gantry, and a side of the mounting frame away from the gantry is provided with a plurality of through holes; the detection component includes a driving member, a propulsion plate, and a plurality of return springs corresponding to the plurality of through holes, the driving member is located in the mounting frame, and one end thereof is arranged on the end of the mounting frame away from the through holes, and the other end is connected to one side of the propulsion plate; the plurality of return springs are arranged along the extension direction perpendicular to the extension direction and the extension direction The propulsion plate is arranged in a rectangular array on the side away from the driving member, and each return spring is fixedly connected to a probe at one end away from the propulsion plate and is connected to the first end of the probe. The probes can pass through the through holes one by one and make reciprocating motion in a direction perpendicular to the extension direction under the drive of the driving member. The probes are used to detect the buried depth of the grapevines in the grapevine ridge; a displacement sensor is provided at the first end for monitoring the distance between the first end and the through hole, and outputting first monitoring data and second monitoring data when the distance between the first end and the through hole remains unchanged per unit time; the controller is electrically connected to a plurality of the displacement sensors for outputting an overall three-dimensional boundary model of the grapevine ridge according to a plurality of the first monitoring data and a plurality of the second monitoring data.

[0005] Preferably, the controller includes a position acquisition module, a first data processing module, a second data processing module and a third data processing module electrically connected to each other, the position acquisition module is electrically connected to the displacement sensor, and is used to number the displacement sensor, obtain the first monitoring data and the second monitoring data corresponding to the displacement sensor, and output the number of the displacement sensor and the corresponding first monitoring data and the second monitoring data; the first data processing module is used to receive the number of the displacement sensor and the corresponding first monitoring data output by the position acquisition module, and the first data processing module establishes the grapevine ridge side boundary point corresponding to the number according to the first monitoring data, and establishes a plurality of grapevine ridge side boundary points according to a plurality of the first monitoring data fed back by the plurality of displacement sensors, All the side boundary points of the grape vine ridge are connected in this way to form a three-dimensional boundary model of the grape vine ridge; the second data processing module is used to receive the number of the displacement sensor and the corresponding second monitoring data output by the position acquisition module, and when the second monitoring data is less than the probe limit stroke value, the grape vine boundary point in the grape vine ridge corresponding to the number is established according to the second monitoring data, and according to the plurality of second monitoring data fed back by the plurality of displacement sensors, a plurality of grape vine boundary points in the grape vine ridge are established, and all the grape vine boundary points in the grape vine ridge are connected in a layout to form a three-dimensional boundary model of the grape vines in the grape vine ridge; the third data processing module is used to obtain the three-dimensional boundary model of the grape vine ridge and the three-dimensional boundary model of the grape vines in the grape vine ridge, and output the overall three-dimensional boundary model of the grape vine ridge.

[0006] Preferably, a plurality of limiting sleeves are provided on a side of the propulsion plate away from the driving member, the return spring is provided in the limiting sleeve, and one end of the probe can slide along the inner wall of the limiting sleeve.

[0007] Preferably, the driving member includes a first telescopic rod, one end of which is connected to the gantry, and the other end is connected to the propulsion plate; the controller includes a trigger module and a first control module, the trigger module is used to respond to object operations and control the start and stop of the first control module; the first control module is electrically connected to the first telescopic rod, and is used to respond to the trigger module and control the first telescopic rod to drive the propulsion plate to slide.

[0008] Preferably, it also includes a soil cleaning component, which is arranged on the gantry and located behind the mounting frame, and can reciprocate in a direction perpendicular to the movement of the gantry; the controller includes a model acquisition module and a second control module, the soil cleaning component is electrically connected to the second control module, and the model acquisition module is electrically connected to the third data processing module, which is used to obtain the overall three-dimensional boundary model of the grape vine ridge and determine whether the soil cleaning side of the soil cleaning component coincides with the outer layer of the overall three-dimensional boundary model of the grape vine ridge; the second control module is used to respond to the judgment result of the model acquisition module, and control the soil cleaning component to move horizontally in a direction perpendicular to the grape vine ridge according to the overall three-dimensional boundary model of the grape vine ridge.

[0009] Preferably, the soil cleaning component includes a propulsion unit and a cleaning scraper, one end of the propulsion unit is connected to the gantry, and the other end is connected to the cleaning scraper, the propulsion unit is electrically connected to the second control module, and can drive the cleaning scraper to move horizontally in a direction perpendicular to the grape vine ridge.

[0010] Preferably, the soil cleaning component also includes a rotation adjustment unit, one end of which is fixedly connected to the end of the propulsion unit away from the gantry, and the other end is connected to the cleaning scraper; the controller includes an angle adjustment module and a third control module, and the angle adjustment module is electrically connected to the model acquisition module, and is used to determine whether the scraping side of the cleaning scraper is parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge; the third control module responds to the judgment result of the angle adjustment module to control the rotation adjustment unit to drive the cleaning scraper to rotate.

