CN114467469A - Lawn mower, lawn care method and storage medium - Google Patents

Abstract

The invention discloses a mower, a lawn care method and a storage medium, wherein the method comprises the following steps: acquiring the current task type, wherein the type comprises a liquid spraying task and a mowing task; if the task is a mowing task, starting the mower main body to mow the lawn; if the task is a liquid spraying task, acquiring the distance between the liquid spraying device and the surface of the lawn as a first distance; judging whether the first distance is equal to a preset distance or not; if the distance between the liquid spraying device and the lawn surface is different, the height of the liquid spraying device is adjusted by the height adjusting part, the step of obtaining the distance between the liquid spraying device and the lawn surface is returned as the first distance until the first distance is equal to the preset distance, and then the liquid is sprayed on the lawn surface by the spraying device.

Description

A lawn mower, lawn care method and storage medium

technical field

The invention relates to the field of garden management, in particular to a lawn mower and a lawn care method.

Background technique

Lawn refers to the grass that is artificially planted or maintained and managed, and plays the role of greening and beautifying. It is one of the symbols of the civilization level of a country and a city. Refers to the ground cover covered with grasses and other slender plants and filled with its roots and stolons on the soil surface. It is suitable for beautifying the environment, garden landscape, purifying the air, maintaining water and soil, providing outdoor activities and sports venues. Therefore, it is necessary to regularly care for the lawn to ensure the health of the lawn, so as to bring people a better life experience.

The daily care of the lawn includes lawn fertilization, lawn insecticide and sterilization and watering, etc. A lush lawn needs fertile soil, and regular fertilization of the lawn soil will help keep the soil fertile; Due to climate change, some underground insect pests concentrated in the soil layer, aboveground insect pests concentrated on the surface of grass blades, and turf fungus are naturally generated. Therefore, people need to regularly carry out insecticide and sterilization treatment on the soil and blade surfaces of the lawn, which will help. For the lush growth and greening of the grass, proper watering is very important. The lawn must be watered with a larger amount of water in the early spring and late autumn.

In the existing method, the lawn mower is mainly used for mowing, and watering, supplementing liquid fertilizer, and spraying pesticides and fungicides are carried out manually. In the process of lawn care, there are at least the following problems:

1. At present, mowing is mainly carried out by lawn mowers. Watering, supplementing liquid fertilizers and spraying pesticides and fungicides require manual treatment, which makes lawn care more complicated and less efficient.

2. During the spraying process of these liquid fertilizers, liquid pesticides and liquid fungicides, their molecules will diffuse into the air around the applicator, so the applicator needs to wear masks, gloves and goggles during operation. In order to prevent human contact such as mouth and nose inhalation, skin contact, mucous membrane contact and eye contact, but the chemical molecules of these solutions will more or less come into contact with the human body of the applicator. long-term hazard;

3. Artificial watering, supplementing liquid fertilizers, spraying pesticides and fungicides, etc., it is difficult to precisely control the position where the liquid reaches, and because the position of these liquids to the roots of low-lying plants is different, it has a greater impact on the absorption of plants. Makes lawn care less effective.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a lawn mower and a lawn care method to improve the efficiency of lawn care.

In order to solve the above technical problems, an embodiment of the present application provides a lawn mower, including a lawn mower body and a base connected to the lawn mower body, the base is fixedly connected with a liquid holding container, and the liquid holding container is configured There is at least one liquid spraying device, and the liquid outlet of the liquid spraying device is connected with a distance measuring part and a height adjusting part.

Optionally, an auxiliary wheel is connected under the base.

Optionally, a satellite positioning signal receiving device is connected to the base or the liquid holding container.

Optionally, the base or the liquid holding container is connected with a path calculation part and a power drive part, the path calculation part is respectively connected to the drive part and the satellite positioning signal receiving device in communication connection, and the power drive part is The component is placed inside the auxiliary wheel, and the stator of the power driving component is fixedly connected to the inner ring of the tire, or the power driving component is placed outside the auxiliary wheel, and the power driving component is connected with the auxiliary wheel. The wheels are connected by shafts.

Optionally, the base or the liquid holding container is connected to a timing task device and a self-starting device.

