CN109566065A - Intelligent lawn care machine device people system and its sprinkling method - Google Patents

Intelligent lawn care machine device people system and its sprinkling method Download PDF

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Publication number
CN109566065A
CN109566065A CN201811115227.5A CN201811115227A CN109566065A CN 109566065 A CN109566065 A CN 109566065A CN 201811115227 A CN201811115227 A CN 201811115227A CN 109566065 A CN109566065 A CN 109566065A
Authority
CN
China
Prior art keywords
watering
module
machine device
device people
lawn care
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811115227.5A
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Chinese (zh)
Inventor
查亚红
赵凤丽
张铭菊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
Original Assignee
Positec Power Tools Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Publication of CN109566065A publication Critical patent/CN109566065A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D42/00—Mowers convertible to apparatus for purposes other than mowing; Mowers capable of performing operations other than mowing
    • A01D42/06—Sweeping or cleaning lawns or other surfaces
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/09—Watering arrangements making use of movable installations on wheels or the like
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D42/00—Mowers convertible to apparatus for purposes other than mowing; Mowers capable of performing operations other than mowing
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D43/00—Mowers combined with apparatus performing additional operations while mowing
    • A01D43/14—Mowers combined with apparatus performing additional operations while mowing with dispensing apparatus, e.g. for fertilisers, herbicides or preservatives
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G20/00—Cultivation of turf, lawn or the like; Apparatus or methods therefor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors

Abstract

A kind of Intelligent lawn care machine device people's system, including base station and Intelligent lawn care machine device people, Intelligent lawn care machine device people include: shell, mobile module, for driving the shell mobile；Cutting module, for working in scheduled working region under mowing mode；Control module, for controlling cutting module and watering module work；Watering module, for watering in the case where pouring aqueous mode to lawn；Base station is arranged independently of Intelligent lawn care machine device people, and base station is connect with watering module, and Intelligent lawn care machine device people is docked in the case where pouring aqueous mode with base station, and triggers water source needed for base station provides current watering to watering module.Intelligent lawn care machine device people does not need to walk when watering module of the invention is watered, and watering module is watered according to watering map, and base station provides sufficient water source, does not need midway and adds water, time saving and energy saving.

Description

Intelligent lawn care machine device people system and its sprinkling method
Technical field
The present invention relates to a kind of Intelligent lawn care machine device people's system, specifically, being related to a kind of Intelligent watering that is able to achieve Intelligent lawn care machine device people system and its sprinkling method.
The invention further relates to a kind of Intelligent lawn care machine device people.
Background technique
With the development of science and technology, intelligent well known from remote operation controller, due to being filled from remote control Setting pre-set program to execute pre-set inter-related task automatically, without artificial operation and intervention, therefore in work It is very widely used in industry application and family product.The robot that industrial application such as performs various functions, family product On application such as grass trimmer, dust catcher, the time that people are dramatically saved from remote operation controller of these intelligence, to work Industry production and home life all bring great convenience.
In recent years, with the continuous improvement of people's living conditions, from the Intelligent lawn care machine of one of remote operation controller Device people gradually also enters family, and Intelligent lawn care machine device people's brings great advantage to the user, and allows user can To free from heavy gardening nursing labour.But Intelligent lawn care machine device people is not omnipotent.
The common usual function of Intelligent lawn care machine device people is more single currently on the market, only has intelligent mowing mostly This basic function, and automatization level is lower, however, the garden of general family also needs other than needing periodically mow It positioning and waters, such as during the broiling summer, the moisture meeting rapid evaporation in lawn causes soil to dry out, vegetation water shortage, General Intelligent lawn care machine device people to it is helpless.
More universal processing mode is manually to carry out water spray operation, this mode in the prior art, and user needs to spend Time and manpower are sprinkled water, and are suffered untold misery, are increased workload.In the prior art also using the arrangement complexity on lawn Pipe network realizes watering by the water spray tube head of pipe network, and this mode, there are many component being related to, and user is needed additionally to carry out pipe network Laying, increase use cost.
In order to solve this problem, occurs a kind of Intelligent lawn care machine device of self-contained water tank in the prior art People when Intelligent lawn care machine device people walks in garden, can carry out water spray operation to lawn.However it this itself takes Intelligent lawn care machine device people with water tank, so storage capacity is limited, leads to Intelligent lawn care since size is not too large Robot work a period of time water is just finished, and is needed to come back to water point and is added water, then returns water area to be poured and poured Water, in this way, watering efficiency is very low, and for Intelligent lawn care machine device people, due to unartificial operation, so needing Intelligent lawn care machine device people, which can accurately identify, has poured water area and water area to be poured, and which increase Intelligent lawn care machines The configuration requirement of device people.Moreover, the mode sprayed water in walking, is easy to cause Intelligent lawn care machine device people in damp grass Ground walking is easy to cause the careless phenomenon of card.
It is, therefore, desirable to provide a kind of new Intelligent lawn care machine device people, Intelligent lawn care machine device people system and its pouring Water method is to solve the above technical problems.
Summary of the invention
To overcome the shortcomings of existing technologies, the problem to be solved by the invention is to provide it is a kind of it is safe and reliable, low in cost, Intelligent lawn care machine device people, Intelligent lawn care system and its sprinkling method for being integrated with pouring and mowing function, allow user It can free from lawn-care labor service, and it is high-efficient to water, not need the complicated pipe network of arrangement, it is few using part.
The present invention is in order to solve the above technical problems, a kind of technical solution provided are as follows:
A kind of Intelligent lawn care machine device people's system comprising Intelligent lawn care machine device people, the Intelligent lawn care Robot includes:
Shell；
Mobile module, for driving the shell to move in scheduled working region；
Operational module, for working in scheduled working region in the operational mode；
It is characterized in that, Intelligent lawn care machine device people's system further include:
Watering module, for watering in the case where pouring aqueous mode to lawn；
Base station, the base station are arranged and have water system independently of Intelligent lawn care machine device people, in the case where pouring aqueous mode, The Intelligent lawn care machine device people is docked with base station, water source needed for water system provides current watering to watering module；
Control module, for controlling mobile module, cutting module and watering module work.
Further, it is described watering module include to water nozzle, receive water source enter water portion and connection nozzle With the connecting line for entering water portion, the base station has and the outlet part that enters water portion and dock.
Further, the watering module has the rotating device for promoting nozzle to rotate.
Further, the watering module is with the water spray distance to adjust nozzle apart from adjustment module.
Further, it is described enter water portion there is water flow buffer area, the area of section in the water flow buffer area is greater than connecting tube The area of section on road.
Further, Intelligent lawn care machine device people's system has docking confirmation module, the docking confirmation module Be set to the Intelligent lawn care machine device people on the first triggering end and the second triggering end on base station, described first After triggering end is docked with the completion of the second triggering end, water source needed for the water system provides current watering to watering module.
Further, Intelligent lawn care machine device people's system has charging station, and the base station is set at charging station simultaneously It is connect with charging station, first triggering end is the first charging part on Intelligent lawn care machine device people, second touching Originator is the second charging part docked with the first charging part being located on charging station, and first charging part and the second charging part are complete After docking, water source needed for the control module control water system provides current watering to watering module.
Further, the base station is integrated on charging station.
Further, to enter water portion to the water source for receiving base station transmitting, described second triggers first triggering end End for the outlet part that enters water portion and dock, Intelligent lawn care machine device people's system further include to guide the first triggering end and The guide housing of second triggering end docking.
Further, the guide housing can float when the first triggering end is docked with the second triggering end.