[0011] A grapevine buried depth detection method, applied to any one of the grape vine buried soil cleaning machines, comprises the following steps: S1. Numbering the displacement sensors (a, b), and receiving the first monitoring data and the second monitoring data of each displacement sensor; S2. Establishing a plurality of grapevine ridge side boundary points (a, b, x) based on the plurality of first monitoring data, and connecting all of the grapevine ridge side boundary points (a, b, x) by staking out a smooth first boundary surface, i.e., a three-dimensional boundary model of the grapevine ridge; S3. Determine one by one whether a plurality of the second monitoring data are less than the probe limit travel value, take the plurality of the second monitoring data less than the probe limit travel value as valid second monitoring data, establish a plurality of grapevine boundary points (a, b, y) within the grapevine ridge based on the plurality of valid second monitoring data, and connect all the grapevine boundary points (a, b, y) within the grapevine ridge by staking out a smooth second boundary surface, i.e., a three-dimensional boundary model of the grapevines within the grapevine ridge; S4. Integrate the three-dimensional boundary model of the grapevine ridge and the three-dimensional boundary model of the grapevines within the grapevine ridge according to the numbering to obtain an overall three-dimensional boundary model of the grapevine ridge.

[0012] The technical solution adopted in this application can achieve the following beneficial effects: A driving member drives the propulsion plate, allowing the probe to penetrate the soil and initially contact the grapevine ridge. Simultaneously, a displacement sensor monitors the displacement change from the first end to the through-hole until the first monitored data per unit time remains unchanged. This generates first monitoring data. The propulsion plate is then pushed further into the vine ridge, while the displacement sensor monitors the displacement change from the first end to the through-hole until a portion of the probe contacts the grapevine. This generates second monitoring data when the displacement sensor monitors the second monitored data per unit time remains unchanged. The first and second monitoring data are fed back to the controller to generate a three-dimensional boundary model of the entire vine ridge. This allows for a clear understanding of the distribution of grapevine roots in the soil, enabling precise soil cleaning around the vines and avoiding damage to the vines caused by blind soil removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the overall structure of this application.

[0014] Figure 2 Schematic diagram of the detection component.

[0015] Figure 3 A cross-sectional schematic diagram of the detection component.

[0016] Among them, the gantry 1, the detection component 2, the mounting frame 21, the first telescopic rod 22, the propulsion plate 23, the limiting sleeve 24, the probe 25, the buffer layer 251, the return spring 26, the soil cleaning component 3, the second telescopic rod 31, the cleaning scraper 32, the controller 4, and the displacement sensor 5. DETAILED DESCRIPTION

[0017] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0018] It should be noted that when a system is referred to as being "connected" to another system, it may be directly connected to the other system or there may be an intermediate system. The terms "interior," "top," "upper," "lower," "upper," "lower," and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0020] like Figures 1 to 3 As shown, the present application provides a grape vine buried soil cleaning machine, including a grape vine buried depth detection mechanism and a gantry 1, the grape vine buried depth detection mechanism is arranged on the gantry 1, the gantry 1 spans the grape vine ridge, and can move along the extension direction of the grape vine ridge, the grape vine buried depth detection mechanism includes: a mounting frame 21, a detection component 2 and a controller 4, the mounting frame 21 is arranged on the inner side of the gantry 1, and a side of the mounting frame 21 away from the gantry 1 is provided with a plurality of through holes; the detection component 2 includes a driving member, a propulsion plate 23, and a plurality of return springs 26 corresponding to the plurality of through holes, the driving member is located in the mounting frame 21, and one end thereof is arranged on the end of the mounting frame 21 away from the through holes, and the other end is connected to one side of the propulsion plate 23; the plurality of return springs 26 are arranged along the extension direction perpendicular to the extension direction and the extension direction A rectangular array is arranged on the side of the propulsion plate 23 away from the driving member, and each of the return springs 26 is fixedly connected to a probe 25 at one end away from the propulsion plate 23 and is connected to the first end of the probe 25. The probes 25 can pass through the through holes one by one and make reciprocating motion in a direction perpendicular to the extension direction under the drive of the driving member. The probes 25 are used to detect the buried depth of the grapevines in the grapevine ridge; a displacement sensor 5 is provided at the first end for monitoring the distance between the first end and the through hole, and outputting first monitoring data and second monitoring data when the distance between the first end and the through hole remains unchanged per unit time; the controller 4 is electrically connected to a plurality of the displacement sensors 5 for outputting an overall three-dimensional boundary model of the grapevine ridge according to a plurality of the first monitoring data and a plurality of the second monitoring data.

[0021] Specifically, the gantry 1 is a frame structure that spans above the grapevine ridges and can move along the extension direction of the grapevine ridges. By using a motor or other driving device to drive the gantry 1, the detection component 2 can move along with the movement of the gantry 1, ensuring that the burial depths of all grapevines can be detected. The grapevine burial depth detection mechanism of this application specifically includes a mounting frame 21, a detection component 2, and a controller 4. Two mounting frames 21 are provided and symmetrically arranged inside the gantry 1. The shape of the mounting frame 21 is in the shape of a "匚", consisting of two parallel side plates and a bottom plate. The upper and lower side plates of the mounting frame 21 are connected to the inner wall of the gantry 1, and a plurality of through holes are provided on the bottom plate. The through holes are arranged in a rectangular pattern. Specifically, a plurality of through holes are arranged in a rectangular array on the bottom plate along the vertical direction and the extension direction.

