Automatic green pruning robot and pruning method based on complex environment

Abstract

This invention relates to the field of landscaping pruning technology, and more particularly to an automated landscaping pruning robot and its pruning method for complex environments. The invention includes an autonomous driving vehicle with a lawnmower fixed to one end of its bottom. Through the structural design of the autonomous driving vehicle, lifting platform, landscaping pruning mechanism, and auxiliary pruning mechanism, this invention allows for multiple changes in the position and angle of the pruning operation, adapting to the three-dimensional pruning needs of low-growing herbaceous plants, shrubs, and trees, as well as simultaneous pruning of ground greenery. It can also seamlessly switch between pruning branches of different thicknesses, making it suitable for complex greening environments such as highways and parks, improving pruning efficiency and standardization. Furthermore, through the structural design of the adjustment and control mechanisms, the device can intelligently regulate the coordinated operation between various electrical devices, facilitating increased automation of the pruning operation, reducing manual labor intensity, and improving pruning efficiency.

Description

Technical Field

[0001] This invention relates to the field of greening pruning technology, and in particular to an automated greening pruning robot and its pruning method based on complex environments. Background Technology

[0002] Against the backdrop of rapid modernization and urbanization, green belts along roadsides have become an indispensable key element of urban infrastructure construction. From a professional definition, a green belt is a strip of land specifically planned for planting greenery. Like a green ribbon in the city's veins, it is cleverly embedded on both sides of the road, playing multiple vital roles. Green belts also excel in environmental protection. They act as a natural "air purifier," effectively trapping dust particles in the air, making the city's air fresher and cleaner. They also act as a loyal "noise protector," using their dense foliage to reduce noise pollution from vehicles and crowds, creating a relatively quiet living environment for residents. Simultaneously, they absorb harmful gases such as sulfur dioxide and nitrogen oxides from the air and release large amounts of oxygen through photosynthesis, continuously injecting fresh air into the city and improving the city's ecological environment quality.

[0003] For example, a greening pruning robot with the publication (announcement) number CN107646385A includes a carrier and a first robotic arm mounted on the carrier. 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 carrier, and the second link is equipped with a first trimmer.

[0004] In summary, the existing technology has the following technical problems: While it can prune slender branches of green plants, it falls short when dealing with thicker branches. In such cases, workers must temporarily replace the pruning shears to continue pruning. This method is not only time-consuming and labor-intensive but also has a low degree of automation, failing to meet the demands of efficient and convenient modern urban greening maintenance. Therefore, we propose an automated greening pruning robot and its pruning method for complex environments. Summary of the Invention

[0005] The purpose of this invention is to provide an automated greening pruning robot and its pruning method based on complex environments, so as to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] An automated greening pruning robot for complex environments includes an autonomous driving vehicle. A lawnmower is fixed to one end of the bottom of the autonomous driving vehicle. A lifting platform is set on the top of the autonomous driving vehicle. A guide rail is fixed on the top of the lifting platform. An electric module is set on the top of the guide rail. A greening pruning mechanism is assembled on the top of the electric module. The greening pruning mechanism is used to prune green plants.

[0008] Preferably, the greening pruning mechanism includes a drive component and an operating component. A robotic arm is fixed to the top of the electric module, a support frame is fixed to the output end of the robotic arm, the drive component is assembled on the inner side of the support frame, and the operating component is assembled on the inner side of the drive component.

[0009] Preferably, the drive assembly 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. The first motor is fixed to one end of the support frame, and the first transmission rod and the third transmission rod are rotatably connected to both ends of the inner side of the support frame, respectively. The output end of the first motor passes through the support frame and is fixed to the rotation point between the first transmission rod and the support frame. A first connecting rod is fixed to one end of both the first and third transmission rods, and a second transmission rod is rotatably connected to one end of each of the first connecting rods. 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 working assembly includes an equipment mounting base, a second motor, a V-shaped lever arm, a fourth transmission rod, a fifth transmission rod, a second connecting rod, and a trimmer. The bottom of the folded long plate is rotatably connected to the equipment mounting base, and the trimmer is fixed to the inner side of the equipment mounting base. The end of the support frame away from the first motor is fixed to the second motor. The output end of the second motor passes through the support frame and is fixed to the rotation point between the third transmission rod and the support frame. The top of the third transmission rod and the side away from the folded long plate is rotatably connected to the V-shaped lever arm. The two ends of the V-shaped lever arm are respectively rotatably connected to the fourth transmission rod and the fifth transmission rod. One end of the fourth transmission rod is rotatably connected to the support frame, and one end of the fifth transmission rod is rotatably connected to the second connecting rod. One end of the second connecting rod is fixed to the equipment mounting base.

