Automatic greening pruning robot based on complex environment and pruning method thereof

Abstract

The invention relates to the technical field of greening pruning, in particular to an automatic greening pruning robot based on a complex environment and a pruning method thereof. The mowing device comprises an automatic driving trolley, and a mowing machine is fixed to one end of the bottom of the automatic driving trolley. Through the structural design of the automatic driving trolley, the lifting platform, the greening pruning mechanism and the auxiliary pruning mechanism, the device can conveniently conduct multiple transformation on the pruning operation position and angle, can meet the three-dimensional pruning requirements of low herbaceous plants, shrubs and arbors, can conduct synchronous pruning on ground greening, and is high in practicability. The device is simple in structure and convenient to use, can perform seamless switching pruning on greening branches with different thicknesses, is suitable for complex greening environments such as roads and parks, improves the pruning efficiency and the standardization degree, can intelligently regulate and control cooperative operation among electrical equipment through the structural design of an adjusting mechanism and a control mechanism, and is suitable for popularization and application. The automation degree of pruning operation is conveniently improved, the labor intensity of workers is relieved, and the pruning efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of greening pruning, and particularly to an automated greening pruning robot and a pruning method based on a complex environment. Background Art

[0002] In the context of the rapid advancement of modern urbanization, the green belts on both sides of the roads have become an essential key element in urban infrastructure construction. A green belt, in a professional definition, is a specially planned strip for greening planting. It is like a green ribbon in the urban context, skillfully inlaid on both sides of the road, playing multiple crucial roles. The green belt also performs excellently in environmental protection. It is like a natural "air purifier", which can effectively retain dust particles in the air, making the air in the city cleaner and fresher; it is also like a loyal "noise guard", relying on its dense branches and leaves to weaken noise pollution generated by vehicle driving, crowd noise, etc., creating a relatively quiet living environment for residents; at the same time, it can absorb harmful gases such as sulfur dioxide and nitrogen oxides in the air and release a large amount of oxygen through photosynthesis, injecting continuous fresh air into the city and improving the quality of the urban ecological environment.

[0003] For example, a greening pruning robot with the publication (announcement) number CN107646385A includes a vehicle and a first robotic arm mounted on the vehicle. The first robotic arm includes a first link, a second link, and a third link connecting the first and second links. The first link is connected to the vehicle, and the second link is equipped with a first trimmer.

[0004] To sum up, the following technical problems exist in the prior art: In the process of using the above prior art, although it can prune greening plants with relatively thin branches, when encountering relatively thick branches, it becomes unable to cope. At this time, the staff has to temporarily replace the pruning knife to continue the pruning work. This operation method is not only time-consuming and laborious, but also has a low degree of automation and cannot meet the requirements of high efficiency and convenience in modern urban greening maintenance. Therefore, we propose an automated greening pruning robot and a pruning method based on a complex environment. Summary of the Invention

[0005] The purpose of the present invention is to provide an automated greening pruning robot and a pruning method based on a complex environment to solve the problems raised in the above background art.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] An automated greening pruning robot based on a complex environment, including an autonomous driving car, with a lawn mower fixed at one end of the bottom of the autonomous driving car, a lifting platform arranged on the top of the autonomous driving car, a guide rail frame fixed on the top of the lifting platform, an electric module arranged on the top of the guide rail frame, and a greening pruning mechanism assembled on the top of the electric module, where the greening pruning mechanism is used for pruning green plants.

[0008] Preferably, the greening pruning mechanism includes a driving component and an operating component. A robotic arm is fixed on the top of the electric module, and a carrier is fixed at the output end of the robotic arm. The driving component is assembled inside the carrier, and the operating component is assembled inside the driving component.

