CN112753358A

CN112753358A - Underwater plant trimming device, method and system

Info

Publication number: CN112753358A
Application number: CN201911004956.8A
Authority: CN
Inventors: 万展麒; 孙立邦; 孔汝涛
Original assignee: Foshan Ruifeng Environmental Protection Technology Co ltd
Current assignee: Foshan Ruifeng Environmental Protection Technology Co ltd
Priority date: 2019-10-21
Filing date: 2019-10-21
Publication date: 2021-05-07

Abstract

The invention relates to the technical field of environmental management, and particularly discloses underwater plant trimming equipment which comprises an equipment body, an acquisition device and trimming equipment of a trimming device. By adopting the mode, the cutting and trimming of the underwater plants are changed from the traditional manual underwater operation into the mechanical operation of underwater operation of trimming equipment, the operation difficulty is reduced, and the working efficiency is effectively improved. And, because this equipment body still is equipped with the collecting box that is used for collecting the submarine plant of cutting, collect the submarine plant of cutting and cutting of submarine plant and go on simultaneously, can also further improve work efficiency when avoiding environmental pollution. In addition, the invention also discloses a method for trimming the underwater plants and a system for trimming the underwater plants.

Description

Underwater plant trimming device, method and system

Technical Field

The invention relates to the technical field of environmental management, in particular to underwater plant trimming equipment, method and system.

Background

During the operation and maintenance of rivers and lakes, a manual control cutting machine is generally adopted to cut and trim plants on underwater submerged plant maintenance projects. However, due to different depths and widths of water in rivers and lakes and diversification of underwater plants, the manual control cutting machine is difficult to trim the submerged plants, the operation time is long, the accuracy is difficult to guarantee, and potential safety hazards exist.

Disclosure of Invention

The invention discloses underwater plant trimming equipment, method and system, which effectively improve the trimming efficiency and work safety of underwater plants.

To achieve the above object, a first aspect of the embodiments of the present invention provides an underwater plant trimming apparatus, including

The device comprises a device body, a first control device and a first power mechanism, wherein the first power mechanism is electrically connected with the first control device and used for providing walking power for the device body;

the acquisition device is arranged on the equipment body and is electrically connected with the first control device, and the acquisition device is used for acquiring plant information of underwater plants and sending the plant information to the first control device;

the trimming device is arranged on the equipment body;

the pruning device is used for cutting the underwater plants when the first power mechanism drives the equipment body to walk, or,

the pruning device is electrically connected with the first control device and is used for cutting the underwater plants under the control of the first control device.

As an alternative implementation, in an embodiment of the first aspect of the present invention, the apparatus body includes a body portion and a walking portion disposed on the body portion, the first control device is disposed in the body portion, the collecting device and the trimming device are disposed on the body portion, and the first power device is disposed on the walking portion;

wherein, the walking part is a transmission crawler belt arranged on two sides of the body part.

As an alternative implementation manner, in an embodiment of the first aspect of the present invention, the collecting device is disposed on the top of the body portion and is disposed adjacent to the front end of the body portion, or the collecting device is disposed at the front end of the apparatus body.

In an alternative embodiment of the first aspect of the invention, the cutting means is provided at the forward end of the body portion and the cutting means is an elongate blade, or,

the trimming device comprises a second power mechanism, a telescopic arm and a cutter, wherein the second power mechanism is arranged in the body part and is electrically connected with the first control device, one end of the telescopic arm can be rotatably arranged at the top of the body part, and the cutter is arranged at the other end of the telescopic arm;

the telescopic arm is driven by the second power mechanism to rotate relative to the body part to switch between a first state and a second state;

the first state is a state that the telescopic arm is telescopic relative to the body part and drives the cutter to be positioned at the top of the body part;

the second state is that the telescopic arm is unfolded forwards relative to the body part to drive the cutter to be positioned at the front end of the body part.