[0022] The driving member is inside the mounting frame 21, and one end is connected to the top plate of the mounting frame 21, and the other end is connected to the push plate 23. The driving member can be, but is not limited to, a telescopic cylinder, an electric push rod, etc.; sliding grooves are provided on the side plates of the mounting frame 21, and bumps are provided on both sides of the push plate 23. The bumps are embedded in the sliding grooves for sliding and guiding cooperation. The push plate 23 is driven by the driving member to slide along the sliding grooves; a number of return springs 26 are provided on the push plate 23. The number of return springs 26 is the same as the number of through holes and the positions correspond. The return springs 26 are made of materials with certain elasticity and corrosion resistance to ensure that the springs can work normally in a complex environment. The elastic coefficient (i.e., spring stiffness) of the springs needs to be carefully designed to ensure effective functioning under different soil hardness conditions. The springs need to have sufficient deformation ability, not be completely compressed when encountering soil, and be completely compressed when encountering grapevines. One end of the return spring 26 away from the push plate 23 is provided with a probe 25, and the connected end is the first end; the diameter of the probe 25 is not greater than the diameter of the through hole, and the probe 25 slides horizontally under the drive of the push plate 23 and extends into the grapevine ridge through the through hole until it stops when contacting the grapevine. At least one displacement sensor 5 is provided at the first end of the probe 25. The displacement sensor 5 is used to detect the distance from the first end to the through hole. The controller 4 is arranged on the outer layer of the mounting frame 21 and is electrically connected to the displacement sensor 5.

[0023] The gantry 1 is arranged across both sides of the grapevine ridge, and the driving member drives the propulsion plate 23 to move from the side of the mounting frame 21 close to the gantry 1 to the other side of the mounting frame 21. At the same time, the return spring 26 drives the probe 25 to pass through the through hole and approach the grapevine ridge; during the movement, the displacement sensor 5 detects the distance from the first end to the through hole in real time, and the distance is constantly changing. When the probe 25 contacts the outer boundary of the grapevine ridge, the grapevine ridge gives the probe 25 a reaction force, causing the probe 25 to drive the return spring 26 to compress, so that the distance from the first end to the through hole detected by the displacement sensor 5 per unit time remains unchanged. At this time, the distance between the end of the probe 25 away from the first end and the through hole is recorded as the first monitoring data; the propulsion plate 23 continues to slide forward, and when the thrust of the return spring 26 is greater than the reaction force given by the grapevine ridge, the probe 25 is inserted As the grapevines continue to move deeper into the ridge, the data monitored by the displacement sensor 5 continues to change. When the probe 25 contacts the grapevines, the grapevines exert a reaction force on the probe 25, and the return spring 26 is compressed again. At this time, the distance from the first end to the through-hole detected by the displacement sensor 5 remains unchanged per unit time. At this time, the distance between the end of the probe 25 away from the first end and the through-hole is recorded as the second monitoring data (part of the probe 25 will contact the grapevines, and the uncontacted part will continue to advance until the propulsion plate 23 reaches the preset position (probe limit stroke) and stops. At this time, the distance between the end of the probe 25 away from the first end and the through-hole is recorded and regarded as invalid monitoring data). The displacement sensor 5 transmits the first monitoring data and the second monitoring data to the controller 4, and the controller 4 outputs the overall three-dimensional boundary model of the grapevine ridge according to three-dimensional modeling, layout connection, etc.

[0024] The technical solution of the grape vine burying and soil cleaning machine used in this application can achieve the following beneficial effects: The driving member drives the propulsion plate 23 to move, causing the probe 25 to penetrate the soil and initially contact the grapevine ridge. Simultaneously, the displacement sensor 5 monitors the displacement change from the first end to the through-hole until the monitoring data remains unchanged within the first unit time. This generates first monitoring data. The propulsion plate 23 is then pushed further into the vine ridge, while the displacement sensor 5 monitors the displacement change from the first end to the through-hole until a portion of the probe 25 contacts the grapevine. When the displacement sensor 5 monitors the displacement change within the second unit time, this generates second monitoring data. The first and second monitoring data are fed back to the controller 4 to generate a three-dimensional boundary model of the entire vine ridge. This allows for a clear understanding of the distribution of grapevine roots in the soil, enabling precise soil cleaning around the vines and avoiding damage to the vines caused by blind soil removal.

[0025] Based on the above scheme, the controller 4 includes a position acquisition module, a first data processing module, a second data processing module and a third data processing module that are electrically connected to each other. The position acquisition module is electrically connected to the displacement sensor 5, and is used to number the displacement sensor 5, obtain the first monitoring data and the second monitoring data corresponding to the displacement sensor 5, and output the number of the displacement sensor 5 and the corresponding first monitoring data and the second monitoring data; the first data processing module is used to receive the number of the displacement sensor 5 and the corresponding first monitoring data output by the position acquisition module, and the first data processing module establishes the grape vine ridge side boundary point corresponding to the number according to the first monitoring data, and establishes a plurality of grape vine ridge side boundary points according to a plurality of the first monitoring data fed back by the plurality of displacement sensors 5. points, and all the side boundary points of the grape vine ridge are connected by staking out to form a three-dimensional boundary model of the grape vine ridge; the second data processing module is used to receive the number of the displacement sensor 5 and the corresponding second monitoring data output by the position acquisition module, and when the second monitoring data is less than the limit stroke value of the probe 25, the grape vine boundary point in the grape vine ridge corresponding to the number is established according to the second monitoring data, and according to the plurality of second monitoring data fed back by the plurality of displacement sensors 5, a plurality of grape vine boundary points in the grape vine ridge are established, and all the grape vine boundary points in the grape vine ridge are connected by staking out to form a three-dimensional boundary model of the grape vines in the grape vine ridge; the third data processing module is used to obtain the three-dimensional boundary model of the grape vine ridge and the three-dimensional boundary model of the grape vines in the grape vine ridge, and output the overall three-dimensional boundary model of the grape vine ridge.