Further, to enter water portion to the water source for receiving base station transmitting, described second triggers first triggering end End for the outlet part that enters water portion and dock, first triggering end or the second triggering end further include check valve and pressure sensor, Check valve is connected after first triggering end is docked with the second triggering end, and the pressure sensor has detected hydraulic pressure, the confession Water source needed for water system provides current watering directly to watering module.
Further, the extensible hose that the water system has water supply interface and connect with water supply interface, it is described Module of watering is set on Intelligent lawn care machine device people, and the watering module is connect with hose, the Intelligent lawn care machine device People can be with hose walking certain distance under the driving of control module.
Further, the watering module is integrated on base station, and there is the water system water supply interface, control to supply water and connect The valve of mouth output water flow and the signal receiving unit transmitted with control module signal, the Intelligent lawn care machine device people exist It pours and is docked under aqueous mode with base station, the control module indicates that valve is opened by signal receiving unit, and the water system is given Water source needed for module of watering provides current watering.
Further, Intelligent lawn care machine device people's system further includes map generation module, is set in shell, institute Watering module is stated to be watered according to the watering map of generation.
Further, Intelligent lawn care machine device people's system further includes watering region division module, is set to shell Interior, the watering map generated for map generation module carries out region division, and each region after division forms independent pour Water map carries out watering planning.
Further, each region after division is configured with the base station described at least one.
Further, Intelligent lawn care machine device people's system further includes watering planning module, for giving birth to according to the map Watering planning is carried out at the watering map that module generates, and the watering planning is determined as according to the boundary Control water of watering map Spray distance.
Further, the base station includes multiple, and Intelligent lawn care machine device people's system further includes watering planning mould Block, the watering planning are determined as pouring water spot, the Intelligent lawn care machine device people for the position of multiple base stations as fixed It successively waters when watering according to the water spot that pours of memory.
Further, Intelligent lawn care machine device people's system further includes that soil moisture acquisition module and watering time obtain Modulus block, the soil moisture obtain module and are configured as receiving the soil humidity information of humidity sensor reception and registration and believe humidity Breath issues control module after issuing control module processing or processing, and according to treated, result judges whether need to the control module To enter and pour aqueous mode, the watering time obtains module and is configured as obtaining the soil moisture that module provides according to soil moisture Watering time is obtained after information analysis.
Further, when Intelligent lawn care machine device people's system further includes that lawn growth situation obtains module and watering Between obtain module, the lawn growth situation obtains module and is configured as receiving what lawn growth sensors in lawn soil were conveyed Lawn growth information is simultaneously issued control module processing or issues control module, the control module after handling by lawn growth information According to treated, result judges whether to need to enter to pour aqueous mode, and the watering time obtains module and is configured as according to lawn Growing state obtains watering time after obtaining the lawn growth information analysis that module provides.
Further, Intelligent lawn care machine device people's system further includes that watering time obtains module, when the watering Between obtain module be configured as according to the recent weather conditions information of acquisition analyze after obtain watering time.
Further, Intelligent lawn care machine device people's system further includes that watering time obtains module, when the watering Between obtain module and be configured as obtaining watering time according to set time for setting in Intelligent lawn care machine device people.
Further, Intelligent lawn care machine device people's system further includes that watering time obtains module, when the watering Between obtain module according to the soil humidity information on lawn, lawn growth information, recent weather conditions and fixation watering time At least two situations combined treatment obtain watering time.
Further, the watering module is integrated on base station, when the watering module is watered, the Intelligent lawn care Robot is slack.
Further, the watering module is integrated on base station, when the watering module is watered according to watering map, The Intelligent lawn care machine device people is slack.
Further, the artificial intelligent grass-removing of Intelligent lawn care machine device, the operational module includes cutting module, For mowing in scheduled working region in the operational mode.
The present invention is in order to solve the above technical problems, the another technical solution provided are as follows:
A kind of Intelligent lawn care machine device people comprising:
Shell；
Mobile module is set on shell, for driving the shell mobile；
Cutting module is set on shell, for walking and working in scheduled working region in the operational mode；
Watering module, is set on shell, for watering in the case where pouring aqueous mode to lawn；
Control module, for controlling mobile module, cutting module and watering module work；
The Intelligent lawn care machine device people does not walk when watering in working region.
The present invention is in order to solve the above technical problems, the another technical solution provided are as follows:
A kind of Intelligent lawn care machine device people comprising:
Shell；
Mobile module is set on shell, for driving the shell mobile；
Cutting module is set on shell, for walking and working in scheduled working region in the operational mode；
Watering module, is set on shell, for watering in the case where pouring aqueous mode to lawn；
Control module, for controlling mobile module, cutting module and watering module work；
It is watered in fixed position according to watering map when the Intelligent lawn care machine device people waters.
The present invention is in order to solve the above technical problems, the another technical solution provided are as follows:
A kind of sprinkling method of Intelligent lawn care machine device people's system, Intelligent lawn care machine device people's system includes intelligence Energy lawn-care machine people, the base station with water system and the watering module that water source is obtained from water system, the watering mould Block have nozzle and control water sprinkling distance apart from adjustment module, the watering of Intelligent lawn care machine device people's system Method comprising steps of
S103: determine whether lawn needs to water；
S104: needing to water, and Intelligent lawn care machine device people obtains watering instruction, returns to base station；
S105: Intelligent lawn care machine device people docks completion with base station, and the water system of base station supplies water to watering module；
S106: watering module executes watering task；
S107: task is completed, and water system stops supplying water, and watering module does not work.
Further, before the step S103, also there is step:
S101: water area is poured in definition, generates watering map；
S102: watering path planning is carried out according to watering map.
Further, in the step S102, the method for the path planning that waters be adjusted according to the boundary of watering map away from From adjustment module, and then control the sprinkling distance of water.
Further, when determining watering before the watering module execution watering task or during execution watering task Between, the watering module executes watering task in watering time.
Further, the method for determining watering time is according at least one of following methods: according to the humidity of soil After information analysis obtain watering time, according to after lawn growth information analysis obtain watering time, according to recent weather conditions Watering time is obtained after information analysis, according to fixed watering time.
The present invention is in order to solve the above technical problems, the another technical solution provided are as follows:
A kind of sprinkling method of Intelligent lawn care machine device people's system, Intelligent lawn care machine device people's system includes intelligence Energy lawn-care machine people, multiple base stations with water system and the watering module that water source is obtained from water system, the intelligence Can lawn-care machine people's system sprinkling method comprising steps of
S203: determine whether lawn needs to water；
S204: needing to water, and Intelligent lawn care machine device people obtains watering instruction, returns to first base station；
S205: Intelligent lawn care machine device people is docked with first base station, and the water system of first base station gives watering mould Block supplies water；
S206: watering module executes watering task to first base station region range；
S207: first base station region watering task is completed, and water system stops supplying water, and watering module does not work；
S208: determine whether not water there are also region；
S209: if do not watered there are also region, Intelligent lawn care machine device moves to i-th of base station, open this i-th The water system of a base station, watering module go to the watering task of i-th of base station region, and task is completed, water system Stop supplying water, watering module does not work；
S210: it if do not watered without region, ends task.
Further, before the step S203, also there is step:
S201: water area is poured in definition, generates watering map, and is N number of region by watering map partitioning；
S202: watering path planning is carried out to N number of region.
Further, in the step S202, the method for the path planning that waters is pouring according to each region after division The boundary adjustable range adjustment module of water map, and then control the sprinkling distance of water.
Further, a base station is equipped in each region, in the step S202, the watering path planning Method be pour water spot using each base station as memory, and it is each pour setting at water spot and save pour water boundaries, the intelligence is careless Level ground nursing robot successively waters when watering according to the water spot that pours of memory.