Optionally, the timing task device includes a task setting component, a timing setting component and a task triggering component, the task setting component is used for setting a basic task, the timing setting component is used for setting the trigger time of the basic task, the task The triggering component is configured to start the self-starting device and execute the basic task when the current time reaches the triggering time set in the timing setting component.

Optionally, the ranging component is a laser ranging component or an ultrasonic ranging component.

Optionally, a camera device is configured on the lawn mower base or the liquid holding container.

Optionally, a liquid injection port is reserved in the liquid holding container.

Optionally, the liquid holding container is connected with a liquid level monitoring component, and the liquid level monitoring component is used for monitoring the liquid level of the liquid in the liquid holding container.

Optionally, the lawnmower further includes an automatic liquid filling component, which is connected in communication with the liquid level monitoring component, and is used for monitoring that the liquid level monitoring component detects that the liquid level is lower than a preset liquid level. When in position, liquid filling is performed on the liquid holding container.

In order to solve the above technical problems, the embodiments of the present application also provide a lawn care method, including:

Get the current task type, which includes spraying liquid tasks and mowing tasks;

If the task is a liquid spraying task, obtain the distance between the liquid spraying device and the lawn surface as the first distance;

judging whether the first distance is equal to the preset distance;

If it is not the same, adjust the height of the liquid spraying device using a height adjustment component, and return to the acquisition of the distance between the liquid spraying device and the lawn surface as the first distance step, until the first distance and the lawn surface are obtained. The preset distance is equal;

Use the spraying device to spray liquid on the lawn surface;

If the task is a lawn mowing task, the main body of the lawn mower is enabled to mow the lawn.

Optionally, the type of the sprayed liquid includes liquid fertilizer, liquid medicine and water, and the preset distance is determined based on the type of the sprayed liquid.

Optionally, before the acquiring the current task type, the method further includes:

Determine the lawn range based on the method of real-time carrier dynamic differential positioning;

According to the lawn range and the working radius of the lawn mower, dynamic path planning is performed to obtain the working path of the lawn mower.

Optionally, after the spraying device is used to spray the liquid on the lawn surface, or, if the task is a lawn mowing task, the main body of the lawn mower is activated to mow the lawn. Thereafter, the lawn care method further includes:

The lawnmower is controlled to travel based on the working path, and while traveling, perform the mowing process or perform the spraying of liquid.

Optionally, the lawn care method further comprises:

If the task is a liquid spraying task, when the task is executed, the liquid level of the liquid holding container is monitored according to a preset method;

When the liquid level is lower than the preset liquid level, record the current position as a recording point, and drive the lawn mower to a designated replenishing point for liquid replenishment;

After the liquid is replenished, return to the recording point and continue to perform the liquid spraying task.

Optionally, before acquiring the current task type, the lawn care method further includes:

Receive the input task parameters, write the task parameters into the task list, the task parameters include task type and task time, and set the task status corresponding to the task parameters to pending execution, wherein the task Status includes executed, executing and pending;

Taking each task state in the task list as the task time to be executed as the trigger time;

The current time is compared with the trigger time regularly, and if the current time reaches the trigger time, the task parameter corresponding to the trigger time is taken as the current task, and the lawn mower is driven to execute the current task.

In order to solve the above technical problem, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed, the steps of the above lawn care method are implemented.

The lawn mower, lawn care method and storage medium provided by the embodiments of the present invention obtain the current task type; if the task is a lawn mowing task, the main body of the lawn mower is activated to mow the lawn; if the task is a liquid spraying task, obtain The distance between the liquid spraying device and the lawn surface is taken as the first distance; it is judged whether the first distance is equal to the preset distance; The distance of the lawn surface, as the first distance step, until the first distance is equal to the preset distance, and then use the spraying device to spray liquid on the lawn surface, realizing the functions of both mowing and watering, which is beneficial to improve the efficiency of lawn care, At the same time, the height of the liquid spraying device can be adjusted according to actual needs to achieve precise spraying, so that the sprayed liquid can be better absorbed by plants and improve the efficiency of lawn care.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the drawings that are used in the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. , for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

1 is a schematic structural diagram of an embodiment of the lawn mower of the present application;

Fig. 2 is the partial component schematic diagram of the present application;

FIG. 3 is an exemplary structural diagram of the brushing device of the lawn mower of the present application;

Figure 4 is a flow diagram of one embodiment of the lawn care method of the present application;

FIG. 5 is an exemplary system architecture diagram to which the lawn care method of the present application may be applied.