[0026] Specifically, the position acquisition module is used to number the displacement sensors 5 (position information). The number of displacement sensors 5 is the same as that of probes 25, and they are all rectangular arrays, such as rows and columns (a, b), the first row and the first column (a1, b1), the seventh row and the fifth column (a7, b5), the third row and the ninth column (a3, b9), etc. By numbering the displacement sensors 5, the first monitoring data (a, b, x) and the second monitoring data (a, b, y) of the corresponding numbers are obtained; after the first processing module receives the first monitoring data (a, b, x), it establishes the grape vine ridge side boundary point corresponding to the number according to the first monitoring data, and outputs a number of grape vine ridge side boundary points through the numbers of the displacement sensors 5 and the first monitoring data (the spatial coordinates of the grape vine ridge side boundary points are (a, b, x), and the several grape vine ridge side boundary points form a dot matrix), and forms the grape vine ridge side boundary point by connecting the several grape vine ridge side boundary points through lofting. The detection components 2 disposed on both sides of the grapevine ridge enable the first data processing module to establish two boundary surfaces on both sides of the opposing grapevine ridge, thereby forming a three-dimensional boundary model of the grapevine ridge. Similarly, after the second data processing module receives the second monitoring data (a, b, y), the position acquisition module transmits it to the second data processing module, thereby establishing boundary points of the grapevines within the grapevine ridge. Based on the numbers of the plurality of displacement sensors 5 and the second monitoring data, a plurality of boundary points of the grapevines within the grapevine ridge are output (the spatial coordinates of the boundary points of the grapevines within the grapevine ridge are (a, b, y), and the plurality of boundary points of the grapevines within the grapevine ridge form a dot matrix). The plurality of boundary points of the grapevines within the grapevine ridge are connected by lofting to form a boundary surface on the side of the grapevine ridge. The detection components 2 disposed on both sides of the grapevine ridge enable the first data processing module to establish two boundary surfaces on both sides of the grapevines within the opposing grapevine ridge, thereby forming a three-dimensional boundary model of the grapevines within the grapevine ridge. It should be noted that lofting a plurality of boundary points means connecting all boundary points using a smooth curved surface; that is, all boundary points lie on this smooth curved surface.

[0027] The third data processing module obtains the three-dimensional boundary model of the grapevine ridge and the three-dimensional boundary model of the grapevines within the grapevine ridge, and overlaps the three-dimensional boundary model of the grapevine ridge and the three-dimensional boundary model of the grapevines within the grapevine ridge according to the number corresponding principle according to the number, thereby establishing the overall three-dimensional boundary model of the grapevine ridge corresponding to the number; The displacement sensor 5 monitors the distance between the first end of the probe 25 and the through-hole. The first and second data processing modules calculate the distance between the end of the probe 25 distal to the first end and the through-hole. For example, if the length of the probe 25 is L and the distance between the first end and the through-hole is N, then the distance between the probe 25 distal to the first end and the through-hole is LN. In the first monitoring data (a, b, x), x represents the distance (L - N1) between the probe 25 distal to the first end and the through-hole, as detected by the displacement sensor 5 during the first unit time, while the distance remains constant. In the second monitoring data (a, b, y), y represents the distance (L - N2) between the probe 25 distal to the first end and the through-hole, as detected by the displacement sensor 5 during the second unit time, while the distance remains constant. (Part of the probe 25 will contact the grapevine, while the uncontacted portion will continue to advance until the propulsion plate 23 reaches a predetermined position (probe travel limit, N = 0). At this point, the distance between the end of the probe 25 distal to the first end and the through-hole is recorded and considered invalid.)

[0028] Specifically, to protect the grapevines from damage and ensure that the probe 25 stops smoothly when it encounters a vine, a buffer layer 251 is provided at the end of the probe 25 away from the first end. The buffer layer 251 is made of a material with a certain degree of elasticity and flexibility, such as rubber, silicone, or other polymer materials. When the probe 25 contacts the grapevines, the buffer layer 251 absorbs some of the impact force, preventing damage to the vines. The shape of the buffer layer 251 can be designed according to actual needs; common shapes include cylindrical and conical shapes, ensuring that the probe 25 can better adapt to different soil environments.

[0029] In the above solution, a plurality of limiting sleeves 24 are provided on the side of the propulsion plate 23 away from the driving member, the return spring 26 is provided in the limiting sleeve 24 , and one end of the probe 25 can slide along the inner wall of the limiting sleeve 24 .

[0030] Specifically, to ensure stable expansion and contraction of the return spring 26 during operation and to prevent it from deflecting or twisting when subjected to external pressure, a limiting sleeve 24 is provided around the return spring 26. The limiting sleeve 24 is made of a rigid and corrosion-resistant material, such as stainless steel or engineering plastic. The inner diameter of the limiting sleeve 24 is slightly larger than the maximum diameter of the return spring 26 to ensure free expansion and contraction within the sleeve. The limiting sleeve 24 limits the lateral movement of the return spring 26, ensuring that it remains in a straight line during compression and extension.

