CN110268858A - A kind of turf-mown and pattern modelling robot and its control system and control method - Google Patents

Abstract

The invention relates to a lawn trimming appliance, in particular to a lawn trimming and pattern modeling robot and a control system and control method thereof, comprising a vehicle body, a walking mechanism, a steering mechanism, a trimming mechanism and wheels, and the vehicle body includes a cover and a base, The cover and the base are connected to form a closed cavity, the wheels are set outside the cover, the traveling mechanism is set in the closed cavity, the drive shaft of the traveling mechanism penetrates the cover, the drive shaft connects the wheels, the steering mechanism is set in the closed cavity, and the connection of the steering mechanism The shaft penetrates through the cover, the connecting shaft connects the wheels, the trimming mechanism includes the mowing motor, the blade shaft and the blade, the mowing motor is connected in the airtight cavity, the blade is arranged under the base, the blade shaft penetrates through the base, and the blade shaft connects the mowing motor and the blade , Through the coordination of the steering mechanism, the walking mechanism and the control system, it can get rid of the traditional manual operation mode and realize the ability of pattern modeling through the coordination of the trimming mechanism, the lifting mechanism and the control system.

Description

A lawn mowing and pattern modeling robot and its control system and control method

technical field

The invention relates to a lawn trimming appliance, in particular to a lawn trimming and pattern modeling robot and a control system and control method thereof.

Background technique

With the increasing improvement of people's living standards, people's requirements for living environment are getting higher and higher, and greening has become a focus of attention. Therefore, whether it is cities, roads, squares, parks, communities and other green areas are constantly increasing. , and the greening is mainly based on lawns. The lawn not only contributes to greening, but also can be trimmed into a specific pattern to make it have ornamental value.

At present, there are the following problems in lawn mowing and pattern modeling: the lawn mowing tools include sickles, knapsack hand-held lawn mowers, and hand-push electric lawn mowers, etc. The use of sickles to cut grass is not only labor-intensive, but also low in work efficiency; Compared with the sickle, the knapsack hand-held lawn mower saves labor, but it is not suitable for operation and control, and the trimmed lawn is extremely uneven and not beautiful; The flatness of the lawn is still based on manual operation, and its size is large, and it is also a big burden for people to push it to work on the lawn; the pattern modeling must use the above tools, and the operator must have certain skills. The technical level of the operation will undoubtedly increase the maintenance cost of the lawn.

SUMMARY OF THE INVENTION

In order to overcome the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a lawn mowing and pattern modeling robot and a control system and control method thereof, the lawn mowing process is separated from manual operation, not only can the lawn be simply mowed, but also The lawn can be patterned and the problems existing in the prior art are solved.

The technical scheme adopted by the present invention is: a lawn mowing and pattern modeling robot, comprising a vehicle body, a traveling mechanism, a steering mechanism, a trimming mechanism and wheels, the vehicle body includes a cover and a base, and the cover and the base are connected to form a closed space The wheel is arranged outside the cover, the traveling mechanism is arranged in the closed cavity, the drive shaft of the traveling mechanism penetrates the cover, the drive shaft is connected to the wheel, the steering mechanism is arranged in the closed cavity, the connecting shaft of the steering mechanism penetrates the cover, and the connecting shaft is connected The wheel, the trimming mechanism includes a mowing motor, a blade shaft and a blade, the mowing motor is connected in the airtight cavity, the blade is arranged under the base, the blade shaft penetrates the base, and the blade shaft is connected with the mowing motor and the blade.

It further includes a lifting mechanism. The lifting mechanism is arranged in the closed cavity. The lifting mechanism includes a lifting motor, a slider, a lead screw, a slide rail, a lifting bracket and a bracket. The screw, the sliding rail and the lifting bracket are vertically arranged. The end is connected to the lift bracket through the bearing, the slide rail is connected to the lift bracket, the lift motor is connected to the upper end of the lead screw, the slider is connected to the lead screw by rotation, the slider is slidably connected to the slide rail, and the bracket is connected to the slider. The mowing motor is connected to the bracket, and the lifting mechanism drives the mowing mechanism to move up and down.