[0009] Preferably, the driving component includes a first motor, a first transmission rod, a first connecting rod, a second transmission rod, a folded long plate, and a third transmission rod. A first motor is fixed at one end of the carrier. At both ends inside the carrier, a first transmission rod and a third transmission rod are respectively rotatably connected. The output end of the first motor penetrates through the carrier and is fixed at the rotational connection between the first transmission rod and the carrier. At one end of both the first transmission rod and the third transmission rod, a first connecting rod is fixed. At one end of both the first connecting rods, a second transmission rod is rotatably connected. A folded long plate is rotatably connected to the top of the first transmission rod, the third transmission rod, and the two second transmission rods.

[0010] Preferably, the operating component includes an equipment mounting base, a second motor, a V-shaped force-applying arm, a fourth transmission rod, a fifth transmission rod, a second connecting rod, and a pruning machine. The equipment mounting base is rotatably connected to the bottom of the folded long plate, and a pruning machine is fixed inside the equipment mounting base. A second motor is fixed at the end of the carrier away from the first motor. The output end of the second motor penetrates through the carrier and is fixed at the rotational connection between the third transmission rod and the carrier. The V-shaped force-applying arm is rotatably connected to the top of the third transmission rod and on the side deviating from the folded long plate. At both ends of the V-shaped force-applying arm, a fourth transmission rod and a fifth transmission rod are respectively rotatably connected. One end of the fourth transmission rod is rotatably connected to the carrier, and one end of the fifth transmission rod is rotatably connected to a second connecting rod, and one end of the second connecting rod is fixed to the equipment mounting base.

[0011] Preferably, an auxiliary pruning mechanism is assembled at the bottom of the carrier.

[0012] Preferably, the auxiliary trimming mechanism includes a positioning connection frame, a connection cavity plate, a fifth motor, a gear, a cutting blade, and a force guiding linkage rod. A positioning connection frame is fixed to the bottom of the carrier frame. A connection cavity plate is assembled on one side of the positioning connection frame. A fifth motor is fixed to the top of the connection cavity plate. Two connection cavity plates are rotatably connected to the inside of the fifth motor. The two connection cavity plates are meshed and connected. The output end of the fifth motor is fixed to one of the connection cavity plates. Strip-shaped protrusions are integrally fixed to one side of each connection cavity plate. Cutting blades are rotatably connected to one end of each strip-shaped protrusion. Force guiding linkage rods are rotatably connected to the top of each cutting blade. One end of each force guiding linkage rod is rotatably connected to the connection cavity plate.

[0013] Preferably, an adjustment mechanism is assembled between the positioning connection frame and the connection cavity plate. The adjustment mechanism includes a third motor, a first pulley, a second pulley, a fourth motor, a third pulley, a fourth pulley, a central shaft rod, a first bevel gear, a second bevel gear, a U-shaped connection frame, and an L-shaped rotation auxiliary arm. A third motor and a fourth motor are fixed to the inside of the positioning connection frame. A first pulley is fixed to the output end of the third motor. The first pulley is connected to a second pulley through a belt on the outside. A third pulley is fixed to the output end of the fourth motor. The third pulley is connected to a fourth pulley through a belt on the outside. A central shaft rod is fixed to the inside of the fourth pulley and the second pulley. Both ends of the central shaft rod are rotatably connected to the positioning connection frame. A first bevel gear is fixed to the outside of the central shaft rod. A second bevel gear is meshed and connected to the top of the first bevel gear. An L-shaped rotation auxiliary arm is fixed to the inside of the second bevel gear. One end of the L-shaped rotation auxiliary arm is fixed to the connection cavity plate. A U-shaped connection frame is rotatably connected to the outside of the L-shaped rotation auxiliary arm. Square blocks are fixed to both ends of the U-shaped connection frame. The square blocks are both fixed to the central shaft rod.

[0014] Preferably, a control mechanism is assembled at one end and the top of the lifting platform. The control mechanism includes an intelligent controller, a support rod seat, and an intelligent camera. An intelligent controller is fixed to one end of the lifting platform. A support rod seat is fixed to the top of the lifting platform. An intelligent camera is fixed to the top of the support rod seat. The intelligent controller is electrically connected to the autonomous driving vehicle, the electric module, the robotic arm, the first motor, the second motor, the trimmer, the third motor, the fourth motor, the fifth motor, and the intelligent camera.