[0031] Based on the above scheme, the driving member includes a first telescopic rod 22, one end of the first telescopic rod 22 is connected to the end of the mounting frame 21 close to the gantry 1, and the other end is connected to the propulsion plate 23; the controller 4 includes a trigger module and a first control module, the trigger module is used to respond to the object operation and control the start and stop of the first control module; the first control module is electrically connected to the first telescopic rod 22, and is used to respond to the trigger module to control the first telescopic rod 22 to drive the propulsion plate 23 to slide.

[0032] Specifically, the driving member includes a plurality of first telescopic rods 22, one end of which is fixedly connected to the gantry 1 and the other end is connected to the propulsion plate 23. The plurality of first telescopic rods 22 are arranged in a uniform array. A trigger module employs, but is not limited to, a triggering device such as a button or touch screen. A first control module is electrically connected to the first telescopic rods 22. When an operator clicks or activates the trigger module, the first control module controls the extension and retraction of the first telescopic rods 22, thereby moving the propulsion plate 23 from one end of the mounting frame 21 to a predetermined position (the predetermined position is where the first end coincides with the through-hole and can be adjusted according to specific circumstances, and the calculation formulas for the responses of the first and second data processing modules are adjusted simultaneously). Automatic control by the trigger module makes operation simpler and more convenient.

[0033] Based on the above scheme, it also includes a soil cleaning component 3, which is arranged on the gantry 1 and located behind the mounting frame 21, and can reciprocate in a direction perpendicular to the movement of the gantry 1; the controller 4 includes a model acquisition module and a second control module, the soil cleaning component 3 is electrically connected to the second control module, and the model acquisition module is electrically connected to the third data processing module, which is used to obtain the overall three-dimensional boundary model of the grape vine ridge and determine whether the soil cleaning side of the soil cleaning component 3 coincides with the outer layer of the overall three-dimensional boundary model of the grape vine ridge; the second control module is used to respond to the judgment result of the model acquisition module, and control the soil cleaning component 3 to move horizontally in a direction perpendicular to the grape vine ridge according to the overall three-dimensional boundary model of the grape vine ridge.

[0034] Specifically, the soil cleaning assembly 3 is mounted on the gantry 1 and located behind the mounting frame 21. This means that after the probe 25 completes its work, the soil cleaning assembly 3 can continue to clean the soil behind the probe 25. The soil cleaning assembly 3 includes, but is not limited to, a motor, a transmission mechanism (e.g., gears, belts), and soil cleaning tools (e.g., scrapers, brushes). The soil cleaning assembly 3 can reciprocate perpendicular to the movement of the gantry 1, i.e., it can move in a vertical plane, to remove soil from around the grapevines.

[0035] The model acquisition module obtains the overall three-dimensional boundary model of the grape vine ridge output by the third data processing module, and judges whether the soil cleaning component 3 is parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge (that is, the three-dimensional boundary model of the grape vine ridge) according to the initial state of the soil cleaning component 3. For example, the angle between the scraping side of the soil cleaning component 3 and the horizontal plane is a first angle, and the position on the three-dimensional boundary model of the grape vine ridge corresponding to the scraping side of the soil cleaning component 3 is the real-time soil cleaning position, and the angle between the real-time soil cleaning position and the horizontal plane is a second angle. The angle adjustment module judges whether the first angle and the second angle are equal. If they are equal, the soil cleaning component 3 is parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge. If they are not equal, the soil cleaning component 3 is not parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge. If the soil cleaning component 3 is parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge, the soil cleaning component 3 is parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge. In parallel, the model acquisition module calculates the distance between the three-dimensional boundary model of the vine ridge and the three-dimensional boundary model of the vines within the ridge. That is, on the same side of the vine ridge, there is a buried depth distance between the three-dimensional boundary model of the vine ridge and the three-dimensional boundary model of the vines within the ridge. The model acquisition module calculates this buried depth distance in real time and then transmits it to the second control module. The second control module first controls the soil cleaning component 3 to move horizontally in a direction perpendicular to the vine ridge until it overlaps with the outer layer of the three-dimensional boundary model of the vine ridge. The second control module then controls the soil cleaning component 3 to move horizontally in a direction perpendicular to the vine ridge by the cleaning distance (the cleaning distance is the buried depth distance minus the reserved protection distance) and extend into the vine ridge to perform soil cleaning. The reserved protection distance can be 1 cm, 2 cm, or 3 cm, and is not limited to this in this application. Automatically controlling the soil cleaning component 3 makes operation more convenient, and the reserved protection distance prevents damage to the grape vines during soil cleaning by the soil cleaning component 3.

[0036] In the above scheme, the soil cleaning component 3 includes a propulsion unit and a cleaning scraper 32. One end of the propulsion unit is connected to the gantry 1, and the other end is connected to the cleaning scraper 32. The propulsion unit is electrically connected to the second control module and can drive the cleaning scraper 32 to move horizontally in a direction perpendicular to the grape vine ridge.