Description of reference numbers:

01, the lawn mower body; 02, the base; 03, the liquid holding container; 04, the liquid spraying device; 041, the liquid outlet of the liquid spraying device;

Detailed ways

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of this application; the terms used herein in the specification of the application are for the purpose of describing specific embodiments only It is not intended to limit the application; the terms "comprising" and "having" and any variations thereof in the description and claims of this application and the above description of the drawings are intended to cover non-exclusive inclusion. The terms "first", "second" and the like in the description and claims of the present application or the above drawings are used to distinguish different objects, rather than to describe a specific order.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Please refer to FIG. 1. FIG. 1 is an exemplary diagram of the lawn mower in this embodiment, and the details are as follows:

A lawn mower, comprising a lawn mower body 01 and a base 02 connected to the lawn mower body, the base is fixedly connected with a liquid holding container 03, and the liquid holding container is configured with at least one liquid spraying device 04. The liquid outlet 041 is connected with the distance measuring part 05 and the height adjusting part 06 .

Specifically, in this embodiment, the lawnmower body is connected to the base, the base is used to support the liquid holding container, and at least one liquid spraying device is configured on the liquid holding container, so that the lawnmower can be used for liquid at the same time Spray to improve lawn care efficiency.

The types of liquids include, but are not limited to, water, liquid fertilizers, lawn insecticides, and lawn fungicides, and the specific types of liquids are selected according to actual application needs, which are not specifically limited here.

Further, a distance measuring component and a height adjusting component are connected to the liquid outlet of the liquid spraying device.

Wherein, the ranging component includes, but is not limited to, a laser ranging component or an ultrasonic ranging component, such as a laser ranging sensor.

Wherein, the height adjustment component may be a rotating column or a threaded column structural component provided at the liquid outlet of the liquid spraying device. When the rotating column and the threaded column are rotated, the height can be raised and lowered, or, a liquid spraying device is provided with a liquid outlet. Vertical telescopic interface as height adjustment part.

It should be noted that there are two types of liquid and solid fertilizers/insecticides on the market. The disadvantage of solid materials is that they are too concentrated. After spraying, they need to be watered at the same time to dissolve them and allow the soil to absorb them. If the amount of water is too small, the concentration of the solid material is too high to cause grass burning. In this embodiment, liquid fertilizer/insecticide/bactericide is used. First, mix it with water according to the proportion of the material and stir evenly. The best position to spray, adjust the spray height to achieve maximum absorption.

Optionally, an auxiliary wheel is connected under the base.

Preferably, a liquid atomizing device is installed inside the liquid holding container, so that the liquid can be atomized and then sprayed from the liquid outlet (nozzle) of the liquid spraying device, and the atomization can make the molecules of the liquid diffuse wider and more evenly . The height of the liquid outlet (spout) of the liquid spraying device can be adjusted from the ground. As a preferred method, in this embodiment, the height adjustable distance is set to range from 20 mm to 100 mm. The closer the height is to 20 mm, the closer the nozzle is to the soil of the lawn. , can directly spray the soil, let the liquid go deeper into the soil, the closer the height is to 100 mm, the closer the nozzle is to the height of the blade of grass, and the blade of grass can be sprayed directly. Therefore, the liquid outlet of the adjustable liquid spraying device (spout ) not only meets the lawn care needs of spraying directly on the soil, but also on the surface of grass blades.

It should be understood that in a real scene, the lawn is affected by wind blowing, etc., and there will be a certain clutter. As a preferred way, in this embodiment, a grass brushing device is configured at the front end of the liquid spraying device, and the grass brushing device is connected to the liquid spraying device. Or, connected with the liquid container or connected with the base, as shown in Figure 3, which is a schematic diagram of a grass brushing device, which is a planar uniform serrated grass brushing board (the left side of Figure 3) Or a cylindrical combing column (the right side of Figure 3), used to comb the lawn before spraying liquid, the grass after combing is more breathable, and the effect is better when spraying pesticides, watering / pesticides and fertilizers 100% Absorbed by the land, compared with the existing system, the advantage is that it saves water, is more environmentally friendly and reduces air pollution.