[0011] Preferably, the bottom of the support frame is equipped with an auxiliary trimming mechanism.

[0012] Preferably, the auxiliary trimming mechanism includes a positioning connecting frame, a connecting cavity plate, a fifth motor, gears, cutting blades, and a force-guiding linkage rod. The positioning connecting frame is fixed to the bottom of the support frame, and a connecting cavity plate is assembled on one side of the positioning connecting frame. A fifth motor is fixed to the top of the connecting cavity plate. Two connecting cavity plates are rotatably connected to the inner side of the fifth motor, and the two connecting cavity plates are meshed together. The output end of the fifth motor is fixed to one of the connecting cavity plates. A strip-shaped protrusion is integrally fixed to one side of each connecting cavity plate. A cutting blade is rotatably connected to one end of each strip-shaped protrusion. A force-guiding linkage rod is rotatably connected to the top of each cutting blade, and one end of each force-guiding linkage rod is rotatably connected to the connecting cavity plate.

[0013] Preferably, an adjustment mechanism is assembled between the positioning connecting frame and the connecting 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, a first bevel gear, a second bevel gear, a U-shaped connecting frame, and an L-shaped rotating auxiliary arm. The third motor and the fourth motor are fixed to the inner side of the positioning connecting frame. The output end of the third motor is fixed to the first pulley, and the outer side of the first pulley is connected to the second pulley via a belt. The output end of the fourth motor is fixed to the third pulley, and the outer side of the third pulley... A fourth pulley is connected by a belt. A central shaft is fixed inside the fourth pulley and the second pulley. Both ends of the central shaft are rotatably connected to a positioning connecting frame. A first bevel gear is fixed to the outside of the central shaft. A second bevel gear is meshed with the top of the first bevel gear. An L-shaped rotating auxiliary arm is fixed inside the second bevel gear. One end of the L-shaped rotating auxiliary arm is fixed to a connecting cavity plate. A U-shaped connecting frame is rotatably connected to the outside of the L-shaped rotating auxiliary arm. Both ends of the U-shaped connecting frame are fixed with square blocks, and the square blocks are fixed to the central shaft.

[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 base, and an intelligent camera. The intelligent controller is fixed at one end of the lifting platform, the support rod base is fixed at the top of the lifting platform, and the intelligent camera is fixed at the top of the support rod base. The intelligent controller is electrically connected to the autonomous driving vehicle, the electric module, the robotic arm, the first motor, the second motor, the pruning machine, the third motor, the fourth motor, the fifth motor, and the intelligent camera.

[0015] A pruning method for automated greening pruning robots in complex environments, applicable to automated greening pruning robots in complex environments, includes the following steps:

[0016] S1: Start the autonomous driving vehicle and move it to the green area. Use the smart camera to capture and record images of the green plants and transmit them to the smart controller.

[0017] S2: The intelligent controller recognizes the image and determines whether pruning is needed. If pruning is not needed, the autonomous vehicle moves to the next green area; if pruning is needed, the robotic arm and pruning machine are activated to perform the operation.

[0018] S3: During the trimming process, the smart camera records the trimming scene in real time and transmits it to the smart controller, which makes it easy to adjust the angle and position of the trimmer.

[0019] S4: If it is necessary to prune branches, start the fifth motor and control the angle of the cutting blade to finally complete the automated pruning of the greenery.

[0020] It is clear without a doubt that the technical solution described above in this application can solve the technical problem that this application aims to address.

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

[0022] 1. Through the structural design of the autonomous driving vehicle, lifting platform, greening pruning mechanism and auxiliary pruning mechanism, this invention makes it easy to change the position and angle of the pruning operation in multiple ways. It can adapt to the three-dimensional pruning needs of low-growing herbaceous plants, shrubs and trees, as well as perform synchronous pruning of ground greening. It can also seamlessly switch between pruning greening branches of different thicknesses. It is suitable for complex greening environments such as highways and parks, and improves pruning efficiency and standardization.