Further, when determining watering before the watering module execution watering task or during execution watering task Between, the watering module executes watering task in watering time.
Further, the method for determining watering time is according at least one of following methods: according to the humidity of soil After information analysis obtain watering time, according to after lawn growth information analysis obtain watering time, according to recent weather conditions Watering time is obtained after information analysis, according to fixed watering time.
The beneficial effects of the present invention are: Intelligent lawn care machine device people does not need to walk when watering module watering, water mould Block waters according to watering map in situ, and when watering, Intelligent lawn care machine device people will not walk on lawn, avoid Intelligent lawn care machine device people blocks careless phenomenon caused by damp meadow is walked, and can also avoid the occurrence of because of intelligence grass Level ground nursing robot rolls lawn phenomenon caused by damp meadow is walked；Meanwhile base station provides sufficient water source, Midway plus water are not needed, it is time saving and energy saving, it waters high-efficient, securely and reliably, user can thoroughly free from lawn-care labor service Out, the complicated pipe network of arrangement is not needed, it is few using part, it is low in cost.
Detailed description of the invention
The technical issues of invention described above solves, technical solution and beneficial effect can by following The detailed description for realizing preferable specific embodiment of the invention is described in combination with attached drawing and is clearly obtained.
Fig. 1 is the pouring schematic diagram of a scenario that Intelligent lawn care machine device people system of the present invention pours pouring region.
Fig. 2 is the mould of Intelligent lawn care machine device people in Intelligent lawn care machine device people's system of first embodiment of the invention Block schematic diagram.
Fig. 3 is the knot of Intelligent lawn care machine device people in Intelligent lawn care machine device people's system of first embodiment of the invention Structure schematic diagram.
Fig. 4 is the structural schematic diagram that the Intelligent lawn care machine device people of Fig. 3 is slightly docked with base station.
Fig. 5 is the another of Intelligent lawn care machine device people in Intelligent lawn care machine device people's system of first embodiment of the invention One structural schematic diagram.
Fig. 6 is the structural schematic diagram that the Intelligent lawn care machine device people of Fig. 5 is slightly docked with base station.
Fig. 7 is the another of Intelligent lawn care machine device people in Intelligent lawn care machine device people's system of first embodiment of the invention One structural schematic diagram.
Fig. 8 is the structural schematic diagram that the Intelligent lawn care machine device people of Fig. 7 is accurately docked with base station.
Fig. 9 be in Fig. 8 before the docking of accurate docking structure with dock after schematic diagram.
Figure 10 be before docking structure docking of the invention another accurate with dock after schematic diagram.
Figure 11 is that base station has showing for extension hose in Intelligent lawn care machine device people's system of first embodiment of the invention It is intended to.
Figure 12 is that the Intelligent lawn care machine device people of first embodiment of the invention is docked with having the base station for extending hose Schematic diagram.
Figure 13 is the structural schematic diagram of Intelligent lawn care machine device people's system of second embodiment of the invention.
Figure 14 is the structural schematic diagram of base station in Intelligent lawn care machine device people's system of second embodiment of the invention.
Figure 15 is Intelligent lawn care machine device people in Intelligent lawn care machine device people's system of second embodiment of the invention Module diagram.
Figure 16 is that base station waters and realizes that difference is poured according to watering map in Intelligent lawn care machine device people's system of the present invention Schematic diagram of the water distance from adjusting.
Figure 17 is that Intelligent lawn care machine device people waters and according to watering in Intelligent lawn care machine device people's system of the present invention Map realizes the schematic diagram that different watering distances are adjusted.
Figure 18 is that Intelligent lawn care machine device people's system of the present invention divides region and the signal of multiple base stations is arranged Figure.
Figure 19 is Intelligent lawn care machine device people's system of the present invention acquisition weather or soil humidity information when watering Between the schematic diagram that obtains.
Figure 20 is the schematic diagram that base station and charging station are provided separately in Intelligent lawn care machine device people's system of the present invention.
Figure 21 is connect between Intelligent lawn care machine device people and base station using non-in Intelligent lawn care system of the invention The schematic diagram of touch docking mode.
Figure 22 is the work flow diagram of single base station in Intelligent lawn care machine device people's system of the invention.
Figure 23 is the work flow diagram of multiple base stations in Intelligent lawn care machine device people's system of the invention.
Region is poured on 100 Intelligent lawn care machine device people, 200 boundary 300
System
400,600,802,900 intelligence, 500,700,803 base station 10,30 shells
It can lawn-care machine people
12,701 watering modules 121,704 spray heads 122,705 enter water portion
123,706 connecting line, 124 water flow buffer area 125,707 is apart from adjustment module
126 127 grades of water inlet lid, 128 first butt end
129 second butt end, 130 guide housing 14,32 mobile modules
16,34 cutting modules 18,36 control modules 20,38 energy modules
501 outlet parts 502,702 water systems 5021,7021 valves
503,703 water supply interfaces 504,708 dock 505 water outlet of confirmation module
506 hose, 507 bracket, 508 guidance system
12 second base station of first base station, 3 third base station
801 humidity sensors 804 sprinkling irrigation 805 Weather information of region
806 remote operation controllers
Specific embodiment
The invention discloses arrangement complex grid is not needed, only by Intelligent lawn care machine device people or base station according to watering Map completes the Intelligent lawn care system poured and its sprinkling method.By watering, map waters, and is mentioned by base station For sufficient water source, Intelligent lawn care machine device people does not need to walk, and does not need midway plus water yet, time saving and energy saving, efficiency of watering Height securely and reliably user can thoroughly free from lawn-care labor service, few using part, low in cost.
Before the embodiment that the present invention will be described in detail, it should be noted that, in the description of the present invention, it is such as left and The right side, upper and lower, front and rear, first and second etc relational terms are used merely to distinguish an entity or movement and another reality Body or movement, and not necessarily require or imply any actual this relationship or sequence between this entity or movement.Term "include", "comprise" or any other variant are intended to cover non-exclusive inclusion, so that including the mistake of a series of elements Journey, method, article or equipment not only include these elements, but also include other elements that are not explicitly listed, Huo Zhewei Elements inherent to such a process, method, article, or device.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
As shown in FIG. 1, FIG. 1 is 100 pairs of Intelligent lawn care machine device people system of the present invention to pour what region 300 was poured Pour schematic diagram of a scenario.Pouring region 300 has boundary 200.Intelligent lawn care machine device people system 100 of the invention includes: Intelligent lawn care machine device people, base station and the watering module on Intelligent lawn care machine device people or base station, base station has Water system.Both Intelligent lawn care machine device people and base station are able to carry out docking, Intelligent lawn care machine device people and base station pair After being connected into function, water system provides water source to the watering module in Intelligent lawn care machine device people system 100, guarantees watering module It realizes and pours operation, watering module pours according to 200 pairs of the boundary sprinkling irrigation region 300 of watering map, prevents from pouring out boundary, Water system can to watering module lasting water source be provided, be not in water flow not enough interrupts need add water situation, so It can disposably complete to pour work.In addition, the control system of Intelligent lawn care machine device people is directly utilized in the present invention, i.e., will The controlling terminal of watering module has been directly integrated on Intelligent lawn care machine device people, does not need that individual complexity is additionally arranged Water management is poured in control system completion, while realizing intelligentized control method, has been saved cost, has been taken full advantage of in working environment Various resources simplify the layout of control system and structure.
Based on the different setting positions of watering module, there are two types of the Intelligent lawn care machine device people of embodiment for present invention tool System is described in detail below in conjunction with Intelligent lawn care machine device people's system of the specific attached drawing to two kinds of embodiments.