[0015] A trimming method for an automated greening trimming robot in a complex environment, applicable to an automated greening trimming robot in a complex environment, includes the following steps:

[0016] S1: Start the autonomous driving vehicle to move to the greening area, and shoot and record the green plant image through the intelligent camera and transmit it to the intelligent controller;

[0017] S2: The intelligent controller identifies the image to determine whether pruning is required. If pruning is not required, the autonomous driving vehicle moves to the next greening area; if pruning is required, the robotic arm and the pruning machine are activated for operation.

[0018] S3: During the pruning process, the intelligent camera records the pruning scene in real time and transmits it to the intelligent controller to facilitate adjusting the angle and position of the pruning machine.

[0019] S4: If there is a situation where tree branches need to be pruned, the fifth motor is activated, and at the same time, the angle of the cutting blade is controlled to finally complete the automated pruning of the greening.

[0020] It can be seen without doubt that through the above technical solution of this application, the technical problems to be solved by this application can surely be solved.

[0021] Meanwhile, through the above technical solution, the present invention has at least the following beneficial effects:

[0022] 1. Through the structural design of the autonomous driving vehicle, the lifting platform, the greening pruning mechanism and the auxiliary pruning mechanism of the present invention, the device is convenient for multiple transformations of the position and angle of the pruning operation, can meet the three-dimensional pruning requirements of low-growing herbaceous plants, shrubs and trees, and can synchronously prune the ground greening, and can seamlessly switch to prune greening branches of different thicknesses, and is applicable to complex greening environments such as roads and parks, improving the pruning efficiency and standardization degree.

[0023] 2. Through the structural design of the adjustment mechanism and the control mechanism of the present invention, the device can intelligently regulate the coordinated operation between various electrical devices, which is convenient for improving the automation degree of the pruning operation, reducing the manual labor intensity, and improving the pruning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 is the structural schematic diagram of the present invention;

[0026] Figure 2 is the connection structural schematic diagram of the robotic arm and the carrier frame of the present invention;

[0027] Figure 3 is the connection structural schematic diagram of the carrier frame and the first motor of the present invention;

[0028] Figure 4Schematic cross-sectional structure diagram of the carrier frame of the present invention;

[0029] Figure 5 Schematic connection structure diagram of the first connecting rod and the second transmission rod of the present invention;

[0030] Figure 6 Schematic connection structure diagram of the L-shaped rotary auxiliary arm and the connection cavity plate of the present invention;

[0031] Figure 7 Schematic cross-sectional structure diagram of the third motor of the present invention.

[0032] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0033] In the figure: 1, autonomous driving trolley; 2, lifting platform; 3, guide rail frame; 4, electric module; 5, robotic arm; 6, carrier frame; 7, first motor; 8, first transmission rod; 9, first connecting rod; 10, second transmission rod; 11, folded long plate; 12, equipment mounting seat; 13, second motor; 14, third transmission rod; 15, V-shaped force application arm; 16, fourth transmission rod; 17, fifth transmission rod; 18, second connecting rod; 19, trimmer; 20, positioning connection frame; 21, third motor; 22, first pulley; 23, second pulley; 24, fourth motor; 25, third pulley; 26, fourth pulley; 27, central shaft rod; 28, first bevel gear; 29, second bevel gear; 30, U-shaped connection frame; 31, L-shaped rotary auxiliary arm; 32, connection cavity plate; 33, fifth motor; 34, gear; 35, cutting blade; 36, force guiding linkage rod; 37, intelligent controller; 38, support rod seat; 39, intelligent camera. Detailed implementation manners

[0034] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] Embodiment 1

[0036] Refer to Figures 1-7 , the automated greening trimming robot based on a complex environment includes an autonomous driving trolley 1. A lawn mower is fixed at one end of the bottom of the autonomous driving trolley 1. A lifting platform 2 is arranged on the top of the autonomous driving trolley 1. A guide rail frame 3 is fixed on the top of the lifting platform 2. An electric module 4 is arranged on the top of the guide rail frame 3. A greening trimming mechanism is assembled on the top of the electric module 4. The greening trimming mechanism is used for trimming green plants.