[0023] 2. Through the structural design of the adjustment and control mechanisms, this invention enables the device to intelligently regulate the coordinated operation between various electrical devices, thereby improving the automation level of pruning operations, reducing manual labor intensity, and increasing pruning efficiency. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the connection structure between the robotic arm and the support frame of the present invention;

[0027] Figure 3 This is a schematic diagram of the connection structure between the support frame and the first motor of the present invention;

[0028] Figure 4This is a cross-sectional structural diagram of the support frame of the present invention;

[0029] Figure 5 This is a schematic diagram of the connection structure between the first connecting rod and the second transmission rod of the present invention;

[0030] Figure 6 This is a schematic diagram of the connection structure between the L-shaped rotary auxiliary arm and the connecting cavity plate of the present invention;

[0031] Figure 7 This is a cross-sectional structural diagram of the third motor of the present invention.

[0032] The attached diagram lists the components represented by each number as follows:

[0033] In the diagram: 1. Autonomous driving vehicle; 2. Lifting platform; 3. Guide rail frame; 4. Electric module; 5. Robotic arm; 6. Bearing frame; 7. First motor; 8. First transmission rod; 9. First connecting rod; 10. Second transmission rod; 11. Folded long plate; 12. Equipment mounting base; 13. Second motor; 14. Third transmission rod; 15. V-shaped lever arm; 16. Fourth transmission rod; 17. Fifth transmission rod; 18. Second connecting rod; 19. Trimming machine; 20. Positioning connecting frame; 1. Third motor; 22. First pulley; 23. Second pulley; 24. Fourth motor; 25. Third pulley; 26. Fourth pulley; 27. Central shaft; 28. First bevel gear; 29. ​​Second bevel gear; 30. U-shaped connecting frame; 31. L-shaped rotating auxiliary arm; 32. Connecting 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

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0035] Example 1

[0036] Reference Figure 1-7 An automated greening and pruning robot for complex environments includes an autonomous driving vehicle 1, a lawnmower fixed to one end of the bottom of the autonomous driving vehicle 1, a lifting platform 2 on the top of the autonomous driving vehicle 1, a guide rail 3 fixed to the top of the lifting platform 2, an electric module 4 on the top of the guide rail 3, and a greening pruning mechanism mounted on the top of the electric module 4 for pruning green plants.

[0037] The greening pruning mechanism includes a drive component and an operation component. A robotic arm 5 is fixed to the top of the electric module 4. A support frame 6 is fixed to the output end of the robotic arm 5. The drive component is mounted on the inner side of the support frame 6. The operation component is mounted on the inner side of the drive component. The drive assembly 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. The first motor 7 is fixed to one end of the support frame 6. The first transmission rod 8 and the third transmission rod 14 are rotatably connected to the two ends of the inner side of the support frame 6, respectively. The output end of the first motor 7 passes through the support frame 6 and is fixed to the rotation point between the first transmission rod 8 and the support frame 6. The first connecting rod 9 is fixed to one end of both the first transmission rod 8 and the third transmission rod 14. The second transmission rod 10 is rotatably connected to one end of both the first connecting rod 9. A folded long plate 11 is rotatably connected to the top of the first transmission rod 8, the third transmission rod 14, and the two second transmission rods 10. The first transmission rod 8 and the second transmission rod 10 are arranged in parallel to each other, so that when the first transmission rod 8 rotates, it can work together with the second transmission rod 10 to push the folded long plate 11 to change position.

[0038] The operating components include an equipment mounting base 12, a second motor 13, a V-shaped lever 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 to the inner side of the equipment mounting base 12. The second motor 13 is fixed to the end of the support frame 6 away from the first motor 7. The output end of the second motor 13 passes through the support frame 6 and is fixed to the rotation point between the third transmission rod 14 and the support frame 6. The V-shaped lever arm 15 is rotatably connected to the top of the third transmission rod 14 and to the side away from the folded long plate 11. The fourth transmission rod 16 and the fifth transmission rod 17 are rotatably connected to the two ends of the V-shaped lever arm 15, respectively. One end of the fourth transmission rod 16 is rotatably connected to the support frame 6, and one end of the fifth transmission rod 17 is rotatably connected to the 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 with screws, which facilitates the later replacement of trimmers 19 of different specifications.