Further, two traveling mechanisms are symmetrically arranged, and the traveling mechanism further includes a traveling motor and a motor shield, the traveling motor is fixedly connected to the base, the traveling motor is connected to the transmission shaft, and the motor shield wraps the traveling motor.

The steering mechanism further includes a steering motor, a gear, a toothed belt, a steering bracket, a steering connecting rod and a rotating shaft. The steering bracket is fixedly connected to the rotating shaft, and the rotating shaft is rotatably connected to the base. The steering bracket and the rotating shaft are symmetrically provided. 2, the steering bracket is fixedly connected to the connecting shaft, the steering link is connected to 2 steering brackets, there are 3 gears, the gears are fixedly connected to the steering motor and the upper end of the rotating shaft, the toothed belt is connected to 3 gears, and the steering motor is fixedly connected to the base .

Further, two lifting mechanisms are symmetrically arranged.

Further, the walking mechanism is arranged at the rear of the vehicle body, the steering mechanism is arranged at the front of the vehicle body, and the trimming mechanism is arranged between the walking mechanism and the steering mechanism.

Further, a main control board is arranged between the steering mechanism and the trimming mechanism, and the main control board is connected with a motor drive board, a power supply and a WiFi module, the power supply and the WiFi module are arranged on the motor shield, and the motor drive board is connected to the walking motor, steering Motor, mowing motor and lift motor, the main control board is Arduino main control board, the motor driver board is L298N motor driver board, the walking motor is MD60 DC gear motor, the steering motor is 42BYGH34 type stepping motor, and the mowing motor is YS52 -500A-100 DC high-speed motor, lift motor is 42BYGH34 stepping motor, power supply is 24V lithium battery, WiFi module model is XRbot-Link5.

Further, the front end of the vehicle body is provided with an infrared obstacle avoidance sensor and an ultrasonic obstacle avoidance sensor, the upper end of the vehicle body is provided with a rain monitoring module, a human body sensing module, a switch and an emergency stop switch, the left end of the base is provided with a single-axis inclination sensor, and the lower end of the base is provided with a single-axis inclination sensor. There are infrared ranging sensors, the infrared obstacle avoidance sensor, ultrasonic obstacle avoidance sensor, single-axis inclination sensor, infrared ranging sensor, rain monitoring module, human body sensing module, switch and emergency stop switch are connected to the main control board, the said The model of the infrared obstacle avoidance sensor is GP2Y0A21YK0F, the model of the ultrasonic obstacle avoidance sensor is ks103, the model of the single-axis inclination sensor is mpu6050, the model of the infrared distance sensor is GP2Y0A21YK0F, the model of the rain monitoring module is TELESKY, and the model of the human body sensing module is HC-SR501.

In the further described control system of a lawn mowing and pattern modeling robot, a switch and an emergency stop switch control the power supply to power on and off the main control board; a WiFi module maintains data communication between the main control board and a mobile terminal; infrared obstacle avoidance sensors, ultrasonic Obstacle avoidance sensor, single-axis inclination sensor, infrared ranging sensor, rain monitoring module and human body sensing module transmit the collected digital signals to the main control board, the main control board controls the motor drive board, and the motor drive board controls the work of the walking motor; infrared avoidance Obstacle sensor, ultrasonic obstacle avoidance sensor, single-axis inclination sensor and human body sensing module transmit the collected digital signal to the main control board, the main control board controls the motor drive board, and the motor drive board controls the steering motor to work; the infrared ranging sensor will collect the The digital signal is transmitted to the main control board, the main control board controls the motor drive board, and the motor drive board controls the work of the mowing motor and the lifting motor.