[0037] Specifically, the soil cleaning component 3 includes a propulsion unit and a cleaning scraper 32. The propulsion unit is a component that can drive the cleaning scraper 32 to move, including but not limited to an electric motor, a cylinder or other driving device. One end of the propulsion unit is fixedly connected to the gantry 1 to ensure that it can move with the gantry 1. The propulsion unit is electrically connected to the second control module, and the second control module receives the signal from the model acquisition module to control the propulsion unit to drive the cleaning scraper 32 to move. The cleaning scraper 32 is connected to the other end of the propulsion unit and moves with the action of the propulsion unit. The cleaning scraper 32 is a tool for clearing soil, made of hard material, and its shape design is suitable for clearing the soil around the probe 25.

[0038] The propulsion unit further includes a second telescopic rod 31, a retractable mechanical device driven by an electric motor that controls the reciprocating motion of the cleaning blade 32. One end of the second telescopic rod 31 is fixedly connected to the gantry 1, ensuring that it moves with the gantry 1. The second telescopic rod 31 is electrically connected to the controller 4 and receives control signals from the controller 4 to drive the movement of the cleaning blade 32. The cleaning blade 32 is fixed to the other end of the second telescopic rod 31 and moves in response to the movement of the second telescopic rod 31.

[0039] In the above scheme, the soil cleaning component 3 also includes a rotation adjustment unit, one end of which is fixedly connected to the end of the propulsion unit away from the gantry, and the other end is connected to the cleaning scraper 32; the controller includes an angle adjustment module and a third control module, and the angle adjustment module is electrically connected to the model acquisition module, and is used to determine whether the scraping side of the cleaning scraper 32 is parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge; the third control module responds to the judgment result of the angle adjustment module and controls the rotation adjustment unit to drive the cleaning scraper 32 to rotate.

[0040] Specifically, the rotation adjustment unit includes a steering motor, one end of which is fixedly connected to the end of the second telescopic rod 31 away from the gantry 1, and the other end is connected to the cleaning scraper 32, and is electrically connected to the third control module. The angle adjustment module receives the overall three-dimensional boundary model of the grape vine ridge output by the third data processing module obtained by the model acquisition module, and determines whether the cleaning scraper 32 is parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge. For example, the angle between the scraping side of the cleaning scraper 32 and the horizontal plane is a first angle, and the position on the three-dimensional boundary model of the grape vine ridge corresponding to the scraping side of the cleaning scraper 32 is the real-time soil cleaning position, and the angle between the real-time soil cleaning position and the horizontal plane is a second angle. The angle adjustment module determines whether the first angle and the second angle are equal. If they are equal, the cleaning scraper 32 is parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge. If they are not equal, the cleaning scraper 32 is parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge. Not parallel, at this time, the angle adjustment module adjusts the posture of the cleaning scraper 32 according to the difference between the first angle and the second angle, that is, adjusts the angle of the cleaning scraper 32 and the horizontal plane, that is, the first angle, until it is equal to the second angle; if the cleaning scraper 32 is parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge, the angle adjustment module has no output; if the cleaning scraper 32 is not parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge, the angle adjustment module sends an angle adjustment instruction to the third control module, and the third control module controls the steering motor to work, and the steering motor drives the cleaning scraper 32 to rotate so that the scraping side of the cleaning scraper 32 is parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge.

[0041] The specific working process is as follows: After the gantry 1 moves to the designated position and stops, the operator activates the controller 4 and the first telescopic rod 22 and clicks the trigger module in the controller 4. The trigger module electrically instructs the first control module to control the first telescopic rod 22 to drive the propulsion plate 23 to the predetermined position, thereby allowing the probes 25 to pass through the outer layer of the grapevine ridge and into the soil. During this process, the position acquisition module numbers the displacement sensors 5 and obtains and outputs the first and second monitoring data corresponding to the displacement sensors 5. The first data processing module receives the first monitoring data and constructs a three-dimensional boundary model of the grapevine ridge. The second data processing module receives the second monitoring data and constructs a three-dimensional boundary model of the grapevines within the ridge. The third data processing module obtains the three-dimensional boundary model of the vine ridge and the three-dimensional boundary model of the grapevines within the ridge, and outputs a three-dimensional boundary model of the entire vine ridge. At this point, the initial vine depth detection process is completed. Clicking the trigger module in the controller 4 again electrically instructs the first control module to control the first telescopic rod 22 to retract the propulsion plate 23, thereby withdrawing the probes from the soil of the grapevine ridge.

[0042] The angle adjustment module receives the overall three-dimensional boundary model of the grapevine ridge output by the third data processing module, acquired by the model acquisition module, and issues an angle adjustment instruction to the third control module. The third control module controls the steering motor, which drives the cleaning blade 32 to rotate so that the scraping side of the cleaning blade 32 is parallel to the outer layer of the overall three-dimensional boundary model of the grapevine ridge. The model acquisition module then calculates the buried depth distance between the three-dimensional boundary model of the grapevine ridge and the three-dimensional boundary model of the grapevines within the ridge. The model acquisition module then transmits this buried depth distance to the second control module. The second control module first controls the second telescopic rod 31 to move the cleaning blade 32 horizontally in a direction perpendicular to the grapevine ridge until it overlaps with the outer layer of the three-dimensional boundary model of the grapevine ridge. The second telescopic rod 31 then controls the cleaning blade 32 to move horizontally in a direction perpendicular to the grapevine ridge by the soil cleaning distance (the soil cleaning distance is the buried depth distance minus the reserved protection distance) into the grapevine ridge to prepare for soil cleaning. At this point, the gantry 1 begins moving, simultaneously driving the cleaning blade 32 to begin soil cleaning. After the first round of soil cleaning is completed, the gantry 1 is again suspended to detect the depth of the grapevines. The above process is repeated until the soil around all grapevines within the predetermined range is completely cleaned.