In this embodiment, an auxiliary wheel is arranged under the base to which the main body of the lawn mower is connected, and the auxiliary wheel can drive the base and the main body of the lawn mower to move. The weight of the lawn mower is relatively heavy, and the traditional hand-held lawn mower will make the corresponding staff more difficult. In this embodiment, an auxiliary wheel is arranged under the base, and the auxiliary wheel is used to drive the lawn mower to move, which is conducive to improving the cutting efficiency. The speed at which the lawnmower moves during mowing or spraying, thereby reducing the overall time spent mowing or spraying, which is beneficial for improving lawn care efficiency.

In a specific optional embodiment, the base or the liquid holding container of the lawn mower is connected with a satellite positioning signal receiving device.

In another specific optional embodiment, as shown in FIG. 2 , the base or the liquid holding container is connected with a path calculation part and a power drive part, and the path calculation part is respectively connected with the drive part and the satellite positioning signal receiving device in communication, and the power drive The component is placed inside the auxiliary wheel, and the stator of the power drive component is fixedly connected to the inner ring of the tire, or the power drive component is placed outside the auxiliary wheel, and the power drive component is connected with the auxiliary wheel through a shaft.

Among them, the satellite positioning signal receiving device is used for receiving satellite signals, such as a GPS receiver device and the like.

Wherein, the path calculation component is used to determine the lawn edge based on the received satellite signal, and calculate the driving route of the lawn mower based on the determined lawn edge.

Wherein, the power drive component is used to drive the auxiliary wheel to travel according to the travel route determined by the path calculation component to realize the task of automatically spraying liquid or mowing grass. In this embodiment, the power drive component specifically includes but is not limited to: a drive motor , power battery, power controller system, etc.

It should be noted that when the power driving component is an in-wheel motor, it is generally placed inside the auxiliary wheel, and is fixedly connected to the inner ring of the auxiliary wheel through the stator of the in-wheel motor.

In a specific optional embodiment, the base or the liquid holding container is connected with the timing task device and the self-starting device.

In another specific optional embodiment, the timing task device includes a task setting component, a timing setting component and a task triggering component, the task setting component is used for setting basic tasks, the timing setting component is used for setting the trigger time of the basic task, and the task triggering component It is used to start the self-starting device and perform basic tasks when the current time reaches the trigger time set in the timing setting component.

Wherein, the timed task device includes a task setting component, a timed setting component and a task triggering component. Optionally, the task setting component includes an input device and a display screen for configuring data for the timed task, or the task setting component includes a data receiving component. A device that receives task configuration data set by a remote application.

Among them, the self-starting device refers to starting the working state of the lawn mower and executing the preset basic task when it is triggered.

Optionally, a camera device is configured on the lawn mower base or the liquid holding container.

Specifically, in this embodiment, the lawn mower has a satellite positioning signal receiving device, a path calculation component, a power drive component and an auxiliary wheel, which can realize the automatic cruise function. At the same time, the lawn mower in this embodiment also has a timing task device , a timed task can be set. Based on this, as a preferred way, in this embodiment, at least one camera device is configured on the base or the liquid holding container of the lawn mower, and the camera device is used to perform a timed cruise task. Shoot suspicious targets and give early warnings. For example, a timed task device is used to set up a night cruise task. When performing a night cruise task, the camera equipment is used to capture images to a remote server, and the remote server is used to analyze the images. If suspicious targets are found, an early warning reminder will be given. The grass machine is equipped with an image intelligent processing module, which analyzes the captured photos in real time, and gives an early warning when the analysis result is a risk.

Optionally, a liquid injection port is reserved in the liquid holding container.

Optionally, the liquid holding container is connected with a liquid level monitoring component, and the liquid level monitoring component is used for monitoring the liquid level in the liquid holding container.

Optionally, the lawnmower further includes an automatic liquid filling part, which is connected in communication with the liquid level monitoring part, and is used for filling the liquid holding container when the liquid level monitoring part monitors that the liquid level is lower than the preset liquid level. Perform liquid filling.