First embodiment
As shown in figure 3, Fig. 3 is Intelligent lawn care in Intelligent lawn care machine device people's system of first embodiment of the invention The structural schematic diagram of robot.Intelligent lawn care machine device people's system of first embodiment of the invention comprising intelligent lawn shield Manage robot 400 and base station 500.Base station 500 is arranged independently of Intelligent lawn care machine device people 400.
As shown in Fig. 2, Fig. 2 is Intelligent lawn care in Intelligent lawn care machine device people's system of first embodiment of the invention The module diagram of robot.In Intelligent lawn care machine device people's system of the first embodiment, watering module is set to intelligence On lawn-care machine people 400.Intelligent lawn care machine device people 400 include shell 10, the watering module 12 on shell 10, Positioned at the mobile module 14 of 10 bottom of shell, the cutting module 16 for executing work, for controlling Intelligent lawn care machine device 400 automatic work of people and mobile control module 18 and the energy module of energy is provided for Intelligent lawn care machine device people 400 20.Control module 18 works for controlling cutting module 16, mobile module 14 and watering module 12.Mobile module 14 is for driving The shell 10 is mobile.Cutting module 16 in scheduled working region for working in the operational mode.Watering module 12 for watering to lawn in the case where pouring aqueous mode.Base station 500 is connect with watering module 12.Base station 500 has water system. Intelligent lawn care machine device people 400 is docked in the case where pouring aqueous mode with base station 500, and triggers the water system of base station 500 to watering Water source needed for module 12 provides current watering, finally realizes subsequent pouring operation.
The specific physical form of control module 18 is to be disposed with one or more processors, memory, other related first devices The control circuit board of part and respective peripheral circuit.Control module 18 is built-in with control program, to execute scheduled instruction, control Intelligent lawn care machine device people 400 automatically moves and executes work in working region.Intelligent lawn care machine of the present invention Device people 400 can be intelligent grass-removing or Intelligent sweeping machine device people.Cutting module 16 can be mowing module or cleaning mould Block.
As shown in figure 3, watering module 12 includes spray in Intelligent lawn care machine device people's system of first embodiment of the invention First 121, the connecting line 123 for entering water portion 122 and connection spray head 121 with entering water portion 122 at water source is received.Spray head 121 includes To the nozzle to water.Watering module 12 also have for water flow provide irrigation pressure apart from adjustment module 125.Distance adjusts mould Block 125 can be force (forcing) pump or flow control valve.It is adjusted by the pressure apart from adjustment module 125, adjustable nozzle Water spray distance, and then realize the pouring to different boundary position in region is poured.It is driven by a motor apart from adjustment module 125, is Water stream S enables water flow to reach preset distance when flowing out from nozzle to provide power to pour operation.Distance adjusts mould Block 125 can be set on connecting line 123.In other of Intelligent lawn care machine device people's system of first embodiment of the invention In embodiment, Inductance valve could alternatively be apart from adjustment module 125, with certain hydraulic pressure when being flowed due to water flow itself, lead to The big minor adjustment for crossing Inductance valve can indirectly control and change hydraulic pressure, and then achieve the effect that change sprinkling distance.In a reality It applies in example, is adjusted apart from adjustment module 125 according to the boundary information of watering map, control sprinkling distance.
As shown in figure 3, a preferred embodiment of Intelligent lawn care machine device people's system in first embodiment of the invention In, enter water portion 122 with water flow buffer area 124, the area of section in water flow buffer area 124 is greater than the section face of connecting line 123 Product.So set, since water flow has a distance from base station to nozzle, and module 12 of watering is according to the boundary position of watering map It is different to need to adjust hydraulic pressure to achieve the purpose that control watering distance, and then prevent watering from pouring out boundary, that is, module 12 of watering It can have any different for the different waters for pouring water boundaries needs, in order to ensure the continuity sprayed water comprehensively, so passing through setting one Part water flow buffer area 124, it can be ensured that when watering module 12 needs big yield can Current connectin it is smooth.
In a preferred embodiment of Intelligent lawn care machine device people's system of first embodiment of the invention, module of watering 12 have the rotating device (not shown) for promoting spray head 121 or nozzle to rotate.When module 12 of watering works, pass through rotating device Rotation, drive nozzle rotation so that watering module 12 complete to pour region pouring.The rotating device includes and spray head 121 or nozzle connection shaft and be connected with the rotating shaft motor, by the movement of motor, drive shaft rotation, and then drive Nozzle rotation.
As shown in figure 4, Fig. 4 is the structural schematic diagram of Intelligent lawn care machine device people's system of first embodiment of the invention. In Intelligent lawn care machine device people's system of first embodiment of the invention, base station 500 has and the water outlet that enters water portion 122 and dock Portion 501 and the water system 502 being connected to outlet part 501.Water system 502 includes water supply interface 503 and control water supply interface Export the valve 5021 of water flow.Intelligent lawn care machine device people's system of first embodiment of the invention further includes to confirm into water The docking confirmation module 504 whether portion 122 successfully docks with outlet part 501.It is connect on valve 5021 with a signal receiving unit. One end of signal receiving unit is connect with valve 5021, and the other end is connect with docking confirmation module 504.When docking confirmation module After 504 detect and dock successfully, control module 18 can receive the feedback signal of docking confirmation module 504, then control module 18 signal receiving units for giving the connection of valve 5021 send the instruction for opening valve 5021, and the signal receiving unit receives control The instruction unpack valve 5021 of molding block 18.In the embodiment, the control mould of Intelligent lawn care machine device people 400 is directly utilized The controlling terminal for module 12 of watering has been directly integrated on Intelligent lawn care machine device people 400, has not needed additionally to set by block 18 The control system for setting individual complexity completes the various processing and control of watering, while realizing intelligentized control method, saves Cost takes full advantage of the various resources in working environment, simplifies the layout of control system and structure.
In the other embodiments of Intelligent lawn care machine device people's system of first embodiment of the invention, one can be set Individual secondary control unit, which communicates with control module 18, in the case where pouring aqueous mode, the secondary control unit activating, It is non-pour aqueous mode under, which does not work.The secondary control unit can be arranged directly on base station, can also be used as The unit of one specific function is arranged on Intelligent lawn care machine device people.The secondary control unit is responsible for that confirmation module will be docked 504 feedback information changes into instruction and is communicated to the signal receiving unit connecting with valve 5021, i.e., when docking confirmation module 504 is examined It measures after docking successfully, is not the signal receiving unit transmission opening valve that control module 18 gives the connection of valve 5021 at this time 5021 instruction, but secondary control unit receive docking confirmation module 504 feedback signal after, secondary control unit directly to valve The signal receiving unit of 5021 connection of door sends the instruction for opening valve 5021, and the signal receiving unit receives secondary control unit Instruction unpack valve 5021.
In Intelligent lawn care machine device people's system of first embodiment of the invention, water supply interface 503 is connect with water source, than Such as running water outlet mouth.Intelligent lawn care machine device people 400 is docked in the case where pouring aqueous mode with base station 500, and confirmation module is docked Whether 504 perception dock success, after the docking perception of confirmation module 504 is docked successfully, control module 18 or above-mentioned secondary control Unit processed will receive the signal that docking confirmation module 504 is fed back, and then control module 18 or above-mentioned secondary control unit can be given The signal receiving unit connecting with valve 5021 sends the instruction for opening valve 5021, and the signal receiving unit receives control mould The instruction unpack valve 5021 of block 18 or above-mentioned secondary control unit, water system 502 are transmitted water flow to outlet part 501, are reached Water source needed for providing current watering to watering module 12 at base station 500, finally realizes subsequent pouring operation.Of the invention In the embodiment, outlet part 501 and water system 502 are that two individual components are connected with each other, in other further embodiments In, outlet part 501 can be a component part of water system 502.