In an alternative embodiment, in the first aspect of the present invention, the telescopic arm comprises a rear arm rotatably connected to the body portion and a front arm rotatably connected to the rear arm, the cutter being connected to the front arm;

the first state is a state in which the rear arm is rotated relative to the body portion to be stacked on the body portion and the front arm is rotated relative to the rear arm to be stacked on the rear arm;

the second state is a state in which the rear arm is rotated relative to the body portion to be deployed forward relative to the body portion and the front arm is rotated relative to the rear arm to be deployed forward.

As an alternative implementation, in the embodiment of the first aspect of the present invention, the rotation joint of the front arm and the rear arm is located at the top of the body part, and the length ratio of the rear arm to the front arm is 1: 1-1: 1.3.

as an alternative implementation manner, in an embodiment of the first aspect of the present invention, a protrusion is disposed at a position close to the rear end of the top of the body portion, the second power mechanism is disposed in the protrusion, the protrusion is provided with a rotation groove, and one end of the rear arm is rotatably disposed in the rotation groove.

In an alternative embodiment, in the first aspect of the present invention, the cutter includes an elongated slice and a connecting portion, the connecting portion extends upward from the elongated slice, the connecting portion is connected to the front arm, and the side edge of the elongated slice along its own length direction is provided with a cutting tooth.

In an alternative embodiment, in the first aspect of the present invention, the walking parts are transmission tracks arranged on two sides of the body part, a storage space is formed between the bottom of the body part and the walking parts on two sides, and a collection box with a forward opening is arranged in the storage space and is used for collecting the underwater plants cut by the trimming device.

In an alternative embodiment, in the first aspect of the present invention, a power pump is further disposed in the storage space, and the power pump is located behind the collecting box and electrically connected to the first control device for providing a suction force to the collecting box.

In an alternative embodiment, in the first aspect of the invention, the collecting container is a hollow grid box, and the collecting container is rotatably provided with a collecting cover for covering or uncovering an opening of the collecting container.

In a second aspect, an embodiment of the present invention further provides a method for trimming underwater plants by using underwater plant trimming equipment, where the trimming equipment includes an equipment body, a collecting device, and a trimming device, the equipment body is provided with a first control device and a first power mechanism, the first power mechanism is electrically connected to the first control device, and the collecting device is provided in the equipment body and is electrically connected to the first control device;

the trimming device is arranged on the equipment body, and the method comprises the following steps:

the acquisition device acquires plant information of underwater plants and sends the plant information to the first control device;

the first control device controls the first power mechanism to drive the equipment body to walk underwater according to the plant information;

the pruning device cuts the underwater plants when the equipment body walks;

alternatively, the first and second electrodes may be,

the trimming device is arranged on the equipment body and is electrically connected with the first control device;

the method comprises the following steps:

the first control device controls the first power mechanism to drive the equipment body to walk to the position of the underwater plant to be trimmed according to the plant information, and controls the trimming device to cut the underwater plant to be trimmed according to the plant information.

As an optional implementation manner, in an embodiment of the second aspect of the present invention, the collecting device includes a collecting component and an analyzing component;

collection system gathers the plant information of submarine plant and sends to first controlling means includes:

the acquisition component acquires plant information of underwater plants and sends the plant information to the analysis component;

the analysis component receives the plant information and sends the plant information to the first control device when the plant information is matched with preset plant information;

the plant information includes height information, species information and position information of the plant.

As an alternative, in the second aspect of the invention, a storage space is formed between the bottom of the body portion and the two sides of the walking portion, a collection box which is opened forwards is arranged in the storage space, the collection box is provided with a power pump, and the power pump is electrically connected with the first control device, and the method further comprises:

the first control device detects the cutting amount of the underwater plants cut by the trimming device, and controls the power pump to start to suck the cut underwater plants into the collecting box when the cutting amount reaches a preset cutting amount.

In a third aspect, the embodiment of the invention further provides an underwater plant trimming system, which comprises a parking bin and the trimming device, wherein a parking area and a plant stacking area are arranged in the parking bin, the trimming device is parked in the parking area, and the plant stacking area is provided with a stacking box for stacking cut underwater plants.