Specifically, when the lawnmower performs the task of spraying liquid, the liquid level in the liquid holding container is monitored by the liquid level monitoring component. When the monitored liquid level is lower than the preset liquid level, in order to ensure the normal execution of the liquid spraying task , Using the liquid automatic filling part, through the liquid injection port reserved in the liquid holding container, the liquid filling process is performed on the liquid holding container, so as to avoid task interruption due to insufficient liquid, which is conducive to improving the efficiency of liquid spraying.

As shown in FIG. 4, FIG. 4 shows the realization process of the lawn care method provided by the present application, which is described in detail as follows:

S201: Obtain the current task type, which includes a liquid spraying task and a lawn mowing task.

Specifically, lawn care involves multiple tasks, including but not limited to spraying liquid tasks and mowing tasks, wherein the spraying liquid tasks can be further subdivided according to the type of liquid and actual needs. Including but not limited to liquid fertilizer, liquid medicine and water, etc.

It should be noted that the current task type can be set manually in real time, or generated by remote control and transmission of corresponding task data, or generated based on the triggering of timed tasks, which can be set based on actual needs. There is no specific limitation.

Further, before acquiring the current task type, the lawn care method further includes:

Receive the input task parameters, and write the task parameters into the task list. The task parameters include the task type and task time, and set the task status corresponding to the task parameters to pending execution, where the task status includes executed, executing and to be executed;

Take the task time when each task status in the task list is to be executed as the trigger time;

The current time is compared with the trigger time regularly. If the current time reaches the trigger time, the task parameters corresponding to the trigger time will be used as the current task, and the lawn mower will be driven to execute the current task.

Specifically, through the timing task device on the lawnmower, the input task parameters are received, and then the task parameters are analyzed, specific tasks are generated and added to the task list, and the corresponding task status is added. The task status is the task time to be executed as the trigger time. The current time is compared with the trigger time by timing. When the current time reaches the trigger time, the task parameters corresponding to the trigger time are taken as the current task, and the lawn mower is driven to execute the current task. .

It should be noted that the input task parameters can be specifically set by manually operating the timed task device on the lawnmower, or can be set through a remote application program and then send the configuration data to the timed task device of the lawnmower.

It should be understood that the task status is the executed task, that is, the task that has been completed, the task status is the task in execution, that is, the task currently being executed by the lawn mower, and the task status is the task to be executed, that is, the current lawn mower is waiting to be executed. The execution time of the to-be-executed task is taken as the trigger time, so as to realize the automatic trigger execution of the to-be-executed task without manual intervention and improve the task execution efficiency. It is easy to understand that for watering tasks and the like, the frequency of execution is relatively high, and the method provided by this embodiment is beneficial to improve the efficiency of lawn care.

S202: If the task is a liquid spraying task, obtain the distance between the liquid spraying device and the lawn surface as the first distance.

Specifically, when the acquired task type is a liquid spraying task, the distance measuring component is used to acquire the distance between the liquid spraying device and the lawn surface, and the acquired distance is used as the first distance.

It should be understood that the lawns in different areas may have slopes. Therefore, when performing the task of spraying liquid, it is necessary to measure the distance between the liquid spraying device and the lawn surface in real time.

S203: Determine whether the first distance is equal to the preset distance.

Specifically, the types of sprayed liquids include, but are not limited to, liquid fertilizers, liquid medicines and water. For different sprayed liquids, the location and amount absorbed by plants are different. Therefore, in this embodiment, the preset distance can be specifically based on the amount of sprayed liquids. The type is determined, which is not limited here. For example, when the spraying liquid is water, the preset distance is half the height from the ground to the lawn surface, and the lawn height is determined based on the difference between the distance from the liquid spraying device to the ground and the first distance.

S204: If not, use the height adjustment component to adjust the height of the liquid spraying device, and return to the step of obtaining the distance between the liquid spraying device and the lawn surface as the first distance, until the first distance is equal to the preset distance.

Specifically, when the first distance is the same as the preset distance, spraying is performed directly, and when the first distance is not equal to the preset distance, the height of the liquid spraying device is adjusted by the height adjustment component, and the first distance is re-determined, Until the obtained first distance is equal to the preset distance, at this time, the optimum spraying height is reached and the quality of lawn care is improved.

S205: Use a spraying device to spray liquid on the lawn surface.