[0043] A grapevine buried depth detection method, applied to any of the grape vine buried soil cleaning machines described above, comprises the following steps: S1. Numbering the plurality of displacement sensors 5 (a, b), and receiving the first monitoring data and the second monitoring data of each displacement sensor 5; S2. Establishing a plurality of grapevine ridge side boundary points (a, b, x) based on the plurality of first monitoring data, and connecting all of the grapevine ridge side boundary points (a, b, x) by staking out a smooth first boundary surface, i.e., a three-dimensional boundary model of the grapevine ridge; S3. Determine one by one whether a plurality of the second monitoring data are less than the limit travel value of the probe 25, and use the plurality of the second monitoring data less than the limit travel value of the probe 25 as valid second monitoring data. Establish a plurality of grapevine boundary points (a, b, y) within the grapevine ridge based on the plurality of valid second monitoring data. Stake out and connect all the grapevine boundary points (a, b, y) within the grapevine ridge to form a smooth second boundary surface, i.e., a three-dimensional boundary model of the grapevines within the grapevine ridge. S4. Integrate the three-dimensional boundary model of the grapevine ridge and the three-dimensional boundary model of the grapevines within the grapevine ridge according to the numbering to obtain an overall three-dimensional boundary model of the grapevine ridge.

[0044] Specifically, the displacement sensors 5 are numbered, and the first monitoring data of the displacement sensors 5 are recorded: (a1, b1, x1), (a1, b2, x2) ... (a2, b1, x n )......, the second monitoring data is (a1, b1, y1), (a1, b2, y2)... (a2, b1, y n ).......

[0045] Each first monitoring data is a grape vine ridge side boundary point, and a first boundary surface is formed by a number of grape vine ridge side boundary points. The two first boundary surfaces are modeled to form a three-dimensional boundary model of the grape vine ridge.

[0046] Similarly, it is determined from the second monitoring data whether it is less than the limit stroke value of the probe 25 (the distance between the first end and the through hole is zero). If so, it is marked as valid second monitoring data. Otherwise, it is invalid second monitoring data and is treated as invalid. The valid second monitoring data are all grape vine boundary points within a grape vine ridge, and several grape vine boundary points within a grape vine ridge form a second boundary surface. A three-dimensional boundary model of the grape vines within the grape vine ridge is established through the two second boundary surfaces.

[0047] By integrating the first monitoring data and the effective second monitoring data according to the numbers, the three-dimensional boundary model of the grapevine ridge and the three-dimensional boundary model of the grapevines in the grapevine ridge are integrated into the overall three-dimensional boundary model of the grapevine ridge.

[0048] The overall three-dimensional boundary model of the grapevine ridge established according to the above scheme can clearly understand the distribution of the grapevine roots in the soil, and then accurately clean the soil around the grapevines based on this, avoiding damage to the grapevines when blindly removing the soil.

[0049] The above-mentioned embodiments only express the way of arranging the equipment of this application. 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, without departing from the concept of this application, they can also make several adjustments and improvements, which all fall within the scope of protection of this application. Therefore, the scope of protection of the patent of this application should be based on the attached claims.

Claims

1. A grape vine buried soil cleaning machine, comprising a grape vine buried depth detection mechanism and a gantry, wherein the grape vine buried depth detection mechanism is arranged on the gantry, and the gantry spans the grape vine ridge and can move along the extension direction of the grape vine ridge, characterized in that: The grapevine burial depth detection mechanism includes: A mounting frame, the mounting frame being arranged inside the gantry frame, and a side of the mounting frame away from the gantry frame is provided with a plurality of through holes; A detection assembly, comprising a driving member, a propulsion plate, and a plurality of return springs corresponding to the plurality of through holes, the driving member being located in the mounting frame, with one end thereof being arranged at an end of the mounting frame away from the through hole, and the other end being connected to one side of the propulsion plate; the plurality of return springs being arranged in a rectangular array perpendicular to the extension direction and the extension direction on a side of the propulsion plate away from the driving member, and each of the return springs having an end away from the propulsion plate fixedly connected to a probe, and connected to a first end of the probe, the probes being capable of passing through the through holes in a direction perpendicular to the extension direction under the drive of the driving member and performing reciprocating motion in a direction perpendicular to the extension direction, so as to detect the buried depth of the grapevines in the grapevine ridge; a displacement sensor being provided at the first end, for monitoring the distance between the first end and the through hole, and outputting first monitoring data and second monitoring data when the distance between the first end and the through hole remains unchanged within a unit time; and A controller is electrically connected to the plurality of displacement sensors and is used to output an overall three-dimensional boundary model of the grapevine ridge based on the plurality of first monitoring data and the plurality of second monitoring data.

