An intelligent lawn repair robot based on ROS framework

Abstract

The present invention relates to the field of robot technology, and in particular to an intelligent lawn mowing robot based on a ROS framework, comprising a self-propelled vehicle and a camera arranged on the self-propelled vehicle, a lifting platform capable of moving in a vertical direction being arranged at the bottom end of the self-propelled vehicle, a mowing blade being arranged at the bottom end of the lifting platform, a motor for driving the mowing blade to rotate being arranged at the top end of the lifting platform, trimming arms having one end capable of extending to the outside of the self-propelled vehicle being arranged on both sides of the lifting platform along its width direction, a rotatable grass cutting rope being arranged at one end of the trimming arm, and a driver for driving the end of the trimming arm with the grass cutting rope to extend to the outside of the self-propelled vehicle being arranged at the other end of the trimming arm, the application enables the robot to operate flexibly in a limited space through the rotational connection between the trimming arm and the lifting platform and the retractable function of the trimming arm, and can still efficiently complete the lawn mowing task in a narrow garden or courtyard in particular.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an intelligent lawn repair robot based on a ROS framework. Background Art

[0002] With the development of society and the continuous advancement of science and technology, the robotics industry has developed rapidly. More and more robots are replacing humans in various fields, such as home service robots, shopping guide robots, and sweeping robots. Traditional intelligent lawn repair robots based on the ROS framework can basically meet people's needs, but there are still certain problems. Most of the automatic mowing robots on the market use high-speed rotating blade discs to achieve the mowing function. However, since the blade is located under the fuselage, the coverage of the mowing tool is always smaller than the fuselage, resulting in the edge area of ​​the lawn cannot be fully mowed. Although some mowing equipment has improved the coverage effect of the edge area by optimizing the position of the tool, it is still unable to completely mow the edge of the lawn due to the limitation of the size of the fuselage shell.

[0003] Chinese patent publication number CN115070787A discloses an intelligent mobile body and an intelligent garden robot, including a shell, and a driving device, a power battery, a control unit, an automatic driving computing unit, an environment acquisition unit and a module mounting device installed on the shell, wherein the power battery provides electric energy; the control unit controls the driving device based on the driving information output by the automatic driving computing unit to realize the movement of the intelligent mobile body; the automatic driving computing unit analyzes and calculates the driving information based on the environment information acquired by the environment acquisition unit; and the module mounting device is used to mount the required functional modules.

[0004] The robot trims the edge of the lawn by installing a trimming module on the side, which effectively solves the problem that traditional lawn mowers cannot trim the edge of the lawn. However, the addition of the trimming module will increase the width of the robot, making it unable to adapt to lawn cleaning tasks in narrow environments. For example, in a small garden, courtyard or area with many obstacles, the size of the robot may become a factor that restricts its flexibility, resulting in the inability to effectively complete lawn mowing in these spaces. Although this design improves the robot's mowing effect, the presence of the trimming module still brings certain limitations in a space-constrained environment. Summary of the invention

[0005] In view of the problems in the prior art, an intelligent lawn mowing robot based on the ROS framework is provided. Trimming arms are arranged on both sides of the length direction of the self-propelled vehicle, and the trimming arms are guided by a driver to extend relative to the sides of the self-propelled vehicle, so that the edge of the lawn can be trimmed, thereby solving the problem that the existing lawn mowing robots cannot adapt to trimming the edge of the lawn in a narrow environment.

[0006] To solve the problems of the prior art, the present invention provides an intelligent lawn mowing robot based on a ROS framework, comprising a self-propelled vehicle and a camera arranged on the self-propelled vehicle, a lifting platform capable of moving in a vertical direction is arranged at the bottom end of the self-propelled vehicle, a mowing blade is arranged at the bottom end of the lifting platform, a motor for driving the mowing blade to rotate is arranged at the top end of the lifting platform, trimming arms capable of extending to the outside of the self-propelled vehicle are arranged on both sides of the lifting platform along the width direction, the trimming arm is rotatably connected to the lifting platform along the horizontal direction, a rotatable mowing rope is arranged at one end of the trimming arm, a rotatable mowing rope is arranged at the extended end of the trimming arm, and a driver for driving the trimming arm to extend to the outside of the self-propelled vehicle is arranged at the other end of the trimming arm.