[0039] An auxiliary trimming mechanism is installed at the bottom of the support frame 6. 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. The positioning connecting frame 20 is fixed at the bottom of the support frame 6. A connecting cavity plate 32 is installed on one side of the positioning connecting frame 20. A fifth motor 33 is fixed at 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 together. The output end of the fifth motor 33 is fixed to one of the connecting cavity plates 32. A strip-shaped protrusion is integrally fixed on one side of each connecting cavity plate 32. A cutting blade 35 is rotatably connected to one end of each strip-shaped protrusion. A force-guiding linkage rod 36 is rotatably connected to the top of each cutting blade 35. One end of each force-guiding linkage rod 36 is rotatably connected to the connecting cavity plate 32. The strip-shaped protrusion and the force-guiding linkage rod 36 are arranged parallel to each other, which facilitates the adjustment and overlap of one end of the two cutting blades 35 towards each other to achieve the trimming effect.

[0040] An adjustment mechanism is assembled between the positioning connecting frame 20 and the connecting 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 27, a first bevel gear 28, a second bevel gear 29, a U-shaped connecting frame 30, and an L-shaped rotating auxiliary arm 31. The third motor 21 and the fourth motor 24 are fixed to the inner side of the positioning connecting frame 20. The first pulley 22 is fixed to the output end of the third motor 21. The second pulley 23 is connected to the outer side of the first pulley 22 via a belt. The third pulley 25 is fixed to the output end of the fourth motor 24. The fourth pulley 26 is connected to the outer side of the third pulley 25 via a belt. A central shaft 27 is fixed to the inner side of the fourth pulley 26 and the second pulley 23. Both ends of the central shaft 27 are rotatably connected to the positioning connecting frame 20. A first bevel gear 29 is fixed to the outer side of the central shaft 27. Gear 28, the top of the first bevel gear 28 is meshed with a second bevel gear 29, the inner side of the second bevel gear 29 is fixed with an L-shaped rotating auxiliary arm 31, one end of the L-shaped rotating auxiliary arm 31 is fixed with a connecting cavity plate 32, and the outer side of the L-shaped rotating auxiliary arm 31 is rotatably connected with a U-shaped connecting frame 30, both ends of the U-shaped connecting frame 30 are fixed with square blocks, and the square blocks are fixed with a central shaft 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 with the central shaft 27, the central shaft 27 can drive the square blocks and the U-shaped connecting frame 30 to rotate, and the U-shaped connecting frame 30 is rotatably connected with the L-shaped rotating auxiliary arm 31. When the central shaft 27 drives the first bevel gear 28 to mesh with the second bevel gear 29 to rotate, the angle of the L-shaped rotating auxiliary arm 31 and the connecting cavity plate 32 can be adjusted.

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

[0042] Example 2

[0043] like Figure 1-7 As shown, the pruning method for automated greening pruning robots in complex environments is applicable to automated greening pruning robots in complex environments and includes the following steps:

[0044] S1: Start the autonomous driving vehicle 1 and move it to the green area. The intelligent camera 39 takes and records images of the green plants and transmits them to the intelligent controller 37.

[0045] S2: The intelligent controller 37 recognizes the image and determines whether pruning is needed. If pruning is not needed, the autonomous driving vehicle 1 moves to the next green area; if pruning is needed, the robotic arm 5 and the pruning machine 19 are started to perform the operation.

[0046] S3: During the trimming process, the smart camera 39 records the trimming scene in real time and transmits it to the smart controller 37, which makes it easy to adjust the angle and position of the trimmer 19.

[0047] S4: If it is necessary to prune branches, start the fifth motor 33 and control the angle of the cutting blade 35 to complete the automated pruning of the greenery. When the fifth motor 33 is started, the smart camera 39 records the position of the end of the cutting blade 35 in real time. Then, the cutting blade 35 is moved to the pruning position. The output end of the fifth motor 33 drives the gear 34 to rotate, which causes the cutting blade 35 to rotate under the limit of the guide linkage rod 36. Finally, one end of the two cutting blades 35 moves towards each other until the branches are pruned.

[0048] In summary:

[0049] This invention addresses the technical problem that while existing techniques can prune slender branches of green plants, they fall short when dealing with thicker branches. In such cases, workers must temporarily replace the pruning shears to continue pruning. This method is not only time-consuming and labor-intensive but also lacks automation, failing to meet the demands of efficient and convenient modern urban greening maintenance. The invention employs the technical solutions described in the above embodiments. Furthermore, the implementation process of the above technical solutions is as follows:

[0050] All electrical components in this device are existing technologies, and their models are only one of them. Any electrical component that can achieve the purpose of this device can be used. Connect all electrical components in the device to their compatible power supply through wires. In addition, a suitable controller should be selected according to the actual situation to meet the control requirements. The specific connection and control sequence should refer to the working principle below, and the electrical connection between each electrical component should be completed in the order of operation. The detailed connection method is a well-known technology in this field. The following mainly introduces the working principle and process, and will not explain the electrical control.