A further control method for a lawn mowing and pattern modeling robot has the following steps:

A: prepare

Transmit the information of the lawn to be mowed to the main control board, the information includes shape, area, etc. and specifies the starting point of mow;

B: Set the trimming method

B1: Ordinary trimming method, set the height value of the lawn after trimming, and transmit the height value to the main control board;

B2: Pattern modeling and trimming method, the design of the pattern is generated by drawing software into three-dimensional graphics, and then the three-dimensional graphics are converted into G codes by slicing software, and the G codes are imported into the main control board of the present invention;

C: work process

C1: The working process under the ordinary trimming mode, the present invention is placed at the set starting point, the actual height of the lawn is detected by the infrared ranging sensor, and then the main control board controls the lifting mechanism to adjust the height of the trimming mechanism and start the trimming work;

C2: The working process of the patterned trimming method, the present invention is placed at the set starting point, the actual height of the lawn is detected by the infrared ranging sensor, and then the main control board controls the lifting mechanism to adjust the height of the trimming mechanism and start the trimming work. In the process of traveling, according to the level data set by the G code, when the height of the mowing lawn changes, the main control board controls the walking mechanism to stop working. After the lifting mechanism adjusts the height of the trimming mechanism to the specified position, start the walking mechanism and proceed Trim job.

The beneficial effects of the present invention are: the self-propelled function of the present invention is realized through the mutual coordination of the steering mechanism, the traveling mechanism and the control system, the traditional manual operation mode is eliminated, the fully automatic function is realized, and the trimming mechanism, the lifting mechanism and the control system are realized The mutual coordination effect of the present invention realizes the ability of the present invention to control the length of the grass when mowing the lawn, realize the ability of pattern modeling, and cooperate with various sensors and control systems to regulate and manipulate the present invention in real time, so as to ensure the quality of lawn mowing and avoid potential safety hazards.

Description of drawings

Fig. 1 is the outline structure schematic diagram of the present invention;

Fig. 2 is the internal structure schematic diagram of the present invention;

Fig. 3 is the structural representation of steering mechanism of the present invention;

4 is a schematic structural diagram of the mowing mechanism and the lifting mechanism of the present invention;

Fig. 5 is the structure schematic diagram of the walking mechanism of the present invention;

Fig. 6 is the bottom view structure schematic diagram of the present invention;

FIG. 7 is a schematic diagram of the control system of the present invention.

In the picture: 1. Body, 101. Cover, 102. Base, 2. Traveling mechanism, 201. Transmission shaft, 202. Traveling motor, 203. Motor shield, 3. Steering mechanism, 301. Connecting shaft, 302. Steering Motor, 303. Gear, 304. Toothed belt, 305. Steering bracket, 306. Steering link, 307. Spindle, 4. Trimming mechanism, 401. Mowing motor, 402. Blade shaft, 403. Blade, 5. Wheel, 6. Lifting mechanism, 601. Lifting motor, 602. Slider, 603. Lead screw, 604. Slide rail, 605. Lifting bracket, 606. Bracket, 7. Main control board, 8. Power supply, 9. WiFi module, 10 .motor driver board, 11. infrared obstacle avoidance sensor, 12. ultrasonic obstacle avoidance sensor, 13. single-axis tilt sensor, 14. infrared ranging sensor, 15. rain monitoring module, 16. human body induction switch, 17. switch, 18 .Emergency stop switch.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments: a lawn mowing and pattern modeling robot, comprising a vehicle body 1, a walking mechanism 2, a steering mechanism 3, a trimming mechanism 4 and wheels 5, and the vehicle body 1 includes Cover 101 and base 102, cover 101 and base 102 are connected to form a closed cavity, wheel 5 is arranged outside cover 101, running mechanism 2 is set in the closed cavity, transmission shaft 201 of running mechanism 2 penetrates cover 101, transmission shaft 201 is connected Wheel 5, steering mechanism 3 is arranged in a closed cavity, connecting shaft 301 of steering mechanism 3 penetrates cover 101, connecting shaft 301 is connected to wheel 5, trimming mechanism 4 includes mowing motor 401, blade shaft 402 and blade 403, mowing motor 401 is connected in the airtight cavity, the blade 403 is arranged under the base 102, the blade shaft 402 runs through the base 102, the blade shaft 402 is connected to the mowing motor 401 and the blade 403, only the wheel 5 and the blade 403 are arranged outside the vehicle body 1, and the rest The parts are all wrapped in the car body 1 to ensure that the present invention will not bring the cut grass into the car body 1 to affect the work of each mechanism. The steering mechanism 3 of the walking mechanism 2 cooperates with each other to realize the The walking and steering functions can make the present invention more flexible when mowing the lawn and improve its passing performance.