[0007] Preferably, a rotating box is provided at one end of the trimming arm equipped with a grass trimming rope, a torsion disk is provided in the rotating box, and the top and bottom ends of the torsion disk are both provided with coil springs connected to the top and bottom ends of the inner cavity of the rotating box. One end of the grass trimming rope passes through the rotating box and is wound around the torsion disk, and the other end of the grass trimming rope is provided with a lead sinker located outside the rotating box.

[0008] Preferably, a driven wheel is provided on the lifting platform, which is transmission-connected to the motor, an abutment wheel is also provided on the trimming arm, a transmission shaft coaxial with the rotating box is provided at the top end thereof, the transmission shaft passes through one end of the trimming arm and is rotationally connected thereto, the transmission shaft is transmission-connected to the abutment wheel, and when the rotating box is deflected to the outside of the self-propelled trolley, the abutment wheel abuts against the driven wheel, and the rotating box rotates relative to the trimming arm.

[0009] Preferably, a driving column rotatably connected to the trimming arm is provided at one end connected to the driver, the driving column extends in the vertical direction, and a driving port extending radially is provided on the driving column. The driver includes a trimming electric push rod, which is rotatably connected to the lifting platform, and the output shaft of the trimming electric push rod passes through the driving port and is elastically slidably connected to the driving port.

[0010] Preferably, a positioning ring and a limit ring are provided on the output rod of the trimming electric push rod, and the positioning ring and the limit ring are located on both sides of the driving port of the driving column. An elastic element is also sleeved on the output shaft of the trimming electric push rod, and the elastic element is located between the limit ring and the driving port of the driving column.

[0011] Preferably, a coaxial annular groove is provided on the circumferential surface of the torsion disc, and the mowing rope is wound in the annular groove.

[0012] Preferably, a trimming synchronous belt is arranged between the transmission shaft and the abutment wheel, a trimming protective cover is arranged on the trimming arm, and the trimming synchronous belt is located inside the trimming protective cover.

[0013] Preferably, a transmission synchronous belt is arranged between the driven wheel and the output shaft of the motor, a transmission protective cover is arranged at the bottom end of the lifting platform, and the transmission synchronous belt is located inside the transmission protective cover.

[0014] Preferably, a lifting electric push rod is provided on the self-propelled trolley, and the output shaft of the lifting electric push rod passes downward through the self-propelled trolley and is connected to the lifting platform.

[0015] Preferably, a guide column extending in the longitudinal direction is provided at the top of the lifting platform, and the top of the guide column slides through the self-propelled trolley and is provided with a fixing ring.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The robot can precisely trim the edge of the lawn through the side-mounted trimming arm and rotating mowing rope, solving the problem that traditional lawn mowers cannot cover the edge area, ensuring the cleanliness and beauty of the entire lawn. The flexible design of the lifting platform and trimming arm enables the robot to adapt to the needs of different terrains, including changes in lawn height, tortuous boundaries, and environments with obstacles, thereby increasing the robot's scope of application. The rotating connection between the trimming arm and the lifting platform and the retractable function of the trimming arm enable the robot to operate flexibly in a limited space, especially in a narrow garden or courtyard, and still efficiently complete the lawn mowing task. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of an intelligent lawn mowing robot based on the ROS framework from the first perspective.

[0019] Figure 2 It is a schematic diagram of an intelligent lawn mowing robot based on the ROS framework from the second perspective.

[0020] Figure 3 This is a schematic diagram of the lifting platform in an intelligent lawn mowing robot based on the ROS framework.

[0021] Figure 4 This is a schematic diagram of the mowing blade in an intelligent lawn mowing robot based on the ROS framework.

[0022] Figure 5 This is a partial three-dimensional exploded view of the middle lifting platform of an intelligent lawn mowing robot based on the ROS framework.

[0023] Figure 6 This is a side view of the lifting platform of an intelligent lawn mowing robot based on the ROS framework.

[0024] Figure 7 This is a cross-sectional view of the rotating box in an intelligent lawn mowing robot based on the ROS framework.

[0025] Figure 8This is a three-dimensional exploded diagram of the rotating box in an intelligent lawn mowing robot based on the ROS framework.