Specifically, when the first distance is equal to the preset distance, that is, when the distance between the liquid spraying device and the lawn reaches the optimal spraying distance, the spraying device is used to spray the liquid on the lawn surface. Optimum absorption of liquids.

Further, using the spraying device to spray liquid on the lawn surface includes:

If the task is a liquid spraying task, when the task is executed, the liquid level of the liquid holding container is monitored according to a preset method;

When the liquid level is lower than the preset liquid level, record the current position as a recording point, and drive the lawn mower to the designated replenishment point for liquid replenishment;

After the liquid is replenished, return to the recording point and continue with the spraying task.

In this embodiment, each liquid is provided with a fixed replenishment point. When the task is to spray liquid, a preset method is used to monitor the liquid level of the liquid container in real time, and when the liquid level is lower than the preset liquid level , record the current position of the lawnmower as a recording point, and drive the lawnmower to the liquid replenishment point corresponding to the liquid spraying task to replenish the liquid, and after the replenishment is completed, return to the recording point to continue the liquid spraying task.

Preferably, in this embodiment, both the automatic liquid filling part of the lawn mower and the designated replenishing point have a magnetic socketable structure, and the replenishing point is in sealing communication with the automatic liquid filling part through the magnetic socketable structure, and after the connection is completed, Refill liquid containers with liquid automatic filling components.

As another preferred way, in this embodiment, the designated replenishment point has a liquid injection pipe, and after the lawnmower travels to the self-defined replenishment point, the liquid injection pipe is connected to the injection port of the lawnmower through the liquid injection pipe. Then perform liquid replenishment.

Further, using the spraying device to spray the liquid on the lawn surface also includes:

The current spray rate is determined based on the forward speed of the mower and the amount of spray required per unit area of lawn.

S206: If the task is a lawn mowing task, enable the main body of the lawn mower to mow the lawn.

In this embodiment, the current task type is obtained, and the types include liquid spraying task and lawn mowing task; if the task is a lawn mowing task, the main body of the lawnmower is activated to mow the lawn; if the task is a liquid spraying task, the liquid spraying task is obtained The distance between the device and the lawn surface is taken as the first distance; it is judged whether the first distance is equal to the preset distance; if it is not the same, the height of the liquid spraying device is adjusted by the height adjustment component, and the return to obtain the liquid spraying device and the lawn surface As the first distance step, until the first distance is equal to the preset distance, the spraying device is used to spray liquid on the lawn surface, which realizes the functions of mowing and watering, which is beneficial to improve the efficiency of lawn care. According to actual needs, the height of the liquid spraying device can be adjusted to achieve precise spraying, so that the sprayed liquid can be better absorbed by plants and improve the efficiency of lawn care.

In a specific implementation manner, before step S201, that is, before acquiring the current task type, the method further includes:

Determine the lawn range based on the real-time carrier dynamic differential positioning method;

According to the lawn range and the working radius of the lawn mower, dynamic path planning is performed to obtain the working path of the lawn mower.

Further, as shown in FIG. 5, FIG. 5 is an application scenario in which the lawn range is determined based on the real-time carrier dynamic differential positioning method of this embodiment. Based on the real-time carrier dynamic differential positioning method, the specific process of determining the lawn range is: A reference station that receives satellite positioning signals and an RTK (Real Time Kinematic, real-time carrier dynamic differential positioning) device are installed nearby. The RTK device is responsible for accurately processing the satellite positioning coordinates received by the reference station to make the coordinates reach centimeters. The principle of RTK technology is that one receiver is placed on the base station, and another or several receivers are placed on the carrier (called the rover), and the base station and the rover receive the same Time, the signal transmitted by the same GPS satellite, the base station transmits the measured carrier phase observations, pseudorange observations, base station coordinates, etc. to the moving rover in real time, and the rover receives the transmission from the base station by radio. The information of the carrier phase is differentially processed in real time, and the baseline vectors (ΔX, ΔY, ΔZ) of the base station and the rover are obtained; the baseline vector is added to the coordinates of the base station to obtain the WGS84 coordinates of each point of the rover, and the coordinates are converted by the coordinate conversion parameters. Find the plane coordinates x, y and normal height h for each point of the rover. Then, the virtual boundary line (also called electronic fence) of the lawn is generated by the characteristics of the RTK device, so as to determine the scope of the lawn.