It further includes a lifting mechanism 6, the lifting mechanism 6 is arranged in a closed cavity, and the lifting mechanism 6 includes a lifting motor 601, a slider 602, a lead screw 603, a sliding rail 604, a lifting bracket 605 and a bracket 606, a screw 603, a sliding rail 604 and the lifting bracket 605 are vertically arranged, both ends of the lead screw 603 are connected to the lifting bracket 605 through bearings, the slide rail 604 is connected to the lifting bracket 605, the lifting motor 601 is connected to the upper end of the lead screw 603, and the slider 602 is rotatably connected to the screw On the bar 603, the slider 602 is slidably connected to the slide rail 604, the bracket 606 is connected to the slider 602, the mowing motor 401 is connected to the bracket 606, and the lifting mechanism 6 drives the mowing mechanism 4 to move up and down, increasing the The purpose is to drive the lead screw 603 to rotate through the lifting motor 601, and then make the slider 602 slide up and down on the slide rail 604, and then drive the mowing mechanism 4 to move up and down through the bracket 606, so as to realize the height adjustment of the blade 403 from the ground, so as to realize The control and adjustment of lawn trimming size can realize the function of pattern modeling by trimming different positions of the same lawn at different heights.

Further, two traveling mechanisms 2 are symmetrically arranged. The traveling mechanism 2 also includes a traveling motor 202 and a motor shield 203. The traveling motor 202 is fixedly connected to the base 102, the traveling motor 202 is connected to the transmission shaft 201, and the motor shield 203 is wrapped. The traveling motor 202 has two traveling mechanisms symmetrically arranged, which can effectively improve the walking power of the present invention. At the same time, the two traveling motors 202 can realize differential rotation, assist the steering mechanism 3 to perform steering, and can effectively reduce the turning radius, which is more beneficial. in the pattern modeling function.

The steering mechanism 3 further includes a steering motor 302, a gear 303, a toothed belt 304, a steering bracket 305, a steering link 306 and a rotating shaft 307. The steering bracket 305 is fixedly connected to the rotating shaft 307, and the rotating shaft 307 is rotatably connected to the base 102. The steering bracket 305 and the rotating shaft 307 are symmetrically provided with two, the steering bracket 305 is fixedly connected with the connecting shaft 301, the steering link 306 is connected with two steering brackets 305, and there are three gears 303, and the gears 303 are fixedly connected to the steering At the upper end of the motor 302 and the rotating shaft 307, the toothed belt 304 is connected to three gears 303, and the steering motor 302 is fixedly connected to the base 102. When turning, the steering motor 302 drives a gear 303 to rotate, the gear 303 drives the toothed belt 304, and the toothed belt 304 drives The other two gears 303 rotate, thereby driving the rotating shaft 307 and the steering bracket 305 to rotate, and the steering bracket 305 realizes synchronous rotation through the steering link 306, thereby realizing the steering function.

Further, there are two lifting mechanisms 6 symmetrically arranged, and the two lifting mechanisms are symmetrically arranged, on the one hand, to ensure the running stability of the mowing mechanism 4, and on the other hand, to ensure the smooth and precise movement of the mowing mechanism 4 up and down.