[0037] The greening trimming mechanism includes a driving component and an operating component. A robotic arm 5 is fixed to the top of the electric module 4. The output end of the robotic arm 5 is fixed with a carrier 6. The driving component is assembled inside the carrier 6, and the operating component is assembled inside the driving component. The driving component includes a first motor 7, a first transmission rod 8, a first connecting rod 9, a second transmission rod 10, a folded long plate 11, and a third transmission rod 14. A first motor 7 is fixed to one end of the carrier 6. The two ends inside the carrier 6 are respectively rotatably connected with a first transmission rod 8 and a third transmission rod 14. The output end of the first motor 7 penetrates the carrier 6 and is fixed to the rotation point between the first transmission rod 8 and the carrier 6. One end of both the first transmission rod 8 and the third transmission rod 14 is fixed with a first connecting rod 9. One end of each first connecting rod 9 is rotatably connected with a second transmission rod 10. The tops of the first transmission rod 8, the third transmission rod 14, and the two second transmission rods 10 are rotatably connected with a folded long plate 11. The first transmission rod 8 and the second transmission rod 10 are arranged in parallel, which is convenient for the first transmission rod 8 to rotate and cooperate with the second transmission rod 10 to push the folded long plate 11 to change its position.

[0038] The operating component includes an equipment mounting base 12, a second motor 13, a V-shaped force-applying arm 15, a fourth transmission rod 16, a fifth transmission rod 17, a second connecting rod 18, and a trimmer 19. The equipment mounting base 12 is rotatably connected to the bottom of the folded long plate 11. The trimmer 19 is fixed inside the equipment mounting base 12. A second motor 13 is fixed to the end of the carrier 6 away from the first motor 7. The output end of the second motor 13 penetrates the carrier 6 and is fixed to the rotation point between the third transmission rod 14 and the carrier 6. The top of the third transmission rod 14 and on the side deviated from the folded long plate 11 is rotatably connected with a V-shaped force-applying arm 15. The two ends of the V-shaped force-applying arm 15 are respectively rotatably connected with a fourth transmission rod 16 and a fifth transmission rod 17. One end of the fourth transmission rod 16 is rotatably connected with the carrier 6. One end of the fifth transmission rod 17 is rotatably connected with a second connecting rod 18. One end of the second connecting rod 18 is fixed to the equipment mounting base 12. The trimmer 19 and the equipment mounting base 12 are fixed by screws, which is convenient for replacing trimmers 19 of different specifications for use in the later stage.

[0039] An auxiliary trimming mechanism is assembled at the bottom of the carrier frame 6. The auxiliary trimming mechanism includes a positioning connection frame 20, a connection cavity plate 32, a fifth motor 33, a gear 34, a cutting blade 35, and a force guiding linkage rod 36. A positioning connection frame 20 is fixed to the bottom of the carrier frame 6. A connection cavity plate 32 is assembled on one side of the positioning connection frame 20. A fifth motor 33 is fixed to the top of the connection cavity plate 32. The inner side of the fifth motor 33 is rotatably connected to two connection cavity plates 32, and the two connection cavity plates 32 are meshed and connected. The output end of the fifth motor 33 is fixed to one of the connection cavity plates 32. Strip-shaped protrusions are integrally fixed to one side of each connection cavity plate 32. Cutting blades 35 are rotatably connected to one end of each strip-shaped protrusion. Force guiding linkage rods 36 are rotatably connected to the top of each cutting blade 35. One end of each force guiding linkage rod 36 is rotatably connected to the connection cavity plate 32. The strip-shaped protrusions are arranged parallel to the force guiding linkage rods 36, which is convenient for adjusting one end of the two cutting blades 35 to move towards each other and overlap, so as to achieve the trimming effect.