[0026] Fig. 9 This is a schematic diagram of the trimming arm of an intelligent lawn mowing robot based on the ROS framework in its initial state.

[0027] Fig.10 This is a schematic diagram of the trimming arm of an intelligent lawn mowing robot based on the ROS framework in an extended state.

[0028] The numbers in the figure are: 1. Self-propelled trolley; 2. Camera; 31. Lifting platform; 311. Driven wheel; 32. Lifting electric push rod; 33. Guide column; 34. Fixed ring; 41. Mowing blade; 42. Motor; 51. Trimming arm; 511. Abutment wheel; 512. Driving column; 52. Grass rope; 521. Plumb sinker; 531. Trimming electric push rod; 532. Positioning ring; 533. Limiting ring; 534. Elastic element; 54. Rotating box; 541. Transmission shaft; 55. Torsion plate; 56. Coil spring; 571. Trimming timing belt; 572. Trimming protective cover; 573. Transmission timing belt; 574. Transmission protective cover. DETAILED DESCRIPTION

[0029] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0030] like Figure 1 , Figure 2 , Figure 3 and Fig.10 As shown, this application provides:

[0031] An intelligent lawn mowing robot based on a ROS framework comprises a self-propelled vehicle 1 and a camera 2 arranged on the self-propelled vehicle 1, a lifting platform 31 capable of moving in a vertical direction is arranged at the bottom end of the self-propelled vehicle 1, a mowing blade 41 is arranged at the bottom end of the lifting platform 31, a motor 42 for driving the mowing blade 41 to rotate is arranged at the top end of the lifting platform 31, trimming arms 51 capable of extending to the outside of the self-propelled vehicle 1 are arranged on both sides of the lifting platform 31 along the width direction thereof, the trimming arms 51 are rotatably connected to the lifting platform 31 along the horizontal direction, a rotatable grass cutting rope 52 is arranged at one end of the trimming arm 51, and a driver for driving the trimming arm 51 to extend to the outside of the self-propelled vehicle 1 is arranged at the other end of the trimming arm 51.

[0032] The intelligent lawn mowing robot is designed based on the ROS framework and mainly consists of a self-propelled vehicle 1 and a camera 2 installed thereon. The bottom of the self-propelled vehicle 1 is equipped with a lifting platform 31 that can be lifted and lowered in the vertical direction. The bottom of the platform is equipped with a mowing blade 41, and the top is provided with a motor 42 that drives the mowing blade 41 to rotate. In order to further improve the trimming effect of the lawn edge, trimming arms 51 are respectively provided on both sides of the lifting platform 31, and these trimming arms 51 can extend to the outside of the self-propelled vehicle 1. The trimming arm 51 is connected to the lifting platform 31 through horizontal rotation, so that the trimming arm 51 can flexibly adjust the angle. One end of the trimming arm 51 is equipped with a rotating mowing rope 52, which can effectively trim the lawn edge, and the other end is equipped with a driver for controlling the extension and retraction of the mowing rope 52 and its movement to the outside of the robot.

[0033] Through this innovative design, the robot can mow and trim the edges at the same time, improving the accuracy and efficiency of lawn trimming. The adjustability of the trimming arm 51 enables it to adapt to the needs of different terrains and lawn boundaries, while the lifting function of the lifting platform 31 ensures the applicability of the mowing blade 41 at different heights. The overall structure not only enhances the robot's operational flexibility, but also enables it to complete more sophisticated trimming tasks in complex lawn environments.

[0034] like Figure 6 , Figure 7 and Figure 8 As shown, one end of the trimming arm 51 equipped with the grass trimming rope 52 is provided with a rotating box 54, and a torsion disk 55 is provided in the rotating box 54. The top and bottom ends of the torsion disk 55 are provided with coil springs 56 connected to the top and bottom ends of the inner cavity of the rotating box 54. One end of the grass trimming rope 52 passes through the rotating box 54 and is wound around the torsion disk 55, and the other end of the grass trimming rope 52 is provided with a lead sinker 521 located outside the rotating box 54.