In Intelligent lawn care machine device people's system of first embodiment of the invention, valve can be electromagnetic valve, can also To be machinery valve.When valve is machinery valve, not necessarily must by control module 18 or secondary control unit come control valve, Valve as machinery valve can also be by manually controlling.
As shown in Figures 3 and 4, a preferred implementation of Intelligent lawn care machine device people's system of first embodiment of the invention Example in, entering docking between water portion 122 and outlet part 501 can be thick docking, as long as outlet part 501 water flow can be introduced into In water portion 122.Entering water portion 122 includes water inlet 126.Outlet part 501 includes water outlet 505.For example, can be entering water portion 122 water inlet 126 is set as similar open sink form, and outlet part 501 is set as the form of similar tubulose, water inlet 126 area is greater than the area of section of the water outlet 505 of the outlet part 501 of tubulose, and the area of water inlet 126 can be from week Covering water outlet 505 upwards, so set, outlet part 501, which can use, is directly protruding into the structure type into water portion 122；Or As shown in figure 4, outlet part 501 can also be using there are a certain distance in abutting direction with water portion 122 is entered.This two kinds thick right It connects in mode, outlet part 501 and the axis for entering water portion 122 need not be overlapped in abutting direction, such design, intelligent lawn shield Reason robot 400 and base station 500 need not realize it is accurate dock, after rough docking, when the docking perception outlet part of confirmation module 504 501 with enter after water portion 122 docks successfully, control module 18 or above-mentioned secondary control unit will receive docking confirmation module 504 The signal of feedback, then control module 18 or above-mentioned secondary control unit can give the signal receiving unit of the connection of valve 5021 The instruction for opening valve 5021 is sent, the signal receiving unit receives the finger of control module 18 or above-mentioned secondary control unit It enables and opens valve 5021, water system 502 transmits water flow to outlet part 501, reaches base station 500 and provides currently to watering module 12 Water source needed for watering, finally realizes subsequent pouring operation.In this embodiment of the invention, outlet part 501 with for water system System 502 is connected with each other for two individual components, and in other further embodiments, outlet part 501 can be water system 502 A component part.
As shown in Figures 5 and 6, another preferred reality of Intelligent lawn care machine device people's system of first embodiment of the invention It applies in example, entering docking between water portion 122 and outlet part 501 can be another thick docking.In the embodiment slightly docked, Outlet part 501 protrudes into water portion 122.It is described enter water portion 122 include water inlet 126 and block can be rotated for water inlet 126 Shelves lid 127.When outlet part 501 is protruded into water portion 122,127 Unscrew of shelves lid can extend into outlet part 501 into water portion In 122, after docking confirmation module 504 and perceiving outlet part 501 with entering water portion 122 and docking successfully, control module 18 or above-mentioned Secondary control unit will receive the signal that docking confirmation module 504 is fed back, then control module 18 or above-mentioned secondary control list The signal receiving unit that member can give the connection of valve 5021 sends the instruction for opening valve 5021, and the signal receiving unit receives The instruction unpack valve 5021 of control module 18 or above-mentioned secondary control unit, water system 502 transmit water to outlet part 501 Stream reaches water source needed for base station 500 provides current watering to watering module 12, finally realizes subsequent pouring operation.When not When watering, shelves lid 127 can prevent the object of large volume from entering in water portion 122, such as leaf or grass etc., prevent from blocking into water Portion 122；Also, shelves lid 127 can also prevent a large amount of dust from entering in water portion 122, prevent from blocking into water portion 122, really It has protected the smooth of 122 inner wall of water portion, has ensured the smooth of water flow, reduced the resistance of water flow.
As shown in Figure 7 to 9, another preferred reality of Intelligent lawn care machine device people's system of first embodiment of the invention It applies in example, entering docking between water portion 122 and outlet part 501 can be relative to the accurate docking slightly docked.It is accurate right at this In the embodiment connect, enter water portion 122 with the first butt end 128, outlet part 501 has the second butt end 129, outlet part 501 It is equipped with guide housing 130, guide housing 130 guides the first butt end 128 to dock with the second butt end 129.When docking confirmation module 504 perception outlet parts 501 with enter after water portion 122 docks successfully, control module 18 or above-mentioned secondary control unit will receive pair The signal of the feedback of confirmation module 504 is connect, then control module 18 or above-mentioned secondary control unit can give the connection of valve 5021 Signal receiving unit send the instruction for opening valve 5021, the signal receiving unit receives control module 18 or above-mentioned The instruction unpack valve 5021 of secondary control unit, water system 502 transmit water flow to outlet part 501, reach base station 500 to watering Water source needed for module 12 provides current watering, finally realizes subsequent pouring operation.
In one preferred embodiment of Intelligent lawn care machine device people's system of first embodiment of the invention, guide housing 130 It can float with respect to base station 500.It can be allowed by the guide housing 130 that setting is floated and be docked more into water portion 122 with outlet part 501 It is convenient.
As shown in figure 9, in a preferred embodiment of Intelligent lawn care machine device people's system of first embodiment of the invention, Guide housing 130 can use bell-mouthed shape, so set, guide housing 130 can play the role of guidance docking, if setting again Being set to can float, guidance docking while, moreover it is possible to by float allow docked into water portion 122 with outlet part 501 it is more convenient.
As shown in Figure 10, another preferred embodiment of Intelligent lawn care machine device people's system of first embodiment of the invention In, entering docking between water portion 122 and outlet part 501 can be another smart docking structure, and entering water portion 122 includes water inlet 126, outlet part 501 includes water outlet 505.Enter the water inlet 126 in water portion 122 and outlet part 501 is water pipe form, contact surface Product is close.When entering water portion 122 and docking with outlet part 501, water inlet 126 engages with water outlet 505 so that water inlet 126 with go out Be fully engaged between the mouth of a river 505 and gap may be not present, such design so that the water of water outlet 505 completely into arrive water inlet In 126.In other embodiments, if entered between water portion 122 and outlet part 501 after water inlet 126 engages with water outlet 505 In the presence of slightly gap, elasticity can be set in entering water portion 122 or outlet part 501 on side's inner wall in outside close when grafting Sealing reaches close so set, can use elastic sealing element after water inlet 126 engages with water outlet 505 and fill up gap The effect of envelope.After docking confirmation module 504 and perceiving outlet part 501 with entering water portion 122 and docking successfully, control module 18 or on The secondary control unit stated will receive the signal that docking confirmation module 504 is fed back, then control module 18 or above-mentioned secondary control The signal receiving unit that unit can give the connection of valve 5021 sends the instruction for opening valve 5021, and the signal receiving unit is received To control module 18 or the instruction unpack valve 5021 of above-mentioned secondary control unit, water system 502 is transmitted to outlet part 501 Water flow reaches water source needed for base station 500 provides current watering to watering module 12, finally realizes subsequent pouring operation.
In one preferred embodiment of Intelligent lawn care machine device people's system of first embodiment of the invention, docking confirmation mould Block 504 uses mechanical docking mode, and docking confirmation module 504 includes check valve and pressure sensor, check valve and pressure Sensor is arranged on entering water portion 122 or outlet part 501.Enter after water portion 122 docks with outlet part 501, inside check valve Valve is opened, check valve conducting, water flow circulation, and pressure sensor detects hydraulic pressure, control module 18 or above-mentioned secondary control Unit processed receives the successful signal of docking, and at this time since check valve is opened, the pressure sensor has detected hydraulic pressure, so Water system 502 transmits water flow directly to outlet part 501, reaches base station 500 and provides needed for current watering to watering module 12 Subsequent pouring operation is finally realized at water source.When entering the disengaging of water portion 122 and outlet part 501 and docking, closed check valve, water route It closes.In this embodiment, pressure sensor can be substituted for capacitance sensor, and capacitance sensor is judged by the variation of capacitor Whether water flow is had.