[0040] An adjustment mechanism is assembled between the positioning connection frame 20 and the connection cavity plate 32. The adjustment mechanism includes a third motor 21, a first pulley 22, a second pulley 23, a fourth motor 24, a third pulley 25, a fourth pulley 26, a central shaft rod 27, a first bevel gear 28, a second bevel gear 29, a U-shaped connection frame 30, and an L-shaped rotation auxiliary arm 31. A third motor 21 and a fourth motor 24 are fixed to the inner side of the positioning connection frame 20. The output end of the third motor 21 is fixed with a first pulley 22. The outer side of the first pulley 22 is connected with a second pulley 23 through a belt. The output end of the fourth motor 24 is fixed with a third pulley 25. The outer side of the third pulley 25 is connected with a fourth pulley 26 through a belt. A central shaft rod 27 is fixed to the inner sides of the fourth pulley 26 and the second pulley 23. Both ends of the central shaft rod 27 are rotatably connected to the positioning connection frame 20. A first bevel gear 28 is fixed to the outer side of the central shaft rod 27. A second bevel gear 29 is meshed and connected to the top of the first bevel gear 28. An L-shaped rotation auxiliary arm 31 is fixed to the inner side of the second bevel gear 29. One end of the L-shaped rotation auxiliary arm 31 is fixed to the connection cavity plate 32. A U-shaped connection frame 30 is rotatably connected to the outer side of the L-shaped rotation auxiliary arm 31. Square blocks are fixed to both ends of the U-shaped connection frame 30, and the square blocks are both fixed to the central shaft rod 27. When the fourth motor 24 is started, the output end of the fourth motor 24 drives the third pulley 25 to rotate, so that the fourth pulley 26 rotates synchronously. Because the fourth pulley 26 is fixed to the central shaft rod 27, the central shaft rod 27 can drive the square blocks and the U-shaped connection frame 30 to rotate. And the U-shaped connection frame 30 is rotatably connected to the L-shaped rotation auxiliary arm 31. When the central shaft rod 27 drives the first bevel gear 28 to mesh with the second bevel gear 29 and rotate, the angle of the L-shaped rotation auxiliary arm 31 and the connection cavity plate 32 can be adjusted.

[0041] One end and the top of the lifting platform 2 are equipped with a control mechanism. The control mechanism includes an intelligent controller 37, a support rod base 38, and an intelligent camera 39. An intelligent controller 37 is fixed at one end of the lifting platform 2, a support rod base 38 is fixed at the top of the lifting platform 2, and an intelligent camera 39 is fixed at the top of the support rod base 38. The intelligent controller 37 is electrically connected to the autonomous driving trolley 1, the electric module 4, the robotic arm 5, the first motor 7, the second motor 13, the trimming machine 19, the third motor 21, the fourth motor 24, the fifth motor 33, and the intelligent camera 39. Through the setting of the intelligent controller 37, it is convenient to control the movement of the autonomous driving trolley 1 and move the device to the greening trimming area.

[0042] Embodiment 2

[0043] As Figures 1-7 shown, a trimming method for an automated greening trimming robot in a complex environment, applicable to an automated greening trimming robot in a complex environment, includes the following steps:

[0044] S1: Start the autonomous driving trolley 1 to move to the greening area, and record the green plant image through the intelligent camera 39 and transmit it to the intelligent controller 37;

[0045] S2: The intelligent controller 37 identifies the image to determine whether trimming is required. If trimming is not required, the autonomous driving trolley 1 moves to the next greening area; if trimming is required, start the robotic arm 5 and the trimming machine 19 to operate;

[0046] S3: During the trimming process, the intelligent camera 39 records the trimming picture in real time and transmits it to the intelligent controller 37 to facilitate adjusting the angle and position of the trimming machine 19;

[0047] S4: If it is necessary to trim branches, start the fifth motor 33, and at the same time control the angle of the cutting blade 35 to finally complete the automated trimming of the greening. When starting the fifth motor 33, the intelligent camera 39 records the position of the end of the cutting blade 35 in real time, and then moves the cutting blade 35 to the trimming position. The output end of the fifth motor 33 drives the gear 34 to rotate, so that the cutting blade 35 rotates under the limit of the force guiding linkage rod 36, and finally one end of the two cutting blades 35 moves towards the approaching direction until the branches are trimmed.