The further described walking mechanism 2 is arranged at the rear of the vehicle body 1, the steering mechanism 3 is arranged at the front of the vehicle body 1, and the trimming mechanism 4 is arranged between the walking mechanism 2 and the steering mechanism 3. The way of turning is beneficial to the stable walking function, sufficient power and stable steering of the present invention. At the same time, the trimming mechanism 4 is arranged between the walking mechanism 2 and the steering mechanism 3 to form a certain protection function for the blade 403 to prevent it from contacting hard objects. into damage.

Further described between the steering mechanism 3 and the trimming mechanism 4, a main control board 7 is arranged, and the main control board 7 is connected with the motor drive board 10, the power supply 8 and the WiFi module 9, and the power supply 8 and the WiFi module 9 are arranged on the motor shield 203. On the top, the motor drive board 10 is connected to the walking motor 202, the steering motor 302, the mowing motor 401 and the lifting motor 601, the main control board 7 is the Arduino main control board, the motor driving board 10 is the L298N type motor driving board, and the walking motor 202 is MD60 DC gear motor, steering motor 302 is 42BYGH34 stepping motor, mowing motor 401 is YS52-500A-100 DC high-speed motor, lifting motor 601 is 42BYGH34 stepping motor, power supply 8 is 24V lithium battery, WiFi module 9 The model is XRbot-Link5, the power supply 8 provides power output for the present invention, and realizes the power consumption of all the mechanisms of the present invention. The main control board 7 controls all the motors through the motor drive board 10, so that each mechanism of the present invention realizes various motion functions, and the WiFi module 9 Real-time data transmission and monitoring between the mobile terminal and the present invention can be realized.

Further, the front end of the vehicle body 1 is provided with an infrared obstacle avoidance sensor 11 and an ultrasonic obstacle avoidance sensor 12, the upper end of the vehicle body 1 is provided with a rain monitoring module 15, a human body sensing module 16, a switch 17 and an emergency stop switch 18, and the left end of the base 102 is provided with There is a uniaxial inclination sensor 13, and the lower end of the base 102 is provided with an infrared ranging sensor 14. The infrared obstacle avoidance sensor 11, the ultrasonic obstacle avoidance sensor 12, the uniaxial inclination sensor 13, the infrared distance measuring sensor 14, the rain monitoring module 15, The human body sensing module 16, the switch 17 and the emergency stop switch 18 are connected to the main control board 7. The model of the infrared obstacle avoidance sensor 11 is GP2Y0A21YK0F, the model of the ultrasonic obstacle avoidance sensor 12 is ks103, and the model of the single-axis inclination sensor 13 is mpu6050 , the model of the infrared ranging sensor 14 is GP2Y0A21YK0F, the model of the rain monitoring module 15 is TELESKY, the model of the human body sensing module 16 is HC-SR501, the infrared obstacle avoidance sensor 11 and the ultrasonic obstacle avoidance sensor 12 are used, which can effectively monitor the front of the present invention. Using two different types of sensors, it can more effectively and accurately monitor obstacles, and ensure that the car body 1 and the blade 403 are not damaged, or cause damage to other objects. The single-axis inclination sensor 13 can always monitor the level of the car body. state, to prevent the present invention from rolling over, the infrared ranging sensor 14 can monitor the height of the grass, thereby adjusting the height of the blade 403 to ensure the amount of lawn mowing, and the rain monitoring module 15 plays a weather monitoring function to prevent the present invention from being affected by sudden rainfall. In the event of a short circuit or the like, the human body sensing module 16 has the function of sensing the surrounding personnel during operation, so as to avoid personal injury caused by the collision between the present invention and the personnel.