[0051] During use, the intelligent controller 37 controls the autonomous driving vehicle 1 to move to the designated position. The intelligent camera 39 captures images of the greenery and transmits them to the intelligent controller 37 for pruning. When pruning is required, the robotic arm 5 and the pruning machine 19 are activated. The output end of the robotic arm 5 drives the support frame 6 to move, adjusting the equipment mounting base 12 to the greenery. At the same time, the electric module 4 moves on the guide rail 3, which can adjust the equipment mounting base 12 to a more precise position until the pruning machine 19 contacts the greenery, thus realizing the pruning operation of the greenery.

[0052] When it is necessary to increase the degree of freedom in the position of the trimmer 19, the first motor 7 is started. The output end of the first motor 7 drives the first transmission rod 8 to rotate, which in turn causes the first transmission rod 8 to pull the second transmission rod 10 to move through the first connecting rod 9. Because the second transmission rod 10 is rotatably connected to the folded long plate 11, and the folded long plate 11 is rotatably 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, which causes the fourth transmission rod 16 to pull the second connecting rod 18 to rotate through the V-shaped force arm 15 and the fifth transmission rod 17. This allows the equipment mounting base 12 to rotate along the connection point with the folded long plate 11, realizing dual adjustment of the angle and position of the trimmer 19.

[0053] With the above-mentioned settings, this application will certainly solve the above-mentioned technical problems, and at the same time achieve the following technical effects:

[0054] 1. Through the structural design of the autonomous driving vehicle 1, the lifting platform 2, the greening pruning mechanism and the auxiliary pruning mechanism, this invention enables the device to easily change the position and angle of the pruning operation, adapt to the three-dimensional pruning needs of low-growing herbaceous plants, shrubs and trees, and perform synchronous pruning of ground greening. It can also seamlessly switch between pruning greening branches of different thicknesses, making it suitable for complex greening environments such as highways and parks, and improving pruning efficiency and standardization.

[0055] 2. Through the structural design of the adjustment and control mechanisms, this invention enables the device to intelligently regulate the coordinated operation between various electrical devices, thereby improving the automation level of pruning operations, reducing manual labor intensity, and increasing pruning efficiency.

[0056] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0057] Obviously, the embodiments described above are merely some embodiments of the present invention, not all embodiments. The accompanying drawings show 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; rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this invention.

Claims

1. An automated greenery pruning robot based on complex environment, characterized by, The system includes an autonomous driving vehicle (1), with a lawnmower fixed to one end of the bottom of the autonomous driving vehicle (1), a lifting platform (2) on the top of the autonomous driving vehicle (1), a guide rail frame (3) fixed to the top of the lifting platform (2), an electric module (4) on the top of the guide rail frame (3), and a greening pruning mechanism on the top of the electric module (4), which is used to prune green plants. The greening pruning mechanism includes a drive component and an operating component. A mechanical arm (5) is fixed to the top of the electric module (4). A support frame (6) is fixed to the output end of the mechanical arm (5). A drive component is assembled on the inner side of the support frame (6). An operating component is assembled on the inner side of the drive component. The operating component includes a pruning machine (19). The bottom of the support frame (6) is equipped with an auxiliary trimming mechanism; 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). The bottom of the support frame (6) is fixed with the positioning connecting frame (20). A connecting cavity plate (32) is assembled on one side of the positioning connecting frame (20). A fifth motor (33) is fixed on 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 together. The output end of the fifth motor (33) is fixed to one of the connecting cavity plates (32). A strip-shaped protrusion is integrally fixed on one side of each connecting cavity plate (32). A cutting blade (35) is rotatably connected to one end of each strip-shaped protrusion. A force-guiding linkage rod (36) is rotatably connected to the top of each cutting blade (35). One end of each force-guiding linkage rod (36) is rotatably connected to the connecting cavity plate (32). An adjustment mechanism is assembled between the positioning connecting frame (20) and the connecting 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 (27), a first bevel gear (28), a second bevel gear (29), a U-shaped connecting frame (30), and an L-shaped rotating auxiliary arm (31). The third motor (21) and the fourth motor (24) are fixed to the inner side of the positioning connecting frame (20). The output end of the third motor (21) is fixed to the first pulley (22). The outer side of the first pulley (22) is connected to the second pulley (23) via a belt. The output end of the fourth motor (24) is fixed to the third pulley (25). A fourth pulley (26) is connected to the outer side of the wheel (25) by a belt. A central shaft (27) is fixed to the inner side of the fourth pulley (26) and the second pulley (23). Both ends of the central shaft (27) are rotatably connected to the positioning connecting frame (20). A first bevel gear (28) is fixed to the outer side of the central shaft (27). A second bevel gear (29) is meshed with the top of the first bevel gear (28). An L-shaped rotating auxiliary arm (31) is fixed to the inner side of the second bevel gear (29). One end of the L-shaped rotating auxiliary arm (31) is fixed to the connecting cavity plate (32). A U-shaped connecting frame (30) is rotatably connected to the outer side of the L-shaped rotating auxiliary arm (31). Both ends of the U-shaped connecting frame (30) are fixed with square blocks. The square blocks are all fixed to the central shaft (27). The lifting platform (2) is equipped with a control mechanism at one end and the top. The control mechanism includes an intelligent controller (37), a support rod seat (38), and an intelligent camera (39). The intelligent controller (37) is fixed at one end of the lifting platform (2), and the support rod seat (38) is fixed at the top of the lifting platform (2). The intelligent camera (39) is fixed at the top of the support rod seat (38). The intelligent controller (37) is electrically connected to the autonomous driving vehicle (1), the electric module (4), the robotic arm (5), the pruning machine (19), the third motor (21), the fourth motor (24), the fifth motor (33), and the intelligent camera (39).