Compared with the prior art, the underwater plant trimming device, the underwater plant trimming method and the underwater plant trimming system have the following beneficial effects:

the invention provides underwater plant trimming equipment, a method and a system. By adopting the mode, the cutting and trimming of the underwater plants are changed from the traditional manual underwater operation into the mechanical operation of underwater operation of trimming equipment, the operation difficulty is reduced, and the working efficiency is effectively improved.

And, because this equipment body still is equipped with the collecting box that is used for collecting the submarine plant of cutting, collect the submarine plant of cutting and cutting of submarine plant and go on simultaneously, can also further improve work efficiency when avoiding environmental pollution.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a first state of a trimming device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a trimming device in a second state according to an embodiment of the present invention;

FIG. 3 is a flow chart of a trimming method according to a second embodiment of the present invention;

fig. 4 is a flowchart of a trimming method according to a third embodiment of the present invention;

FIG. 5 is a first state diagram of a trimming system according to a fourth embodiment of the present invention;

fig. 6 is a state diagram of a trimming system according to a fourth embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "center", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.

Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.

The technical solution of the present invention will be further described with reference to the following embodiments and the accompanying drawings.

Example one

Referring to fig. 1 and 2 together, an embodiment of the present invention provides an underwater plant trimming apparatus, including an apparatus body 1, a collecting device 2 and a trimming device 3, where the apparatus body 1 is provided with a first control device and a first power mechanism, the first power mechanism is electrically connected to the first control device and is used to provide walking power for the apparatus body 1, the collecting device 2 is disposed on the apparatus body 1 and is electrically connected to the first control device, the collecting device 2 is used to collect plant information of underwater plants and send the plant information to the first control device, the trimming device 3 is disposed on the apparatus body 1, and the trimming device 3 is used to cut the underwater plants when the first power mechanism drives the apparatus body 1 to walk, or the trimming device 3 is electrically connected to the first control device and is used to cut the underwater plants under the control of the first control device.

In the present embodiment, the trimming device 10 is mainly used for maintenance trimming of underwater submerged plants in water environments such as rivers, lakes, reservoirs, bays and the like. When needs prune submarine plant, adopt the pruning equipment 10 of this scheme, the plant information of submarine plant is gathered to collection system 2, and trimming means 3 cuts submarine plant. By adopting the mode, the cutting and trimming of the underwater plants are changed from the traditional manual underwater operation into the mechanized operation of the underwater operation of the trimming device 10, the operation difficulty is reduced, and the working efficiency is effectively improved.

In the present embodiment, the apparatus body 1 includes a body portion 11 and a traveling portion 12 provided on the body portion 11, the first control means is provided in the body portion 11, the picking means 2 and the trimming means 3 are provided on the body portion 11, and the first power means is provided on the traveling portion 12.

As can be seen from the foregoing, the trimming device 10 of the present invention is mainly applied to the maintenance trimming of underwater submerged plants in water environments such as rivers, lakes, reservoirs, and bays, and the like, and the plants in the water bottom are usually disorderly and have no sense, which brings about a very large obstacle to the advance of the trimming device 10 during the trimming process, therefore, the walking part 12 of the embodiment of the present invention adopts the transmission tracks arranged on the two sides of the body part 11, and the body part 11 can stably run on the bottom mud under the water under the driving of the transmission tracks on the two sides. In addition, because the mode of driving the crawler tracks to walk is adopted, the trimming device 10 walks along the bottom of the river or lake, and the disturbance of bottom sediment at the bottom of the water can be effectively reduced.

Further, in order to further improve the running stability of the pruning device 10 on the water bottom, the walking part 12 and the body part 11 together form the device body 1 which is approximately rectangular and three-dimensional. Because the movable range of the gravity center of the rectangular three-dimensional structure is larger, the equipment body 1 is set to be in a rectangular three-dimensional shape, the operation stability of the trimming equipment 20 can be improved, and the side turning risk in the operation process is reduced. Preferably, the length × width × height dimensions of the apparatus body 1 are 2.1 × 1.3 × 0.64 m.