Further, a control system for a lawn mowing and pattern modeling robot, the main principles of the control system of the present invention are as follows: the switch 17 and the emergency stop switch 18 control the power supply 8 to turn on and off the main control board 7; the WiFi module 9 keeps the main control board 7 and Data communication of mobile terminals; infrared obstacle avoidance sensor 11, ultrasonic obstacle avoidance sensor 12, single-axis inclination sensor 13, infrared ranging sensor 14, rain monitoring module 15 and human body sensing module 16 transmit the collected digital signals to the main control board 7 , the main control board 7 controls the motor drive board 10, and the motor drive board 10 controls the running motor 202 to work; the infrared obstacle avoidance sensor 11, the ultrasonic obstacle avoidance sensor 12, the single-axis inclination sensor 13 and the human body sensing module 16 transmit the collected digital signals to The main control board 7, the main control board 7 controls the motor drive board 10, the motor drive board 10 controls the steering motor 302 to work; the infrared ranging sensor 14 transmits the collected digital signals to the main control board 7, and the main control board 7 controls the motor drive board 10. The motor drive board 10 controls the mowing motor 401 and the lift motor 601 to work;

When the infrared obstacle avoidance sensor 11 and the ultrasonic obstacle avoidance sensor 12 detect whether there is an obstacle ahead, if there is an object that cannot pass through the obstacle or is in contact with the blade 403, the mowing motor will be stopped first, and the present invention will be controlled to perform active obstacle avoidance. , so that the present invention is turned, and continues to work after bypassing the obstacle;

The single-axis inclination sensor 13 monitors the horizontal state of the vehicle body of the present invention in real time. If the vehicle body is seriously inclined or rolled over, all motors will be stopped immediately and the operation will be restarted after the operator solves the problem on site;

The infrared ranging sensor 14 monitors the height of the grass below the present invention in real time, determines the lifting position of the blade 403 after data processing, and adjusts it in real time to ensure the quality of lawn mowing and the accurate drawing of the pattern;

In case of sudden rainy weather, after the rainwater monitoring module 15 detects rainwater, it will actively cut off all power supply circuits to avoid the short circuit of the present invention caused by the rainwater, and transmit the data to the mobile terminal through the wifi module 9 to remind the operator to handle it properly;

When the human body sensing module 16 detects that there is a person or a person passing in front, it actively turns off the walking motor 202 and the mowing motor 401, and continues to work after the person leaves or passes.

The steps of a control method of a lawn mowing and pattern modeling robot are as follows:

A: prepare

Transmit the information of the lawn to be trimmed to the main control board 7, the information includes shape, area, etc. and specifies the starting point of trimming;

B: Set the trimming method

B1: Ordinary trimming method, set the height value of the lawn after trimming, and transmit the height value to the main control board 7;

B2: Pattern modeling and trimming method, the design of the pattern is generated by drawing software (such as CAD, solidworks, 3DMax, etc.) to generate three-dimensional graphics, and then the three-dimensional graphics are converted into G code by slicing (such as cura, xbuilder, etc.) software, and the G code is converted. Import the main control board 7 of the present invention;

C: work process

C1: The working process in the ordinary trimming mode, the present invention is placed at the set starting point, the actual height of the lawn is detected by the infrared ranging sensor 14, and then the main control board 7 controls the lifting mechanism 6 to adjust the height of the trimming mechanism 4 and start pruning work;

C2: The working process of the patterned trimming mode, the present invention is placed at the set starting point, the actual height of the lawn is detected by the infrared ranging sensor 14, and then the main control board 7 controls the lifting mechanism 6 to adjust the height of the trimming mechanism 4 and start During the mowing process, according to the height data set by the G code, when the height of the mowing lawn changes, the main control board 7 controls the walking mechanism 2 to stop working, and the lifting mechanism 6 adjusts the height of the trimming mechanism 4 to the specified level. After the position, start the traveling mechanism 2 and then carry out the trimming operation.