In other preferred embodiments of Intelligent lawn care machine device people's system of first embodiment of the invention, docking confirmation mould Block 504 can also be other contacts or contactless docking mode in addition to above-mentioned mechanical docking mode, below The docking confirmation module 504 of different docking modes is described in detail.Definition docking confirmation module, which has, is set to the intelligence The first triggering end on lawn-care machine people and the second triggering end on base station, first triggering end and the second triggering After docking is completed at end, control module 18 or above-mentioned secondary control unit receive the successful signal of docking, then control module 18 Or above-mentioned secondary control unit can give the instruction of the signal receiving unit transmission opening valve 5021 of the connection of valve 5021, institute State the instruction unpack valve 5021 that signal receiving unit receives control module 18 or above-mentioned secondary control unit, water system 502 transmit water flow to outlet part 501, reach water source needed for base station 500 provides current watering to watering module 12, final to realize Subsequent pouring operation.In this embodiment of the invention, outlet part 501 is that two individual components are mutual with water system 502 Connection, in other further embodiments, outlet part 501 can be a component part of water system 502.
First way: docking induction is realized using the charging part on the charging station of Intelligent lawn care machine device people.Base station It is integrated on charging station or is arranged in the side of charging station and connect with charging station, docking confirmation module 504 is the end of charging Son is specifically described as, and Intelligent lawn care machine device people is equipped with the first charging part, and charging station is equipped with and docks with the first charging part The second charging part, the second charging part can be electrode slice.After the first charging part is successfully docked with the second charging part, on the one hand It can charge to Intelligent lawn care machine device people, on the other hand, after docking successfully, it is successful that control module 18 receives docking Signal, the signal receiving unit transmission that then control module 18 or above-mentioned secondary control unit can give the connection of valve 5021 are beaten The instruction of valve opening door 5021, the signal receiving unit receive the instruction unpack valve 5021 of control module 18, water system 502 Water flow is transmitted to outlet part 501, reaches water source needed for base station 500 provides current watering to module 12 of watering, after final realization Continuous pouring operation.In this kind of mode, the first charging part is the first triggering end, and the second charging part is the second triggering end.This first Kind mode, machine can not only pour operation but also the operation that can charge after returning to charging station, in charging station, and poured operation and fill Electric operation saves a position and additionally arranges the cumbersome of other base stations with water system again, and can be with save the cost, together When do not waste lawn area again.
The second way: docking induction is realized using the charging part on the charging station of Intelligent lawn care machine device people.
The difference of the second way and first way is that charging station is equipped with secondary control unit, when the first charging part After successfully docking with the second charging part, secondary control unit receives the successful signal of docking, and then secondary control unit can give valve 5021 connection signal receiving units send open valves 5021 instruction, the signal receiving unit receive control module 18 or The instruction unpack valve 5021 of the above-mentioned secondary control unit of person, water system 502 transmit water flow to outlet part 501, reach base station 500 provide current watering required water source to watering module 12, finally realize subsequent pouring operation.In this kind of mode, first Charging part is the first triggering end, and the second charging part is the second triggering end.
The third mode: conductive structure is set on Intelligent lawn care machine device people and base station and realizes docking induction.
Base station is arranged on charging station or side.Docking confirmation module 504 is electrical contact contact, is not charging part. It is specifically described as, Intelligent lawn care machine device people is equipped with pillar, and base station is equipped with the contact switch docked with pillar, pillar touching It sends out contact switch to complete after docking, control module 18 or above-mentioned secondary control unit receive the successful signal of docking, then control The signal receiving unit that molding block 18 or above-mentioned secondary control unit can give the connection of valve 5021, which is sent, opens valve 5021 Instruction, the signal receiving unit receives the instruction unpack valve 5021 of control module 18 or above-mentioned secondary control unit, Water system 502 transmits water flow to outlet part 501, reaches water source needed for base station 500 provides current watering to watering module 12, Finally realize subsequent pouring operation.In this kind of mode, pillar is the first triggering end, and contact switch is the second triggering end.
4th kind of mode: docking induction is identified by magnetic field.
It is specifically described as, enters water portion 122 equipped with magnet, outlet part 501 is equipped with the Hall element docked with magnet, base The Hall element on 500 of standing is capable of the variation of induced magnetic field, after entering water portion 122 and outlet part 501 completes docking, control module 18 perhaps above-mentioned secondary control unit receive successful signal then control module 18 or the above-mentioned secondary control unit meeting of docking The signal receiving unit for giving the connection of valve 5021 sends the instruction for opening valve 5021, and the signal receiving unit receives control The instruction unpack valve 5021 of module 18 or above-mentioned secondary control unit, water system 502 transmit water flow to outlet part 501, Reach water source needed for base station 500 provides current watering to watering module 12, finally realizes subsequent pouring operation.This kind of mode In, magnet is the first triggering end, and Hall element is the second triggering end.
In the description of aforementioned four kinds of modes, docking confirmation module 504 is the docking of contact, i.e., is really deposited by detection Contact relation, and then judge dock successfully, as shown in figure 21, in the Intelligent lawn care machine device of first embodiment of the invention In other preferred embodiments of people's system, docking confirmation module 504 can be contactless, for example ultrasound is docked, laser pair Connect, infrared docking, radio frequency docking, metal identification object docking etc., several contactless modes are retouched in detail below It states.
Fifth procedure: docking induction is identified by ultrasonic wave.
It is specifically described as, enters water portion 122 equipped with ultrasonic transmitter, outlet part 501 is equipped with received ultrasonic signal Ultrasonic receiver, control module 18 calculates according to transmitting and time difference of received ultrasonic signal into water portion 122 and water outlet The distance between portion 501, and Intelligent lawn care machine device people can according to the method in the prior art such as existing satellite map To know absolute coordinate and relative coordinate, in conjunction with distance value and coordinate value, when distance value and coordinate value reach preset value, identification To dock successfully, control module 18 or above-mentioned secondary control unit receive the successful signal of docking, then control module 18 or The signal receiving unit that the above-mentioned secondary control unit of person can give the connection of valve 5021 sends the instruction for opening valve 5021, described Signal receiving unit receives the instruction unpack valve 5021 of control module 18 or above-mentioned secondary control unit, water system 502 Water flow is transmitted to outlet part 501, reaches water source needed for base station 500 provides current watering to module 12 of watering, after final realization Continuous pouring operation.In this kind of mode, ultrasonic transmitter is the first triggering end, and ultrasonic receiver is the second triggering end.
6th kind of mode: docking induction is identified by laser.
It is specifically described as, enters water portion 122 equipped with laser emitter, outlet part 501, which is equipped with, receives swashing for laser signal Optical receiver, control module 18 calculate between water portion 122 and outlet part 501 according to the time difference for emitting and receiving laser signal Distance, and Intelligent lawn care machine device people can be known absolutely according to the method in the prior art such as existing satellite map Coordinate and relative coordinate when distance value and coordinate value reach preset value, are identified as being butted into conjunction with distance value and coordinate value Function, perhaps above-mentioned secondary control unit receives the successful signal of docking then control module 18 or above-mentioned to control module 18 The signal receiving unit that secondary control unit can give the connection of valve 5021 sends the instruction for opening valve 5021, and the signal receives Unit receives the instruction unpack valve 5021 of control module 18 or above-mentioned secondary control unit, and water system 502 gives outlet part 501 transmission water flows reach water source needed for base station 500 provides current watering to watering module 12, finally realize subsequent pouring Operation.In this kind of mode, laser emitter is the first triggering end, and laser pickoff is the second triggering end.