In this embodiment, in order to facilitate the collection of the plant information, the collecting device 2 is disposed on the top of the body portion 11 and is disposed near the front end of the body portion 11, or the collecting device 2 is disposed at the front end of the apparatus body 1. Preferably, the collecting component is a camera arranged on the body part 11, and the collecting device 2 is preferably arranged on the top of the body part 11 and close to the front end of the body part 11, so as to increase the information collecting range of the collecting device 2.

Further, the collecting device 2 comprises a collecting part and an analyzing part, the analyzing part is electrically connected with the collecting part, the plant information comprises height information, type information and position information of the plant, the collecting part collects the height information, the type information and the position information of the plant, and sends the height information, the type information and the position information to the first control device when the height information is matched with the preset height information.

Furthermore, because the underwater plants in the same area have substantially the same growth and the height of the underwater plants after the trimming maintenance is substantially consistent, in order to avoid incomplete trimming or repeated trimming, the first control device is further configured to generate a preset moving route matched with the preset plant information according to the preset plant information. The first control device can automatically match a preset moving route corresponding to the position information after receiving the position information of the plant information, and controls the first power mechanism to drive according to the preset moving route so that the equipment body 1 can walk on the preset moving route, and therefore plant trimming of the whole area is achieved.

In the present embodiment, the trimming device 3 includes the following two setting modes:

the first method comprises the following steps: trimming means 3 locates equipment body 1, and trimming means 3 is used for cutting submarine plant when first power unit drive equipment body 1 walks. Specifically, the trimming device 3 is disposed at the front end of the body portion 11, the trimming device 3 is a strip-shaped section 321, the strip-shaped section 321 is provided with cutting teeth along the side edge of the length direction of the strip-shaped section 321, the cutting teeth of the strip-shaped section 321 are disposed forward when the strip-shaped section 321 is disposed at the front end of the body portion 11, and in the process of forward walking of the walking portion 12, the cutting teeth of the strip-shaped section 321 cut underwater plants.

And the second method comprises the following steps: the trimming device 3 is arranged on the equipment body 1 and is electrically connected with the first control device, and is used for cutting underwater plants under the control of the first control device, and the first control device is used for controlling the trimming device 3 to cut underwater plants according to the plant information. Specifically, the trimming device 3 includes a second power mechanism, a telescopic arm 31 and a cutter 32, the second power mechanism is disposed in the body 11 and electrically connected to the first control device, one end of the telescopic arm 31 is rotatably disposed at the top of the body 11, the cutter 32 is disposed at the other end of the telescopic arm 31, the telescopic arm 31 is configured to rotate relative to the body 11 under the driving of the second power mechanism to switch between a first state (as shown in fig. 1) and a second state (as shown in fig. 2), wherein the first state is a state in which the telescopic arm 31 is telescopic relative to the body 11 to drive the cutter 32 to be located at the top of the body 11, and the second state is a state in which the telescopic arm 31 is extended forward relative to the body 11 to drive the cutter 32 to be located at the front end of the body 11.

Here, the front end of the body portion 11 refers to an end thereof facing forward during the forward walking of the body portion 11 (as shown in fig. 2, the direction indicated by the arrow is the forward walking direction of the body portion 11).

As can be seen from the above two arrangements, with the first arrangement, the structure of the entire trimming device 10 can be simplified because the structure of the trimming means 3 is relatively simple. Moreover, trimming means 3 can cut submarine plant simultaneously at the in-process of body part 11 walking, is favorable to making the submarine plant after the cutting highly keep unanimous, also makes the cutting to prune submarine plant more orderly simultaneously.

In the second arrangement, since the cutter 32 is connected to the body portion 11 via the telescopic arm 31, the position of the cutter 32 can be changed by adjusting the state of the telescopic arm 31, so that the cutter 32 can meet different cutting requirements. For example, in the case that different height of plants on the ground is required to be maintained after pruning, the height of the cutter 32 can be adjusted by adjusting the state of the telescopic arm 31, so that the cutter 32 is located at a height matched with the height of the plants, thereby cutting the height of the plants required to be maintained. Therefore, with this arrangement, the flexibility of the trimming device 3 can be improved and the applicable range of the trimming device 3 can be increased.