2. The automated green pruning robot based on complex environment according to claim 1, characterized in that, The drive assembly 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). The first motor (7) is fixed at one end of the support frame (6). The first transmission rod (8) and the third transmission rod (14) are rotatably connected to the two ends of the inner side of the support frame (6), respectively. The output end of the first motor (7) passes through the support frame (6) and is fixed at the rotation point between the first transmission rod (8) and the support frame (6). The first connecting rod (9) is fixed at one end of both the first transmission rod (8) and the third transmission rod (14). The second transmission rod (10) is rotatably connected to one end of both the first connecting rod (9). A folded long plate (11) is rotatably connected to the top of the first transmission rod (8), the third transmission rod (14), and the two second transmission rods (10).

3. The automated green pruning robot based on complex environment according to claim 2, characterized in that, The working components include an equipment mounting base (12), a second motor (13), a V-shaped lever arm (15), a fourth transmission rod (16), a fifth transmission rod (17), a second connecting rod (18), and a trimmer (19). The bottom of the folded long plate (11) is rotatably connected to the equipment mounting base (12). The trimmer (19) is fixed to the inner side of the equipment mounting base (12). The second motor (13) is fixed to the end of the support frame (6) away from the first motor (7). The output end of the second motor (13) passes through the support frame (6) and is connected to the third transmission rod. The rotating part between the moving rod (14) and the support frame (6) is fixed. The top of the third transmission rod (14) and the side away from the folded long plate (11) are rotatably connected to a V-shaped force arm (15). The two ends of the V-shaped force arm (15) are respectively rotatably connected to a fourth transmission rod (16) and a fifth transmission rod (17). One end of the fourth transmission rod (16) is rotatably connected to the support frame (6). One end of the fifth transmission rod (17) is rotatably connected to a second connecting rod (18). One end of the second connecting rod (18) is fixed to the equipment mounting base (12).

4. The automated green pruning robot based on complex environment according to claim 3, characterized in that, The intelligent controller (37) is electrically connected to the first motor (7) and the second motor (13).

5. A pruning method for an automated greening pruning robot in complex environments, applicable to the automated greening pruning robot in complex environments as described in any one of claims 1-4, characterized in that, Includes the following steps: S1: Start the autonomous driving vehicle (1) and move to the green area. Use the smart camera (39) to take pictures and record images of the green plants and transmit them to the smart controller (37); S2: The intelligent controller (37) recognizes the image and determines whether it needs to be trimmed. If it does not need to be trimmed, the autonomous driving vehicle (1) moves to the next green area. If it needs to be trimmed, the robotic arm (5) and the trimmer (19) are started to carry out the work. S3: During the trimming process, the smart camera (39) records the trimming scene in real time and transmits it to the smart controller (37) to facilitate the adjustment of the angle and position of the trimmer (19); S4: If it is necessary to prune branches, start the fifth motor (33) and control the angle of the cutting blade (35) to finally complete the automated pruning of the greenery.

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