Among them, RTK (Real-time kinematic, real-time dynamic) carrier phase differential technology is a differential method for processing the carrier phase observations of two measuring stations in real time. The collected carrier phase is sent to the user receiver, and the difference is calculated. This is a new and commonly used satellite positioning measurement method. The previous static, fast static and dynamic measurements all need to be solved afterwards to obtain centimeter-level accuracy, while RTK is a measurement method that can obtain centimeter-level positioning accuracy in real time in the field. , it adopts the dynamic real-time differential method of carrier phase, which is a major milestone in GPS application. Its appearance brings new measurement principles and methods for engineering stakeout, topographic mapping, and various control measurements, which greatly improves work efficiency.

Among them, path planning is one of the main research contents of motion planning. Motion planning consists of path planning and trajectory planning. The sequence of points or curves connecting the starting position and the ending position is called a path, and the strategy that constitutes a path is called path planning.

Path planning has a wide range of applications in many fields. Applications in the field of high-tech include: autonomous collision-free action of robots; obstacle avoidance and penetration flight of unmanned aerial vehicles; cruise missiles evading radar searches, anti-rebound attacks, and completing breakthrough and explosion-proof missions. Applications in the field of daily life include: GPS navigation; road planning based on GIS system; urban road network planning and navigation. The applications in the field of decision management include: vehicle problem (VRP) in logistics management and similar resource management resource allocation problems. Routing problems in the field of communication technology, etc. The path planning algorithm of the scene includes but is not limited to: ant colony algorithm, neural network algorithm, particle swarm algorithm, genetic algorithm, etc.

As a preferred way, in this embodiment, at least one camera device configured on the base of the lawn mower or the liquid holding container is used for photographing suspicious targets and giving early warning when performing a scheduled cruise task. For example, a timed mission device is used to set a night cruise mission. When performing a night cruise mission, the camera equipment is used to capture images to a remote server, and the remote server is used to analyze the images. If a suspicious target is found, an early warning will be given. The grass machine is equipped with an image intelligent processing module, which analyzes the captured photos in real time, and gives an early warning when the analysis result is a risk.

In this embodiment, the width of each row of paths is determined according to the working radius of the lawn mower, and then dynamic path planning is performed according to the lawn range to obtain the working path of the lawn mower, so as to ensure that all lawns are sprayed, and at the same time, repeated paths are avoided. , resulting in a reduction in efficiency and avoiding overspraying (non-uniform spraying), improving the quality and efficiency of lawn care.

It is easy to understand that after generating the working path, the method also includes:

The lawnmower is controlled to travel based on the working path and to perform mowing treatments or perform liquid spraying during travel.

In this embodiment, the lawn range is determined by means of real-time carrier dynamic differential positioning, and then dynamic path planning is performed according to the lawn range and the working radius of the lawn mower to obtain the working path of the lawn mower, thereby improving the accuracy of the working path. The lawn mower can work according to the generated working path, realize intelligent lawn care, improve the efficiency of lawn care, and at the same time liberate manpower.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

The present application also provides another implementation manner, which is to provide a computer-readable storage medium, where an interface display program is stored in the computer-readable storage medium, and the interface display program can be executed by at least one processor, so that all The at least one processor performs the steps of the lawn care method as described above.

From the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform, and of course hardware can also be used, but in many cases the former is better implementation. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence or in a part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, CD-ROM), including several instructions for causing the lawnmower to perform the methods described in the various embodiments of the present application.

Obviously, the above-described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The accompanying drawings show the preferred embodiments of the present application, but do not limit the scope of the patent of the present application. This application may be embodied in many different forms, rather these embodiments are provided so that a thorough and complete understanding of the disclosure of this application is provided. Although the present application 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 perform equivalent replacements for some of the technical features. . Any equivalent structures made by using the contents of the description and drawings of this application, which are directly or indirectly used in other related technical fields, are all within the scope of protection of the patent of this application.

Claims (18)

1. The utility model provides a lawn mower, includes the lawn mower body and connects in the base of lawn mower body, its characterized in that, base fixedly connected with liquid holds the container, liquid holds the container and disposes at least one liquid sprinkler, liquid sprinkler's liquid outlet is connected with range unit and height adjusting part.