The second arrangement is described in detail below.

In the present embodiment, the telescopic arm 31 includes a rear arm 311 and a front arm 312, the rear arm 311 is rotatably connected to the body portion 11, the front arm 312 is rotatably connected to the rear arm 311, and the cutter 32 is connected to the front arm 312, wherein the first state is that the rear arm 311 is rotated relative to the body portion 11 to be superposed on the body portion 11 and the front arm 312 is rotated relative to the rear arm 311 to be superposed on the rear arm 311, and the second state is that the rear arm 311 is rotated relative to the body portion 11 to be deployed forward relative to the body portion 11 and the front arm 312 is rotated relative to the rear arm 311 to be deployed forward.

Further, the rear arm 311 is connected to the body portion 11 near the rear end, and the front arm 312 and the rear arm 311 are pivotally connected at the top of the body portion 11. Specifically, because the underwater plants are different in growth height, in order to be able to trim the plants of different growth height, the length ratio of the rear arm 311 to the front arm 312 is 1: 1-1: 1.3, such that when the rear arm 311 is stacked on the body portion 11 and the front arm 312 is stacked on the rear arm 311, the front arm 312 and the rear arm 311 are completely located above the body portion 11. Wherein, the ratio of the rear arm 311 to the front arm 312 may be 1: 1.08, 1: 1.1, 1: 1.5, etc., preferably the rear wall length is 1.3m and the front wall 312 length is 1.4 m.

Further, in actual use, the rotation angle of the rear arm 311 with respect to the body portion 11 and the rotation angle of the front arm 312 with respect to the rear arm 311 are controlled so that the cutter reaches a desired cutting height.

In this embodiment, in order to facilitate the rotational connection between the rear arm 311 and the body portion 11, a protrusion 111 is disposed at a position close to the rear end of the top of the body portion 11, the second power mechanism is disposed in the protrusion 111, a rotational groove is disposed on the protrusion 111, and one end of the rear arm 311 is rotatably disposed in the rotational groove.

In this embodiment, the cutter 32 includes a strip-shaped slice 321 and a connecting portion 322, the connecting portion 322 extends upward from the strip-shaped slice 321, the connecting portion 322 is connected to the front arm 312, the strip-shaped slice 321 is provided with cutting teeth along its own length direction side, and the connecting portion 322 is connected to the front end of the front arm 312 and is provided forward of the cutting teeth of the strip-shaped slice 321. Preferably, the length of the elongated slices 321 is 1.1 m.

In this embodiment, in order to avoid the cut underwater plants from being accumulated in the water bottom in a large amount and causing environmental pollution, the trimming device 10 is further provided with a device for collecting the cut underwater plants. Specifically, a storage space is formed between the bottom of the body part 11 and the two side walking parts 12, a collection box 4 with a forward opening 41 is arranged in the storage space, and the collection box 4 is used for collecting the underwater plants cut by the trimming device 3. Because this equipment body 1 still is equipped with the collecting box 4 that is used for collecting the submarine plant of cutting, will cut submarine plant and collect submarine plant and go on simultaneously, can also further improve work efficiency when avoiding environmental pollution.

Further, in order to better collect the underwater plants to the collection box 4, a power pump (not shown) is further disposed in the storage space, and the power pump is located behind the collection box 4 and electrically connected to the first control device for providing suction force to the collection box 4. The first control device is also used for controlling the power pump to start according to the plant information so as to simultaneously cut and collect the underwater plants.

In this embodiment, collecting box 4 is the fretwork net box, and the in-process of power pump with submarine plant suction to collecting box 4, submarine plant and water get into the suction collection box 4 together, because collecting box 4 is the fretwork net box, can be with the water discharge from the end of collecting box 4 in the collecting box 4, and remaining submarine plant can continue to stay and store in the box.