2. The grape vine burying and soil cleaning machine according to claim 1, characterized in that: The controller includes a position acquisition module, a first data processing module, a second data processing module, and a third data processing module electrically connected to each other. The position acquisition module is electrically connected to the displacement sensor and is used to number the displacement sensor, obtain first monitoring data and second monitoring data corresponding to the displacement sensor, and output the number of the displacement sensor and the corresponding first monitoring data and second monitoring data; The first data processing module is configured to receive the number of the displacement sensor and the corresponding first monitoring data output by the position acquisition module, and establish a grapevine ridge side boundary point corresponding to the number based on the first monitoring data, establish a plurality of grapevine ridge side boundary points based on a plurality of first monitoring data fed back by the plurality of displacement sensors, and connect all the grapevine ridge side boundary points by staking out to form a three-dimensional grapevine ridge boundary model; The second data processing module is configured to receive the number of the displacement sensor and the corresponding second monitoring data output by the position acquisition module, and establish a grapevine boundary point within the grapevine ridge corresponding to the number based on the second monitoring data when the second monitoring data is less than the probe limit stroke value; establish a plurality of grapevine boundary points within the grapevine ridge based on a plurality of second monitoring data fed back by the displacement sensors, and connect all the grapevine boundary points within the grapevine ridge to form a three-dimensional grapevine boundary model within the grapevine ridge; The third data processing module is used to obtain the three-dimensional boundary model of the grape vine ridge and the three-dimensional boundary model of the grape vines within the grape vine ridge, and output the overall three-dimensional boundary model of the grape vine ridge.

3. The grape vine burying and soil cleaning machine according to claim 1, characterized in that: A plurality of limiting sleeves are provided on a side of the propulsion plate away from the driving member. The return spring is provided in the limiting sleeve, and one end of the probe can slide along the inner wall of the limiting sleeve.

4. The grape vine burying and soil cleaning machine according to claim 1, characterized in that: The driving member includes a first telescopic rod, one end of which is connected to the gantry, and the other end of which is connected to the propulsion plate; The controller includes a trigger module and a first control module. The trigger module is used to respond to object operations and control the start and stop of the first control module. The first control module is electrically connected to the first telescopic rod and is used to respond to the trigger module and control the first telescopic rod to drive the propulsion plate to slide.

5. The grape vine burying and soil cleaning machine according to claim 2, characterized in that: Also included is a soil cleaning assembly, which is disposed on the gantry and located behind the mounting frame and is capable of reciprocating in a direction perpendicular to the movement of the gantry; The controller includes a model acquisition module and a second control module. The soil cleaning component is electrically connected to the second control module, and the model acquisition module is electrically connected to the third data processing module, and is used to obtain the overall three-dimensional boundary model of the grape vine ridge and determine whether the soil cleaning side of the soil cleaning component coincides with the outer layer of the overall three-dimensional boundary model of the grape vine ridge; the second control module is used to respond to the judgment result of the model acquisition module and control the soil cleaning component to move horizontally in a direction perpendicular to the grape vine ridge according to the overall three-dimensional boundary model of the grape vine ridge.

6. The grape vine burying and soil cleaning machine according to claim 5, characterized in that: The soil cleaning component includes a propulsion unit and a cleaning scraper. One end of the propulsion unit is connected to the gantry, and the other end is connected to the cleaning scraper. The propulsion unit is electrically connected to the second control module and can drive the cleaning scraper to move horizontally in a direction perpendicular to the grape vine ridge.

7. The grape vine burying and soil cleaning machine according to claim 6, characterized in that: The soil cleaning assembly further includes a rotation adjustment unit, one end of which is fixedly connected to the end of the propulsion unit away from the gantry, and the other end of which is connected to the cleaning scraper; The controller includes an angle adjustment module and a third control module. The angle adjustment module is electrically connected to the model acquisition module and is used to determine whether the scraping side of the cleaning scraper is parallel to the outer layer of the overall three-dimensional boundary model of the grape vine ridge; the third control module responds to the judgment result of the angle adjustment module and controls the rotation adjustment unit to drive the cleaning scraper to rotate.

8. A method for detecting the buried depth of grapevines, characterized in that: The grape vine burying and soil clearing machine according to any one of claims 1 to 7 comprises the following steps: S1. Numbering the displacement sensors (a, b), and receiving the first monitoring data and the second monitoring data of each displacement sensor; S2. Establishing a plurality of grapevine ridge side boundary points (a, b, x) based on the plurality of first monitoring data, and connecting all of the grapevine ridge side boundary points (a, b, x) by staking out a smooth first boundary surface, i.e., a three-dimensional boundary model of the grapevine ridge; S3. Determine one by one whether a plurality of the second monitoring data are less than the probe limit travel value, take the plurality of the second monitoring data less than the probe limit travel value as valid second monitoring data, establish a plurality of grapevine boundary points (a, b, y) within the grapevine ridge based on the plurality of valid second monitoring data, and connect all the grapevine boundary points (a, b, y) within the grapevine ridge by staking out a smooth second boundary surface, i.e., a three-dimensional boundary model of the grapevines within the grapevine ridge; S4. Integrate the three-dimensional boundary model of the grapevine ridge and the three-dimensional boundary model of the grapevines within the grapevine ridge according to the numbering to obtain an overall three-dimensional boundary model of the grapevine ridge.

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