Claims (10)

1. a kind of turf-mown and pattern modelling robot, it is characterised in that: including car body (1), walking mechanism (2), turning machine Structure (3), pruning mechanism (4) and wheel (5), the car body (1) include cover (101) and pedestal (102), cover (101) and pedestal (102) connection forms closed cavity, and wheel (5) setting is external in cover (101), and walking mechanism (2) is arranged in closed cavity, row The transmission shaft (201) of mechanism (2) is walked through cover (101), transmission shaft (201) connects wheel (5), and steering mechanism (3) is arranged close It closes in cavity, the connecting shaft (301) of steering mechanism (3) is through cover (101), and connecting shaft (301) connects wheel (5), pruning mechanism It (4) include mowing motor (401), blade shaft (402) and blade (403), mowing motor (401) is connected in closed cavity, knife Below pedestal (102), blade shaft (402) runs through pedestal (102) for piece (403) setting, and blade shaft (402) connects mowing motor (401) and blade (403).

2. a kind of turf-mown according to claim 1 and pattern modelling robot, it is characterised in that: further include elevator Structure (6), elevating mechanism (6) are arranged in closed cavity, and elevating mechanism (6) includes lifting motor (601), sliding block (602), lead screw (603), sliding rail (604), lifting support (605) and bracket (606), lead screw (603), sliding rail (604) and lifting support (605) are perpendicular Straight setting, lead screw (603) both ends are connected on lifting support (605) by bearing, and sliding rail (604) is connected to lifting support (605) on, lifting motor (601) is connected to lead screw (603) upper end, and sliding block (602) is rotatably connected on lead screw (603), sliding block (602) it is slidably connected on sliding rail (604), bracket (606) is connected on sliding block (602), and mowing motor (401) is connected to bracket (606) on, elevating mechanism (6) drives grass-mowing (4) to move up and down.

3. a kind of turf-mown according to claim 1 and pattern modelling robot, it is characterised in that: the vehicle with walking machine Structure (2) is symmetrically arranged with 2, and walking mechanism (2) further includes movable motor (202) and motor shroud (203), movable motor (202) it is fixedly connected on pedestal (102), movable motor (202) connects transmission shaft (201), motor shroud (203) package walking Motor (202).

4. a kind of turf-mown according to claim 1 and pattern modelling robot, it is characterised in that: the turning machine Structure (3) further includes steering motor (302), gear (303), tooth band (304), steering bracket (305), steering link (306) and turns Axis (307), steering bracket (305) are fixedly connected on shaft (307), and shaft (307) is rotatably connected on pedestal (102), institute The steering bracket (305) and shaft (307) stated are symmetrically arranged with 2, and steering bracket (305) is fixedly connected with connecting shaft (301), turn 2 steering brackets (305) are connected to connecting rod (306), gear (303) is equipped with 3, and gear (303) is fixedly connected on steering motor (302) and shaft (307) upper end, tooth band (304) connect 3 gears (303), and steering motor (302) is fixedly connected on pedestal (102) on.

5. a kind of turf-mown according to claim 2 and pattern modelling robot, it is characterised in that: the elevator Structure (6) is symmetrically arranged with 2.

6. a kind of turf-mown according to claim 1-5 and pattern modelling robot, it is characterised in that: described Walking mechanism (2) setting at car body (1) rear portion, steering mechanism (3) setting exists in car body (1) front, pruning mechanism (4) setting Between walking mechanism (2) and steering mechanism (3).

7. a kind of turf-mown according to claim 6 and pattern modelling robot, it is characterised in that: the turning machine Between structure (3) and pruning mechanism (4) be equipped with master control borad (7), master control borad (7) be connected with motor driving plate (10), power supply (8) and WiFi module (9), power supply (8) and WiFi module (9) are arranged on motor shroud (203), motor driving plate (10) connection walking Motor (202), steering motor (302), mowing motor (401) and lifting motor (601), master control borad (7) are Arduino main control Plate, motor driving plate (10) are L298N type motor driving plate, and movable motor (202) is MD60 DC speed-reducing, steering motor It (302) is 42BYGH34 type stepper motor, mowing motor (401) is YS52-500A-100 type direct current high-speed motor, lifting motor It (601) is 42BYGH34 type stepper motor, power supply (8) is 24V lithium battery, the model XRbot-Link5 of WiFi module (9).