Further, when the collecting box 4 collects underwater plants, the apparatus body 1 moves to the position where the underwater plants are collected to guide out the underwater plants for another round of collection, and in order to prevent the underwater plants from falling out of the collecting box 4 collecting the underwater plants, the collecting box 4 is rotatably provided with a collecting cover 42, and the collecting cover 42 is used for covering or opening the opening 41 of the collecting box 4. The collection cover 42 opens the opening 41 of the collection container 4 when the collection container 4 is in the collection state, and the collection container 4 covers the opening 41 of the collection container 4 when the collection container 4 collects underwater plants.

The following is a brief description of the trimming process of the trimming device 10:

the collecting device collects plant information and sends the plant information to the first control device, the first control device controls the first power mechanism driving equipment body 1 to walk to the position of a submarine plant to be trimmed according to the position information of the plant information, the first control device controls the telescopic arm 31 to be adjusted to the second state according to the height information, so that the cutter 32 is located at the height corresponding to the height information, the first control device continuously controls the first power mechanism driving equipment body 1 to walk according to a preset moving route and simultaneously starts the power pump, the trimming device 3 cuts the submarine plant when the equipment body 1 walks, and meanwhile, the cut submarine plant is sucked into the collecting box 4.

According to the underwater plant trimming device provided by the embodiment of the invention, by arranging the trimming device comprising the collecting device and the trimming device, due to the adoption of the trimming device, the cutting and trimming of underwater plants are changed from the traditional manual underwater operation into the mechanical operation of underwater operation of the trimming device, the operation difficulty is reduced, and the working efficiency is effectively improved. In addition, this pruning equipment still is equipped with the collecting box that is used for collecting the submarine plant, can avoid the submarine plant of cutting to cause environmental pollution. Will cut the submarine plant and collect the submarine plant and go on simultaneously, can also further improve work efficiency when avoiding environmental pollution.

Example two

Referring to fig. 3, an embodiment of the present invention further provides a method for trimming underwater plants by using the trimming apparatus in the first embodiment, where the trimming apparatus includes an apparatus body, a collecting device, and a trimming device, the apparatus body is provided with a first control device and a first power mechanism, the first power mechanism is electrically connected to the first control device, the collecting device is disposed on the apparatus body and electrically connected to the first control device, and the trimming device is disposed on the apparatus body, the method includes:

201. the collecting device collects plant information of the underwater plants and sends the plant information to the first control device.

In this embodiment, the collecting device includes a collecting part and an analyzing part.

Collection system gathers the plant information of submarine plant and sends and include to first controlling means:

2011. the acquisition component acquires plant information of the underwater plants and sends the plant information to the analysis component.

2012. The analyzing part receives the plant information and transmits the plant information to the first control device when the plant information matches with the preset plant information.

Further, the plant information includes height information, species information, and position information of the plant.

202. The first control device controls the first power mechanism to drive the equipment body to walk underwater according to the plant information.

Specifically, before the first control device controls the first power mechanism to drive the device body to walk underwater, the first control device further determines a preset walking route matched with the plant information according to the plant information, so that the first control device controls the first power mechanism to drive the device body to walk underwater along the preset walking route according to the preset walking route.

203. The trimming device cuts underwater plants when the equipment body walks.

In this embodiment, a storage space is formed between the bottom of the body portion and the two side walking portions, a collection box with a forward opening is arranged in the storage space, the collection box is provided with a power pump, and the power pump is electrically connected with the first control device, and the trimming method further comprises the following steps:

the first control device detects the cutting amount of the underwater plants cut by the trimming device, and controls the power pump to start to suck the cut underwater plants into the collecting box when the cutting amount reaches the preset cutting amount.

Compared with the traditional manual underwater operation, the underwater plant pruning method provided by the embodiment of the invention has the advantages that the operation difficulty is reduced and the working efficiency is high.

EXAMPLE III

Referring to fig. 4, a third embodiment of the present invention further provides a method for pruning underwater plants, which is different from the second embodiment in that the pruning device is disposed on the equipment body and electrically connected to the first control device. The method of the embodiment comprises the following steps:

301. the collecting device collects plant information of the underwater plants and sends the plant information to the first control device.

302. The first control device controls the first power mechanism to drive the equipment body to walk to the position of the underwater plant to be trimmed according to the plant information, and controls the trimming device to cut the underwater plant to be trimmed according to the plant information.