[0048] Based on the above, it can be seen that:

[0049] Technical problem addressed by the present invention: In the process of using the prior art, although it can prune greening plants with relatively thin branches and trunks, it becomes powerless when encountering relatively thick branches and trunks. At this time, the staff has to temporarily replace the pruning knife to continue the pruning work. This operation method is not only time-consuming and laborious, but also has a low degree of automation and cannot meet the efficient and convenient needs of modern urban greening maintenance; The technical solutions of the above-mentioned embodiments are adopted. At the same time, the implementation process of the above-mentioned technical solutions is as follows:

[0050] All the electrical components in this device are of the prior art, and its model is only one of them. As long as the electrical components can achieve the purpose required in this device, they can be used. Connect all the electrical components in the device and their adapted power supplies through wires, and a suitable controller should be selected according to the actual situation to meet the control requirements. For the specific connection and control sequence, refer to the working principle below, and complete the electrical connection according to the sequential working order among the electrical components. Its detailed connection means are well-known techniques in the art. The following mainly introduces the working principle and process, and no further description of electrical control will be made;

[0051] During the use process, the intelligent controller 37 controls the autonomous driving trolley 1 to move to the designated position. The intelligent camera 39 takes the greening picture and transmits it to the intelligent controller 37 for pruning judgment. When pruning is required, the robotic arm 5 and the pruning machine 19 are started. The output end of the robotic arm 5 drives the carrier 6 to move, adjusts the equipment mounting base 12 to the greening area, and at the same time, in cooperation with the position movement of the electric module 4 on the guide rail frame 3, the equipment mounting base 12 can be adjusted to a more accurate position until the pruning machine 19 contacts the greening, realizing the pruning operation of the greening;

[0052] When the degree of freedom of the position of the pruning machine 19 needs to be increased, the first motor 7 is started. The output end of the first motor 7 drives the first transmission rod 8 to rotate, and then the first transmission rod 8 pulls the second transmission rod 10 to move through the first connecting rod 9. Because the second transmission rod 10 is rotationally connected to the folded long plate 11, and the folded long plate 11 is rotationally connected to the first transmission rod 8, the first transmission rod 8 and the second transmission rod 10 can drive the folded long plate 11 to move. At the same time, the second motor 13 is started. The output end of the second motor 13 drives the third transmission rod 14 to rotate, so that the fourth transmission rod 16 pulls the second connecting rod 18 to rotate through the V-shaped force application arm 15 and the fifth transmission rod 17, and then the equipment mounting base 12 can rotate along the connection with the folded long plate 11, realizing the dual adjustment of the angle and position of the pruning machine 19.

[0053] Through the above settings, this application can surely solve the above technical problems. At the same time, the following technical effects can be achieved:

[0054] 1. Through the structural design of the autonomous vehicle 1, the lifting platform 2, the greening pruning mechanism and the auxiliary pruning mechanism, the present invention makes it convenient for the device to perform multiple transformations on the position and angle of the pruning operation, capable of adapting to the three-dimensional pruning requirements of low-growing herbaceous plants, shrubs and trees, as well as synchronously pruning the ground greening, and can seamlessly switch to pruning greening branches of different thicknesses, being applicable to complex greening environments such as roads and parks, improving the pruning efficiency and standardization level.

[0055] 2. Through the structural design of the adjustment mechanism and the control mechanism, the present invention enables the device to intelligently regulate the collaborative operation between various electrical devices, facilitating the improvement of the automation level of the pruning operation, reducing the manual labor intensity and enhancing the pruning efficiency.