8. a kind of turf-mown according to claim 7 and pattern modelling robot, it is characterised in that: the car body (1) front end is equipped with IR evading obstacle sensors (11) and avoiding obstacles by supersonic wave sensor (12), and car body (1) upper end is equipped with rainwater and monitors mould Block (15), human body induction module (16), switch (17) and emergency stop switch (18), pedestal (102) left end are equipped with uniaxial inclination angle sensing Device (13), pedestal (102) lower end are equipped with infrared distance sensor (14), and the IR evading obstacle sensors (11), ultrasonic wave are kept away Hinder sensor (12), single-shaft inclination angle sensor (13), infrared distance sensor (14), rainwater monitoring modular (15), human body sensing Module (16), switch (17) and emergency stop switch (18) connection master control borad (7), the model of the IR evading obstacle sensors (11) GP2Y0A21YK0F, the model ks103 of avoiding obstacles by supersonic wave sensor (12), the model of single-shaft inclination angle sensor (13) Mpu6050, the model GP2Y0A21YK0F of infrared distance sensor (14), the model of rainwater monitoring modular (15) TELESKY, the model HC-SR501 of human body induction module (16).

9. the control system of a kind of turf-mown and pattern modelling robot according to claim 8, it is characterised in that: open (17) and emergency stop switch (18) control power supply (8) are closed to master control borad (7) power on/off；WiFi module (9) keeps master control borad (7) and moves The data communication of dynamic terminal；IR evading obstacle sensors (11), avoiding obstacles by supersonic wave sensor (12), single-shaft inclination angle sensor (13), Infrared distance sensor (14), rainwater monitoring modular (15) and human body induction module (16) are by the digital data transmission of acquisition to master It controls plate (7), master control borad (7) controls motor driving plate (10), and motor driving plate (10) controls movable motor (202) work；It is infrared Obstacle avoidance sensor (11), avoiding obstacles by supersonic wave sensor (12), single-shaft inclination angle sensor (13) and human body induction module (16) will be adopted The digital data transmission of collection to master control borad (7), master control borad (7) controls motor driving plate (10), and motor driving plate (10) control turns It works to motor (302)；Infrared distance sensor (14) controls the digital data transmission of acquisition to master control borad (7), master control borad (7) Motor driving plate (10) processed, motor driving plate (10) control mowing motor (401) and lifting motor (601) work.

10. the control method of a kind of turf-mown and pattern modelling robot according to claim 9, it is characterised in that such as Lower step:

A: prepare

Information to be cut the grass on a lawn is transmitted to master control borad (7), information includes shape, area etc. and regulation trimming starting point；

B: setting trim mode

B1: common trim mode, the height value after setting turf-mown, and height value is transmitted to master control borad (7)；

B2: the design of pattern is generated 3-D graphic by mapping software, then passes through Slice Software by pattern modelling trim mode 3-D graphic is switched into G code, G code is imported into master control borad (7) of the present invention；

C: the course of work

C1: the present invention is placed on the starting point set, is sensed by infrared distance measurement by the course of work under common trim mode Device (14) detects lawn actual height, and then master control borad (7) control elevating mechanism (6) adjusts the height of pruning mechanism (4) and opens Begin to trim work；

C2: the present invention is placed on the starting point set, is passed by infrared distance measurement by the course of work of pattern modelling trim mode Sensor (14) detects lawn actual height, and then master control borad (7) control elevating mechanism (6) adjusts the height of pruning mechanism (4) simultaneously Start to trim work, during traveling, according to the height data that G code is set, encounters the height to cut the grass on a lawn and change When, master control borad (7) control walking mechanism (2) stops working, and the height to elevating mechanism (6) adjustment pruning mechanism (4) extremely provides Behind position, starting walking mechanism (2) carries out trimming operation again.