The following is a brief description of the pruning process after the plant information is collected:

the collecting device sends the plant information to the first control device, the first control device controls the first power mechanism driving device body to walk to the position of the underwater plant to be trimmed according to the position information of the plant information, the first control device controls the telescopic arm adjusting state according to the height information again, so that the cutter reaches the height corresponding to the height information, the first control device continues to control the first power mechanism driving device body to walk and controls the power pump to start, the trimming device cuts the underwater plant when the device body walks, and the cut underwater plant is sucked into the collecting box.

Compared with the traditional manual underwater operation, the underwater plant trimming method provided by the third embodiment of the invention has the advantages that the operation difficulty is reduced and the working efficiency is high by adopting the method for trimming underwater plants by using the trimming equipment.

Example four

Referring to fig. 5 and 6, a fourth embodiment of the present invention further provides an underwater plant trimming system, which includes a parking bin 20 and a trimming device 10 according to the first embodiment, wherein the parking bin 20 is provided with a parking area and a plant stacking area, the trimming device 10 is parked in the parking area, and the plant stacking area is provided with a stacking box for stacking cut underwater plants.

In this embodiment, the trimming device 10 is parked in a parking area, the collecting device on the trimming device 10 collects plant information of the underwater plant, and when the collecting device collects plant information matched with preset plant information, the trimming device 10 moves to a position where the underwater plant is located to trim the plant.

Specifically, the first control device is used for controlling the first power mechanism to drive the equipment body to walk according to the plant information, so that the equipment body walks from the parking bin 20 to the position of the underwater plant to be trimmed. In addition, the first control device is further provided with a preset moving route corresponding to the type information of the plants, determines the preset moving route according to the type information of the plants, and controls the trimming device 10 to perform underwater plant trimming work along the preset moving route from the starting point.

Further, after the trimming device 10 finishes trimming, it returns to the parking area of the parking bin 20 and continues to collect the plant information through the collecting device.

In this embodiment, the collecting box 4 is detachably disposed on the trimming device 10, preferably, the stacking box is a plurality of collecting boxes 4 which can be accommodated in the accommodating space of the device body, each collecting box 4 can be detachably mounted on the trimming device 10, the collecting box 4 which can collect the underwater plants can return to the plant stacking area of the parking bin 20 to replace the empty collecting box 4, and then the underwater plants can be continuously trimmed and collected, by adopting the manner, the underwater plants collected to the collecting box 4 can be transported to a fertilizer production plant to serve as raw materials of organic fertilizer, so that the underwater plants become a new resource which can be developed and utilized, and the resource utilization efficiency is improved.

Further, the cutters are detachably connected to the front arms, cutters of different sizes, namely strip-shaped blades of different lengths, are placed in the parking bins 20, and before the trimming device 10 is used for water drainage, the cutters can be replaced to the specifications matched with plants to be trimmed, so that trimming requirements of different underwater plants are met, and the applicability of the trimming device 10 is improved.

In this embodiment, it still is equipped with second controlling means to park in the storehouse 20, and second controlling means is connected with first controlling means electricity, when people observe the condition that submarine plant needs to be pruned through the naked eye, can click on second controlling means and prune equipment start icon and select the corresponding preset movement route with submarine plant, and second controlling means sends to first controlling means after receiving the start-up information, and first controlling means starts after receiving the start-up information, carries out the pruning of submarine plant.

The workflow of the trimming device 10 is as follows:

collecting plant information of underwater plants → the trimming device 10 moves out of the parking bin 20 to the underwater plants to be trimmed → cutting the underwater plants from head to tail along a preset moving route (the height of the trimming device is automatically adjusted and the trimmed underwater plants are collected by the collecting box 4) → returning the collecting box 4 to the parking bin 20 after the collecting box 4 is fully collected to replace the empty collecting box 4 → returning and continuing the cutting work of the underwater plants → feedback information after finishing the work → returning to the parking bin 20.

In addition, for the specific structural design of the trimming device 10, reference may be made to the description of the first embodiment, and details are not repeated here.