2. The mower of claim 1, wherein an auxiliary wheel is attached below said base.

3. The lawnmower of claim 2, wherein a satellite positioning signal receiving device is connected to the base or the fluid holding vessel.

4. A lawnmower as claimed in claim 3, wherein said base or said fluid container has a path calculating means and a power driving means connected thereto, said path calculating means being in communication with said driving means and said satellite positioning signal receiving device, respectively, said power driving means being disposed inside said auxiliary wheel, the stator of said power driving means being fixedly connected to the inner ring of said tyre, or said power driving means being disposed outside said auxiliary wheel, said power driving means being connected to said auxiliary wheel by a shaft.

5. A lawnmower as claimed in claim 4, wherein said base or said fluid containing vessel is connected to timed task means and self-actuating means.

6. The lawnmower of claim 5, wherein the timed task device comprises a task setting component for setting a basic task, a timing setting component for setting a trigger time of the basic task, and a task triggering component for starting the self-starting device and executing the basic task when a current time reaches the trigger time set in the timing setting component.

7. A lawnmower as claimed in any one of claims 1 to 6 wherein said distance measuring means is a laser distance measuring means or an ultrasonic distance measuring means.

8. A lawnmower as claimed in any one of claims 1 to 6, wherein the mower base or fluid holding container is provided with a camera device.

9. The mower according to any one of claims 1 to 6, wherein a pouring port is reserved in said liquid container.

10. The lawnmower of claim 9, wherein a fluid level monitoring component is coupled to the fluid container for monitoring a fluid level within the fluid container.

11. The lawnmower of claim 8, further comprising an automatic fluid fill component in communication with the fluid level monitoring component for filling the fluid container with fluid when the fluid level monitoring component monitors that the fluid level is below a predetermined level.

12. A method of lawn care, comprising:

acquiring current task types, wherein the types comprise a liquid spraying task and a mowing task;

if the task is a liquid spraying task, acquiring the distance between the liquid spraying device and the surface of the lawn as a first distance;

judging whether the first distance is equal to a preset distance or not;

if not, adjusting the height of the liquid spraying device by adopting a height adjusting part, and returning to the step of acquiring the distance between the liquid spraying device and the surface of the lawn to be used as a first distance until the first distance is equal to the preset distance;

spraying liquid on the surface of the lawn by using the spraying device;

and if the task is a mowing task, starting the mower main body to mow the lawn.

13. An lawn-care method as defined in claim 12, wherein the type of spray liquid includes liquid fertilizer, liquid medicine, and water, and the predetermined distance is determined based on the type of spray liquid.

14. An lawn-care method as claimed in claim 12 or 13, wherein prior to said obtaining a current task type, the method further comprises:

determining the lawn range based on a real-time carrier dynamic differential positioning mode;

and performing dynamic path planning according to the lawn range and the working radius of the mower to obtain the working path of the mower.

15. An lawn-care method as claimed in claim 14, wherein after said spraying of said liquid with said spraying device on said lawn surface or after said activating of said mower body to mow said lawn if said task is a mowing task, said lawn-care method further comprises:

controlling the mower to travel based on the working path and to perform the mowing process or to perform the spraying liquid during the travel.

16. A method of lawn care as claimed in claim 15, further comprising:

if the task is a liquid spraying task, monitoring the liquid level of the liquid containing container according to a preset mode when the task is executed;

when the liquid level is lower than a preset liquid level, recording the current position as a recording point, and driving the mower to run to a specified supplement point for liquid supplement;

and after the liquid is supplemented, returning to the recording point, and continuing to execute the liquid spraying task.

17. An lawn-care method as claimed in claim 12 or 13, wherein prior to said obtaining the current task type, the lawn-care method further comprises:

receiving input task parameters, writing the task parameters into a task list, setting task states corresponding to the task parameters to be executed, wherein the task states comprise executed, executing and to-be-executed;

taking the task time with each task state in the task list as to-be-executed as trigger time;

and comparing the current time with the trigger time at regular time, and if the current time reaches the trigger time, taking the task parameter corresponding to the trigger time as a current task and driving the mower to execute the current task.

18. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method of lawn care as claimed in any one of claims 12 to 17.

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