[0035] In order to prevent the mowing rope 52 from being entangled with the rotating mowing blade 41 when the trimming arm 51 is not extended, a rotating box 54 is installed at one end of the trimming arm 51, and a torque plate 55 is built in the rotating box 54. The top and bottom ends of the torque plate 55 are connected to the inner cavity of the rotating box 54 through coil springs 56 respectively, and the coil springs 56 provide torque support for controlling the winding and extension of the mowing rope 52.

[0036] One end of the mowing rope 52 passes through the rotating box 54 and is wound around the torsion disc 55, while the other end of the mowing rope 52 is connected to the lead weight 521 outside the rotating box 54. With this design, when the trimming arm 51 is in the initial state, the coil spring 56 uses its stored torsion to cause the torsion disc 55 to automatically reel in the mowing rope 52, thereby preventing the mowing rope 52 from interfering with the mowing blade 41.

[0037] When the trimming arm 51 stretches out and starts working, the rotating box 54 starts to rotate at high speed. In this process, the plumb 521 gradually pulls the grass trimming rope 52 under the effect of centrifugal force, so that it stretches out smoothly from the rotating box 54, enters the working state and trims the lawn edge.

[0038] This design effectively prevents the risk of the mowing rope 52 being entangled when the trimming arm 51 is not extended, and ensures that the trimming arm 51 can work smoothly when extended, thereby improving the stability and reliability of the robot. The action mechanism of the torsion plate 55 and the coil spring 56 not only optimizes the process of retracting and releasing the mowing rope 52, but also enhances the adaptability of the robot in different working states, so that it can operate flexibly in complex lawn environments.

[0039] like Figure 5 As shown, a driven wheel 311 is provided on the lifting platform 31, and the driven wheel 311 is transmission-connected to the motor 42. An abutment wheel 511 is also provided on the trimming arm 51. A transmission shaft 541 coaxial with the trimming arm is provided at the top of the rotating box 54. The transmission shaft 541 passes through one end of the trimming arm 51 and is rotationally connected thereto. The transmission shaft 541 is transmission-connected to the abutment wheel 511. When the rotating box 54 deflects to the outside of the self-propelled vehicle 1, the abutment wheel 511 abuts against the driven wheel 311, and the rotating box 54 rotates relative to the trimming arm 51.

[0040] A driven wheel 311 is installed on the lifting platform 31, which is connected to the output shaft of the motor 42 through a synchronous transmission system to ensure stable movement and precise control of the lifting platform 31. At the same time, the trimming arm 51 is also equipped with an abutment wheel 511 to further optimize the stability of the trimming operation.

[0041] A transmission shaft 541 coaxial with the rotating box 54 is provided at the top end thereof, and the transmission shaft 541 passes through one end of the trimming arm 51 and is rotatably connected to the trimming arm 51. With this design, the transmission shaft 541 can transmit the power of the rotating box 54 to the trimming arm 51, thereby achieving precise synchronous rotation. A synchronous transmission connection is adopted between the transmission shaft 541 and the abutting wheel 511 on the trimming arm 51, thereby ensuring that the rotating box 54 can maintain coordinated movement with the trimming arm 51 during the rotation process.

[0042] When the rotating box 54 deflects to the outside of the self-propelled vehicle 1, the abutting wheel 511 abuts against the driven wheel 311 on the lifting platform 31. The torque of the motor 42 can be transmitted to the rotating box 54, so that the rotating box 54 can rotate and the grass cutting rope 52 can be extended to cut grass.

[0043] The trimming arm 51 can be adjusted and rotated according to the work needs, ensuring that the trimming task can be successfully completed even in complex terrain or narrow areas. The addition of the synchronous transmission system not only improves the precise matching of mechanical parts, but also reduces errors, ensuring the quality of each trimming.

[0044] like Fig. 9 As shown, one end of the trimming arm 51 connected to the driver is provided with a driving column 512 rotatably connected thereto, the driving column 512 extends in the vertical direction, and the driving column 512 is provided with a driving opening extending along its radial direction, and the driver includes a trimming electric push rod 531, the trimming electric push rod 531 is rotatably connected to the lifting platform 31, and the output rod of the trimming electric push rod 531 passes through the driving opening and is elastically slidably connected thereto.