7th kind of mode: it is docked and is incuded by infrared identification.
It is specifically described as, enters water portion 122 equipped with the first infrared transmitter, outlet part 501 is believed equipped with receiving infrared-ray Number the first infrared remote receiver, due to infrared signal decay in communication process it is larger, when entering water portion 122 apart from outlet part 501 farther out when, the first infrared remote receiver cannot efficiently identify into water portion 122 the first infrared transmitter transmitting infrared ray letter Number.In addition user can be as needed, and the first infrared remote receiver of setting identifies the red of the first infrared transmitter transmitting into water portion 122 The distance of outside line signal.Such as enter water portion 122 the first infrared transmitter transmitting infrared signal emit and return it is scheduled away from From rear, light intensity attenuation to scheduled light intensity value, enter the first infrared of water portion 122 at the first infrared remote receiver when reflection reaches When the light intensity of the infrared signal of transmitter transmitting is greater than or equal to the scheduled light intensity value, the first infrared remote receiver is identified into water The infrared signal of the first infrared transmitter transmitting in portion 122, and Intelligent lawn care machine device people is according to existing satellite The methods in the prior art such as figure can know absolute coordinate and relative coordinate, compare in conjunction with infrared signal intensity and coordinate value Identification is docked successfully, and control module 18 or above-mentioned secondary control unit receive the successful signal of docking, then control module 18 Or above-mentioned secondary control unit can give the instruction of the signal receiving unit transmission opening valve 5021 of the connection of valve 5021, institute State the instruction unpack valve 5021 that signal receiving unit receives control module 18 or above-mentioned secondary control unit, water system 502 transmit water flow to outlet part 501, reach water source needed for base station 500 provides current watering to watering module 12, final to realize Subsequent pouring operation.In this kind of mode, the first infrared transmitter is the first triggering end, and the first infrared remote receiver is the second triggering End.
8th kind of mode: it is docked and is incuded by radio frequency identification.
It is specifically described as, enters water portion 122 equipped with radio frequency signal receiver, outlet part 501 is equipped with radiofrequency signal Device, in present embodiment, radio-frequency signal generator is RFID tag, and radio frequency signal receiver is radio frequency plug-in reader.Radio frequency Plug-in reader is for issuing the first radiofrequency signal.When entering water portion 122 close to outlet part 501, RFID tag receives first and penetrates Frequency signal simultaneously generates the second radiofrequency signal.And Intelligent lawn care machine device people according to existing satellite map etc. in the prior art Method can know absolute coordinate and relative coordinate, in conjunction with radio frequency plug-in reader receive the second radiofrequency signal and coordinate value identification Dock successfully, control module 18 perhaps above-mentioned secondary control unit receive the successful signal of docking then control module 18 or The signal receiving unit that above-mentioned secondary control unit can give the connection of valve 5021 sends the instruction for opening valve 5021, the letter Number receiving unit receives the instruction unpack valve 5021 of control module 18 or above-mentioned secondary control unit, and water system 502 is given Outlet part 501 transmits water flow, reaches water source needed for base station 500 provides current watering to watering module 12, finally realizes subsequent Pouring operation.In this kind of mode, radio frequency signal receiver is the first triggering end, and radio-frequency signal generator is the second triggering end.
9th kind of mode: docking induction is identified by metal identification object.
It is specifically described as, enters water portion 122 equipped with metal identification object, such as metal strip, outlet part 501 is equipped with metal detection Device.Metal detector has the oscillation circuit (not shown) for issuing electromagnetic induction signal, when metal detector nearby exists When metal, metal occurs electromagnetic induction and generates eddy current, so that the energy consumption of the oscillation circuit in metal detector increases, Oscillations even failure of oscillation.Pass through the variation of detection oscillation and be converted to light signal or voice signal can detect nearby whether There are metal strips.And Intelligent lawn care machine device people can be known according to the method in the prior art such as existing satellite map Absolute coordinate and relative coordinate detect metal strip in conjunction with metal detector and coordinate value identification are docked successfully, control module 18 Perhaps above-mentioned secondary control unit receives the successful signal of docking then control module 18 or above-mentioned secondary control unit can be to The signal receiving unit connecting with valve 5021 sends the instruction for opening valve 5021, and the signal receiving unit receives control mould The instruction unpack valve 5021 of block 18 or above-mentioned secondary control unit, water system 502 are transmitted water flow to outlet part 501, are reached Water source needed for providing current watering to watering module 12 at base station 500, finally realizes subsequent pouring operation.This kind of mode In, metal identification object is the first triggering end, and metal detector is the second triggering end.
In the 4th kind of mode into the 9th kind of mode, base station is integrated on charging station or is arranged in charging station side And in embodiment interconnected, control module 18 or the secondary control unit being arranged on Intelligent lawn care machine device people can be with It is transmitted an order using the signal receiving unit that the electrode slice of charging station gives the connection of valve 5021.Certainly in other embodiments, When for the electrical connection such as no electrode slice, the signal receiving unit of the connection of valve 5021 can be given through wireless communication It transmits an order.
As shown in FIG. 11 and 12, Intelligent lawn care machine device people's system of first embodiment of the invention another preferably In embodiment, on base station 500 or the side of base station has extended hose 506.One end of hose 506 and water supply interface connect It connects, the other end of hose 506 is connect with water portion 122 is entered.The Intelligent lawn care machine device people of first embodiment of the invention is controlling Can walk certain distance under the driving of module 18 while walking with hose 506.So set, first embodiment of the invention Intelligent lawn care machine device people can pour farther place, for example, lawn periphery trees perhaps flowers and plants or other farther out Corner or remoter corner.
As shown in FIG. 11 and 12, Intelligent lawn care machine device people's system of first embodiment of the invention another preferably In embodiment, on base station 500 or the side of base station also has the bracket 507 to install hose 506.It is preferred real at another It applies in example, on base station 500 or the side of base station also has guidance system 508, and guidance system 508 to realize hose automatically 506 stretching and recycling.In the embodiment shown in fig. 12, guidance system 508 is set on base station 500, the other end of hose 506 It is equivalent to the water outlet of outlet part, is entered after water portion 122 connect with hose 506, the Intelligent lawn care of first embodiment of the invention Hose 506 can be pulled when robot ambulation, hose 506 extends, and when not needing watering, automatically will by guidance system 508 Hose 506 recycles again.All designs automatically complete, and do not need artificial intervention, can thoroughly allow user from grass It frees in the work that level ground is poured, easy to use, structure is simple.