[0056] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" and the like shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral body; it can be a mechanical connection, an electrical connection or communication with each other; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. The accompanying drawings show the preferred embodiments of the present invention, but do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosed content of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing specific embodiments, or perform equivalent replacements on some of the technical features. Any equivalent structure directly or indirectly using the content of the specification and drawings of the present invention in other related technical fields is similarly within the scope of the patent protection of the present invention.

Claims

1. An automated greening pruning robot based on a complex environment, characterized in that, It includes an autonomous vehicle (1), a lawn mower is fixed at one end of the bottom of the autonomous vehicle (1), a lifting platform (2) is arranged on the top of the autonomous vehicle (1), a guide rail frame (3) is fixed on the top of the lifting platform (2), an electric module (4) is arranged on the top of the guide rail frame (3), and a greening trimming mechanism is assembled on the top of the electric module (4), and the greening trimming mechanism is used for trimming green plants.

2. The automated greening pruning robot based on a complex environment according to claim 1, wherein The greening trimming mechanism includes a driving component and an operating component. A robotic arm (5) is fixed on the top of the electric module (4), a carrier (6) is fixed at the output end of the robotic arm (5), a driving component is assembled inside the carrier (6), and an operating component is assembled inside the driving component.

3. The automated greening pruning robot based on a complex environment according to claim 2, wherein The driving component includes a first motor (7), a first transmission rod (8), a first connecting rod (9), a second transmission rod (10), a folded long plate (11) and a third transmission rod (14). A first motor (7) is fixed at one end of the carrier (6), the two ends inside the carrier (6) are respectively rotatably connected with a first transmission rod (8) and a third transmission rod (14), the output end of the first motor (7) penetrates through the carrier (6) and is fixed at the rotating part between the first transmission rod (8) and the carrier (6), first connecting rods (9) are fixed at one ends of the first transmission rod (8) and the third transmission rod (14), the first connecting rods (9) are rotatably connected with a second transmission rod (10) at one ends, and a folded long plate (11) is rotatably connected at the tops of the first transmission rod (8), the third transmission rod (14) and the two second transmission rods (10).

4. The automated greening pruning robot based on a complex environment according to claim 3, characterized in that, The operating component includes an equipment mounting seat (12), a second motor (13), a V-shaped force application arm (15), a fourth transmission rod (16), a fifth transmission rod (17), a second connecting rod (18) and a trimmer (19). An equipment mounting seat (12) is rotatably connected at the bottom of the folded long plate (11), a trimmer (19) is fixed inside the equipment mounting seat (12), a second motor (13) is fixed at the end of the carrier (6) away from the first motor (7), the output end of the second motor (13) penetrates through the carrier (6) and is fixed at the rotating part between the third transmission rod (14) and the carrier (6), a V-shaped force application arm (15) is rotatably connected at the top of the third transmission rod (14) and on the side deviating from the folded long plate (11), the two ends of the V-shaped force application arm (15) are respectively rotatably connected with a fourth transmission rod (16) and a fifth transmission rod (17), one end of the fourth transmission rod (16) is rotatably connected with the carrier (6), and one end of the fifth transmission rod (17) is rotatably connected with a second connecting rod (18), and one end of the second connecting rod (18) is fixed with the equipment mounting seat (12).

5. The automated greening pruning robot based on a complex environment according to claim 4, wherein, An auxiliary trimming mechanism is assembled at the bottom of the carrier (6).