[0045] One end of the trimming arm 51 is provided with a driving column 512 rotatably connected thereto, the driving column 512 extends in a vertical direction and is provided with a driving port extending in a radial direction, and the driving port provides a precise connection and motion control point for a subsequent driving system.

[0046] The trimming drive is composed of a trimming electric push rod 531, one end of which is rotatably connected to the lifting platform 31, ensuring that the electric push rod can respond to the movement requirements of the lifting platform 31 and flexibly adjust the working angle and position of the trimming arm 51. The output rod of the trimming electric push rod 531 passes through the driving port on the driving column 512 and is connected to the driving port by an elastic sliding connection. The elastic sliding connection can effectively alleviate the impact and vibration that may occur in the system during operation, ensuring the smooth operation of the trimming system.

[0047] When the trimming electric push rod 531 is started, the output rod transmits power through the sliding connection of the drive column 512, so that the trimming arm 51 can be precisely adjusted along the required direction. The elastic sliding connection design enables the trimming electric push rod 531 to maintain good power transmission efficiency under different load and motion conditions. This design not only optimizes the adjustment accuracy of the trimming arm 51, but also improves the reliability of the system. The flexibility of the trimming electric push rod 531 combined with the stability of the drive column 512 enables the trimming arm 51 to quickly respond to the needs under different working conditions and accurately adjust the edge trimming angle of the lawn, thereby ensuring the consistency and high quality of the entire lawn trimming effect.

[0048] like Fig. 9 As shown, a positioning ring 532 and a limiting ring 533 are provided on the output rod of the trimming electric push rod 531, and the positioning ring 532 and the limiting ring 533 are located on both sides of the driving port of the driving column 512. An elastic element 534 is also sleeved on the output rod of the trimming electric push rod 531, and the elastic element 534 is located between the limiting ring 533 and the driving port of the driving column 512.

[0049] The output rod of the trimming electric push rod 531 is provided with a positioning ring 532 and a limiting ring 533, which are respectively located on both sides of the driving port of the driving column 512, forming a precise positioning and limiting system. The positioning ring 532 is used to ensure that the output rod always remains on the predetermined track during the working process, effectively preventing the output rod from deflecting or irregularly moving, thereby maintaining the stability and accuracy of the trimming arm 51. The limiting ring 533 plays a role in preventing the output rod from excessively moving, preventing the electric push rod from being damaged or overloaded when it is at the extreme position.

[0050] In addition, an elastic element 534 is sleeved on the output rod of the trimming electric push rod 531, and the elastic element 534 is located between the limit ring 533 and the driving port of the driving column 512. The design of the elastic element 534 has a key buffering and regulating function, and it can absorb the impact force and vibration from the outside or inside during the operation of the push rod.

[0051] The design of the elastic element 534 can also enable the trimming electric push rod 531 to maintain a smoother transition during movement, especially under high-speed or heavy-load working conditions, and can effectively suppress unnecessary vibration and noise, thereby ensuring the accuracy and comfort of the trimming arm 51 during trimming. In addition, the elastic element 534 can also provide a certain degree of flexibility when the trimming electric push rod 531 encounters external force obstacles, so that the system can adapt to changes in different working environments and avoid system damage caused by hard collisions.

[0052] like Figure 7 As shown, a coaxial annular groove is provided on the circumferential surface of the torque disc 55, and the mowing rope 52 is wound in the annular groove.

[0053] A coaxial annular groove is precisely arranged on the circumferential surface of the torque disc 55. This design provides a more efficient power transmission and grass rope winding method for lawn cleaning operations.

[0054] The function of the annular groove is to provide a fixed and stable winding channel for the grass cutting rope 52. The grass cutting rope 52 is wound in the annular groove to form a tight and uniform annular layout. This structure ensures that the grass cutting rope can smoothly pass around the circumference of the torque plate 55 during operation, avoiding the grass cutting rope from sliding or tangling, thereby effectively improving the accuracy and continuity of lawn cleaning.

[0055] By providing an annular groove on the circumferential surface of the torsion plate 55 and utilizing this structure to stably wind the mowing rope 52 thereon, the design not only optimizes the power transmission efficiency, but also improves the stability, durability and adaptability of the lawn cleaning system.