The underwater plant trimming system is provided with the trimming device and the parking bin, the plurality of collecting boxes are placed in the parking bin, the collecting boxes are detachably arranged on the trimming device body, so that the collecting boxes full of underwater plants can return to the plant stacking area of the parking bin to replace empty collecting boxes to continue trimming and collecting the underwater plants, the cutters are detachably connected to the front arms, the parking bin is also internally provided with cutters with different sizes, the cutters can be replaced to the specifications matched with the plants to be trimmed, the requirements for trimming different underwater plants are met, and the applicability of the trimming device is improved.

The underwater plant trimming device, the underwater plant trimming method and the underwater plant trimming system disclosed by the embodiment of the invention are described in detail, specific examples are applied in the detailed description to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the underwater plant trimming device, the underwater plant trimming method and the underwater plant trimming system; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. An underwater plant trimming apparatus, comprising

the trimming device is arranged on the equipment body;

2. The clipping apparatus according to claim 1, wherein the apparatus body includes a body portion and a traveling portion provided to the body portion, the first control means is provided in the body portion, the pickup means and the clipping means are provided to the body portion, and the first power means is provided to the traveling portion;

3. The clipping apparatus of claim 2 wherein the collection means is provided at the top of the body portion adjacent the front end of the body portion or at the front end of the apparatus body.

4. A trimming device according to claim 2, wherein the trimming means is provided at a front end of the body portion and the trimming means is an elongate blade, or,

5. The clipping apparatus of claim 4 wherein the telescoping arm includes a rear arm rotatably connected to the body portion and a front arm rotatably connected to the rear arm, the cutter being connected to the front arm;

6. The clipping apparatus of claim 5 wherein the pivotal connection of the front arm to the rear arm is at the top of the body portion and the ratio of the length of the rear arm to the front arm is 1: 1-1: 1.3.

7. the clipping apparatus of claim 5 or 6 wherein the body portion has a projection at a top portion thereof adjacent the rear end thereof, the second power mechanism being disposed within the projection, the projection having a rotation recess therein, one end of the rear arm being rotatably disposed within the rotation recess.

8. A trimming apparatus according to claim 5 or 6, wherein the cutter comprises an elongate blade and a connecting portion extending upwardly from the elongate blade, the connecting portion being connected to the forearm, the elongate blade being provided with cutting teeth along its own lengthwise side.

9. The pruning apparatus according to any one of claims 2 to 6, wherein the travelling sections are drive tracks provided on either side of the body section, and a storage space is defined between the bottom of the body section and the travelling sections on either side thereof, the storage space having a forwardly open collection bin for collecting underwater vegetation cut by the pruning device.

10. The clipping apparatus according to claim 9, wherein a power pump is further provided in the receiving space, the power pump being located behind the collection bin and electrically connected to the first control means for providing suction to the collection bin.

11. The clipping apparatus according to claim 9, wherein the collection box is a hollow grid box, the collection box being rotatably provided with a collection cover for covering or uncovering an opening of the collection box.

12. A method for pruning underwater plants by adopting underwater plant pruning equipment is characterized in that the pruning equipment comprises an equipment body, a collecting device and a pruning device, wherein the equipment body is provided with a first control device and a first power mechanism, and the first power mechanism is electrically connected with the first control device; the acquisition device is arranged on the equipment body and is electrically connected with the first control device;

the pruning device cuts the underwater plants when the equipment body walks;

alternatively, the first and second electrodes may be,

the method comprises the following steps:

13. The method of claim 12, wherein the collection device comprises a collection component and an analysis component;

14. The method of claim 12, wherein a storage space is formed between the bottom of the body portion and the traveling portion on both sides thereof, a collection tank opened forward is provided in the storage space, the collection tank is provided with a power pump electrically connected to the first control device, and the method further comprises:

15. An underwater plant trimming system comprising a parking chamber having a parking area and a plant deposit area, the trimming device being parked in the parking area, and a trimming device according to any one of claims 1 to 11 having a deposit box for depositing cut underwater plants.