6. The automated greening pruning robot based on a complex environment according to claim 5, wherein The auxiliary trimming mechanism includes a positioning connecting frame (20), a connecting cavity plate (32), a fifth motor (33), a gear (34), a cutting blade (35) and a force guiding linkage rod (36). A positioning connecting frame (20) is fixed to the bottom of the carrier frame (6). A connecting cavity plate (32) is assembled on one side of the positioning connecting frame (20). A fifth motor (33) is fixed to the top of the connecting cavity plate (32). Two connecting cavity plates (32) are rotatably connected to the inner side of the fifth motor (33). The two connecting cavity plates (32) are meshed and connected. The output end of the fifth motor (33) is fixed to one of the connecting cavity plates (32). Strip-shaped protrusions are integrally fixed to one side of each of the connecting cavity plates (32). Cutting blades (35) are rotatably connected to one end of each of the strip-shaped protrusions. Force guiding linkage rods (36) are rotatably connected to the top of each of the cutting blades (35). One end of each of the force guiding linkage rods (36) is rotatably connected to the connecting cavity plate (32).

7. The automated greening pruning robot based on a complex environment according to claim 6, wherein An adjusting mechanism is assembled between the positioning connecting frame (20) and the connecting cavity plate (32). The adjusting mechanism includes a third motor (21), a first pulley (22), a second pulley (23), a fourth motor (24), a third pulley (25), a fourth pulley (26), a central shaft rod (27), a first bevel gear (28), a second bevel gear (29), a U-shaped connecting frame (30) and an L-shaped rotary auxiliary arm (31). A third motor (21) and a fourth motor (24) are fixed to the inner side of the positioning connecting frame (20). A first pulley (22) is fixed to the output end of the third motor (21). A second pulley (23) is connected to the outside of the first pulley (22) by a belt. A third pulley (25) is fixed to the output end of the fourth motor (24). A fourth pulley (26) is connected to the outside of the third pulley (25) by a belt. A central shaft rod (27) is fixed to the inner sides of the fourth pulley (26) and the second pulley (23). Both ends of the central shaft rod (27) are rotatably connected to the positioning connecting frame (20). A first bevel gear (28) is fixed to the outside of the central shaft rod (27). A second bevel gear (29) is meshed and connected to the top of the first bevel gear (28). An L-shaped rotary auxiliary arm (31) is fixed to the inner side of the second bevel gear (29). One end of the L-shaped rotary auxiliary arm (31) is fixed to the connecting cavity plate (32). A U-shaped connecting frame (30) is rotatably connected to the outside of the L-shaped rotary auxiliary arm (31). Square blocks are fixed to both ends of the U-shaped connecting frame (30). The square blocks are both fixed to the central shaft rod (27).

8. The automated greening pruning robot based on a complex environment according to claim 7, wherein, One end and the top of the lifting table (2) are equipped with a control mechanism, and the control mechanism includes an intelligent controller (37), a support rod base (38), and an intelligent camera (39). The intelligent controller (37) is fixed to one end of the lifting table (2), the support rod base (38) is fixed to the top of the lifting table (2), and the intelligent camera (39) is fixed to the top of the support rod base (38). The intelligent controller (37) is electrically connected to the autonomous driving trolley (1), the electric module (4), the robotic arm (5), the first motor (7), the second motor (13), the trimming machine (19), the third motor (21), the fourth motor (24), the fifth motor (33), and the intelligent camera (39).

9. A pruning method for an automated greenery pruning robot in a complex environment, applicable to the automated greenery pruning robot in a complex environment according to any one of claims 1-8, characterized in that, It includes the following steps: S1: Start the autonomous driving trolley (1) to move to the greening area, and record the green plant image through the intelligent camera (39) and transmit it to the intelligent controller (37); S2: The intelligent controller (37) identifies the image to determine whether trimming is required. If trimming is not required, the autonomous driving trolley (1) moves to the next greening area; if trimming is required, start the robotic arm (5) and the trimming machine (19) to perform operations; S3: During the trimming process, the intelligent camera (39) records the trimming picture in real time and transmits it to the intelligent controller (37) to facilitate adjusting the angle and position of the trimming machine (19); S4: If there is a situation where tree branches need to be trimmed, start the fifth motor (33), and at the same time control the angle of the cutting blade (35) to finally complete the automatic trimming of the greening.

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