[0056] like Figure 5As shown, a trimming synchronous belt 571 is provided between the transmission shaft 541 and the abutting wheel 511 , a trimming protective cover 572 is provided on the trimming arm 51 , and the trimming synchronous belt 571 is located inside the trimming protective cover 572 .

[0057] The transmission shaft 541 and the abutment wheel 511 are connected by the trimming synchronous belt 571, forming an efficient power transmission system. In addition, in order to further improve the safety and stability of the operation, the synchronous belt is used to evenly and accurately transmit the rotational power generated by the transmission shaft 541 to the abutment wheel 511.

[0058] The function of the protective cover is not only to protect the synchronous belt from dust, debris or other interference in the external environment, but also to effectively prevent mechanical damage that may occur during the operation of the machine. By completely enclosing the trimming synchronous belt 571 in the protective cover, it is ensured that it is not interfered with or damaged by external objects during operation, and at the same time, it prevents the operator from direct contact with the synchronous belt during work, thereby improving the safety of the machine.

[0059] The combination of the trimming timing belt 571 and the protective cover also makes the entire trimming system more compact and integrated. The timing belt system in the protective cover not only enhances the robot's appearance design, but also improves the efficiency and reliability of the trimming system. With this innovative structure, the intelligent lawn trimming robot can operate stably in various lawn environments, whether it is flat grass or complex terrain, and can maintain excellent trimming effect and high safety.

[0060] like Figure 4 As shown, a transmission synchronous belt 573 is arranged between the driven wheel 311 and the output shaft of the motor 42 , a transmission protective cover 574 is arranged at the bottom end of the lifting platform 31 , and the transmission synchronous belt 573 is located inside the transmission protective cover 574 .

[0061] The driven wheel 311 and the output shaft of the motor 42 are efficiently connected through the transmission synchronous belt 573, thereby achieving a smooth power transmission. In addition, in order to further enhance the safety and protection of the equipment.

[0062] The function of the transmission timing belt 573 is to accurately and evenly transmit the rotational power of the motor 42 to the driven wheel 311. The protective cover can not only effectively prevent the timing belt from being invaded and damaged by dust, debris or foreign objects during operation, but also effectively prevent workers from contacting rotating parts, reducing the risk of mechanical injury.

[0063] like Figure 3 As shown, a lifting electric push rod 32 is provided on the self-propelled vehicle 1, and the output rod of the lifting electric push rod 32 passes through the self-propelled vehicle 1 downward and is connected to the lifting platform 31.

[0064] The lifting electric push rod 32 is installed on the self-propelled trolley 1 as an important driving part of the lifting system. Its output rod passes through the rear of the trolley downward and is connected to the lifting platform 31, thereby realizing accurate control and stable lifting of the lifting platform 31.

[0065] The core function of the lifting electric push rod 32 is to provide thrust and stable power support, so that the lifting platform 31 can freely adjust the height in different working environments. Whether on flat ground or rugged terrain, the lifting electric push rod 32 can ensure that the lifting platform 31 is raised and lowered smoothly and accurately, thus adapting to the needs of various complex tasks.

[0066] like Figure 3 As shown, a guide column 33 extending in the longitudinal direction is provided at the top of the lifting platform 31 , and the top of the guide column 33 slides through the self-propelled trolley 1 and is provided with a fixing ring 34 .

[0067] In order to ensure the stability and smooth movement of the lifting platform 31, a guide column 33 extending in the longitudinal direction is provided at the top of the lifting platform 31. The guide column 33 is a key support and guide component to ensure that the platform always maintains stable movement in the vertical direction during the lifting process to avoid tilting or deviation. A fixing ring 34 is provided at the top of the guide column 33. The function of the fixing ring 34 is to ensure that the guide column 33 will not be displaced or loosened during the sliding process, thereby avoiding any unsafe factors caused by loose connection during the lifting process.

[0068] The above embodiments only express one or several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. An intelligent lawn mowing robot based on the ROS framework, comprising a self-propelled vehicle (1) and a camera (2) arranged on the self-propelled vehicle (1), characterized in that: A lifting platform (31) capable of moving in a vertical direction is arranged at the bottom end of the self-propelled trolley (1), a mowing blade (41) is arranged at the bottom end of the lifting platform (31), a motor (42) for driving the mowing blade (41) to rotate is arranged at the top end of the lifting platform (31), trimming arms (51) capable of extending to the outside of the self-propelled trolley (1) are arranged on both sides of the lifting platform (31) along its width direction, the trimming arms (51) are rotatably connected to the lifting platform (31) in a horizontal direction, a rotatable mowing rope (52) is arranged at the extended end of the trimming arm (51), and a driver for driving the trimming arm (51) to extend to the outside of the self-propelled trolley (1) is arranged at the other end of the trimming arm (51); a rotating box (54) is arranged at one end of the trimming arm (51) on which the mowing rope (52) is installed, a torque plate (55) is arranged in the rotating box (54), and the top and bottom ends of the torque plate (55) are The rotary box (54) is provided with a coil spring (56) connected to the top and bottom of the inner cavity of the rotary box (54); one end of the mowing rope (52) passes through the rotary box (54) and is wound around the torsion plate (55); the other end of the mowing rope (52) is provided with a lead weight (521) located outside the rotary box (54); the lifting platform (31) is provided with a driven wheel (311), the driven wheel (311) is transmission-connected to the motor (42); the trimming arm (51) is also provided with a An abutment wheel (511) is provided, and a transmission shaft (541) coaxial with the rotating box (54) is provided at the top end thereof. The transmission shaft (541) rotatably penetrates the trimming arm (51), and the transmission shaft (541) is transmission-connected to the abutment wheel (511). When the rotating box (54) deflects to the outside of the self-propelled trolley (1), the abutment wheel (511) abuts against the driven wheel (311), and the rotating box (54) rotates relative to the trimming arm (51).

2. The intelligent lawn mowing robot based on ROS framework according to claim 1, characterized in that: One end of the trimming arm (51) connected to the driver is provided with a driving column (512) rotatably connected thereto, the driving column (512) extending in a vertical direction, the driving column (512) being provided with a driving opening extending in its radial direction, the driver comprising a trimming electric push rod (531), the trimming electric push rod (531) being rotatably connected to the lifting platform (31), and an output shaft of the trimming electric push rod (531) passing through the driving opening and being elastically slidably connected thereto.

3. The intelligent lawn mowing robot based on ROS framework according to claim 2 is characterized in that: A positioning ring (532) and a limiting ring (533) are provided on the output rod of the trimming electric push rod (531); the positioning ring (532) and the limiting ring (533) are located on both sides of the driving opening of the driving column (512); an elastic element (534) is also sleeved on the output shaft of the trimming electric push rod (531); the elastic element (534) is located between the limiting ring (533) and the driving opening of the driving column (512).

4. An intelligent lawn mowing robot based on ROS framework according to any one of claims 1 to 3, characterized in that: A coaxial annular groove is provided on the circumferential surface of the torsion disc (55), and the mowing rope (52) is wound in the annular groove.

5. An intelligent lawn mowing robot based on ROS framework according to any one of claims 1 to 3, characterized in that: A trimming synchronous belt (571) is provided between the transmission shaft (541) and the abutment wheel (511), a trimming protective cover (572) is provided on the trimming arm (51), and the trimming synchronous belt (571) is located inside the trimming protective cover (572).

6. An intelligent lawn mowing robot based on ROS framework according to any one of claims 1 to 3, characterized in that: A transmission synchronous belt (573) is arranged between the driven wheel (311) and the output shaft of the motor (42); a transmission protective cover (574) is arranged at the bottom end of the lifting platform (31); and the transmission synchronous belt (573) is located inside the transmission protective cover (574).

7. An intelligent lawn mowing robot based on ROS framework according to any one of claims 1 to 3, characterized in that: A lifting electric push rod (32) is provided on the self-propelled trolley (1), and an output shaft of the lifting electric push rod (32) passes through the self-propelled trolley (1) downward and is connected to the lifting platform (31).

8. An intelligent lawn mowing robot based on ROS framework according to any one of claims 1 to 3, characterized in that: A guide column (33) extending in the longitudinal direction is arranged at the top end of the lifting platform (31); the top end of the guide column (33) slides through the self-propelled trolley (1) and is provided with a fixing ring (34).

Images