In one preferred embodiments of Intelligent lawn care machine device people's system of the present invention, watering module is set to intelligent lawn On nursing robot.As shown in Fig. 2, Intelligent lawn care machine device people include shell 10, the watering module 12 on shell 10, Positioned at the mobile module 14 of 10 bottom of shell, the cutting module 16 for executing work, for controlling Intelligent lawn care machine device People's automatic work and mobile control module 18 and the energy module 20 of energy is provided for Intelligent lawn care machine device people.Control Module 18 works for controlling cutting module 16 and watering module 12.Mobile module 14 is for driving the shell 10 mobile.It cuts Module 16 is cut for walking and working in scheduled working region in the operational mode.Watering module 12 is for watering It waters under mode to lawn.In the further embodiment, watering module 12 has no the space of water storage in itself, and water mould When block 12 waters, need from water source is obtained elsewhere, to complete the work of watering.No matter watering module 12 is from where with what Kind mode obtains water source, in the preferred embodiments of the invention, when Intelligent lawn care machine device people waters not in working region Walking, i.e., compared to the prior art in containment structures Intelligent lawn care machine device people watering when need always in workspace Walking could water in domain, and the Intelligent lawn care machine device people of this embodiment of the invention is not moving condition when watering.Intelligence Energy lawn-care machine people completes pouring operation in situ, avoids by the way of spraying water in walking, can be to avoid intelligence Energy lawn-care machine people blocks careless phenomenon caused by damp meadow is walked to be occurred, and can also be avoided the occurrence of because of intelligence Lawn-care machine people rolls lawn phenomenon caused by damp meadow is walked.And it can be directly sharp in the embodiment Confirmation is docked with what the control module of Intelligent lawn care machine device people realized Intelligent lawn care machine device people and base station, does not need volume Individually the control system of complexity is completed to water for outer setting, makes full use of resource, reduces the setting of components, realize intelligence While changing control, cost is saved, the layout of system is simplified.And Intelligent lawn care machine is directly utilized in the embodiment Device people completes to pour work, does not need the complicated pipe network of arrangement, few using part, low in cost.
In another preferred embodiments of Intelligent lawn care machine device people's system of the present invention, watering module is set to intelligent grass On the nursing robot of level ground.It is equally referred to shown in Fig. 2, Intelligent lawn care machine device people includes shell 10, is located on shell 10 Watering module 12, positioned at the mobile module 14 of 10 bottom of shell, the cutting module 16 for executing work, for controlling intelligence Lawn-care machine people automatic work and mobile control module 18 and the energy of energy is provided for Intelligent lawn care machine device people Measure module 20.Control module 18 works for controlling cutting module 16, mobile module 14 and watering module 12.Mobile module 14 is used It is mobile in the drive shell 10.Cutting module 16 in scheduled working region for walking and carrying out in the operational mode work Make.Watering module 12 is for watering to lawn in the case where pouring aqueous mode.In the further embodiment, water module 12 Body has no the space of water storage, when watering module 12 is watered, needs from water source is obtained elsewhere, to complete the work of watering. Regardless of watering module 12 obtains water source from where in which way, in the preferred embodiments of the invention, intelligence lawn shield It is watered in fixed position according to watering map when the watering of reason robot.I.e. compared to the prior art in have containment structures Intelligent lawn care machine device people watering when need always in working region walking could realize pouring, this embodiment of the invention Intelligent lawn care machine device people watering when be to be completed in a fixed place, and watered by watering map, It is not only able to complete the pouring of watering map institute overlay area, and is watered according to watering map, can prevent from pouring out side Boundary avoids watering to unnecessary place.The Intelligent lawn care machine device people of the present embodiment completes in situ pouring Operation saves watering time, and Intelligent lawn care machine device people is avoided to block careless phenomenon caused by damp meadow is walked Occur, can also avoid the occurrence of and show because Intelligent lawn care machine device people rolls lawn caused by damp meadow is walked As.And Intelligent lawn care machine device directly can be realized using the control module of Intelligent lawn care machine device people in the embodiment People docks confirmation with base station, does not need additionally to be arranged individually complicated control system completion watering, makes full use of resource, subtract The setting for having lacked components while realizing intelligentized control method, has saved cost, simplifies the layout of system.And the reality It applies and directly completes to pour work using Intelligent lawn care machine device people in example, do not need the complicated pipe network of arrangement, it is few using part, It is low in cost.
Second embodiment
As shown in figure 13, Figure 13 is the structural representation of Intelligent lawn care machine device people's system of second embodiment of the invention Figure.Intelligent lawn care machine device people's system of second embodiment of the invention includes Intelligent lawn care machine device people 600 and base station 700.Base station 700 is arranged independently of Intelligent lawn care machine device people 600.
As shown in figure 15, Intelligent lawn care machine device people 600 includes shell 30, the mobile module positioned at 30 bottom of shell 32, the cutting module 34 for executing work, the control for controlling Intelligent lawn care machine device people 600 automatic work and movement Module 36 and the energy module 38 of energy is provided for Intelligent lawn care machine device people 600.Control module 36 is for controlling cutting Module 34 works.Mobile module 32 is for driving the shell 30 to move in scheduled working region.Cutting module 34 is used for It works in scheduled working region in the operational mode.
The specific physical form of control module 36 is to be disposed with one or more processors, memory, other related first devices The control circuit board of part and respective peripheral circuit.Control module 36 is built-in with control program, to execute scheduled instruction, control Intelligent lawn care machine device people 600 automatically moves and executes work in working region.Intelligent lawn care machine of the present invention Device people 600 can be intelligent grass-removing or Intelligent sweeping machine device people.Cutting module 34 can be cutting module or cleaning mould Block.
As shown in figure 14, Figure 14 is base station 700 in Intelligent lawn care machine device people's system of second embodiment of the invention Structural schematic diagram.Base station 700 includes watering module 701 and the water system 702 being connected to watering module 701.Water system 702 include water supply interface 703 and the valve 7021 for controlling the output water flow of water supply interface 703.Valve 7021 and a signal receive single Member connection.One end of signal receiving unit connection is connected in valve 7021, the other end and intelligence grass of signal receiving unit connection The control module 36 of level ground nursing robot 600 realizes electric signal transmission or wireless signal transmission.
As shown in figure 14, the Intelligent lawn care machine device people system and first embodiment of the invention of second embodiment of the invention The difference of Intelligent lawn care machine device people's system be that watering module 701 is set on base station 700.On base station 700 Watering module 701 is for watering to lawn in the case where pouring aqueous mode.When watering module 701 is connected to from Intelligent lawn care machine The watering instruction of device people 600 or other external mobile terminal Wireless transceivers, Intelligent lawn care machine device people 600 can be with base stations 700 Docking, when docking successfully, control module 36 can receive the successful feedback signal of docking, and the then confirmation of control module 36 is butted into Function can water, and control module 36 is instructed to signal receiving unit transmission telecommunications number or wireless signal, and valve is opened in instruction 7021, signal receiving unit receives instruction unpack valve 7021, and water system 702 transmits water flow, and watering module 701 obtains currently Water source needed for watering, finally realizes subsequent pouring operation.Intelligent lawn care machine device people's system of the second embodiment is straight Connect pair that Intelligent lawn care machine device people 600 and base station 700 are realized using the control module 36 of Intelligent lawn care machine device people 600 Confirmation is connect, does not need additionally to be arranged individually complicated control system control watering, makes full use of resource, reduce components Setting, while realizing intelligentized control method, has saved cost, has simplified the layout of system.
As shown in figure 14, in Intelligent lawn care machine device people's system of second embodiment of the invention, watering module 701 includes Spray head 704, the connecting line 706 for entering water portion 705 and connection spray head 704 with entering water portion 705 for receiving water source.Spray head 704 wraps Include the nozzle to water.Also have apart from adjustment module 707 in module 701 of watering or base station 700.Apart from adjustment module 707 can be force (forcing) pump or flow control valve.It is adjusted by the pressure apart from adjustment module 707, the spray of adjustable nozzle Water distance from, and then realize to pour region in different boundary position pouring.It is driven by a motor apart from adjustment module 707, is water Stream pressurization enables water flow to reach preset distance when flowing out from drive nozzle to provide power to pour operation.Such as flow Regulating valve is arranged on connecting line 706, provides power for water flow.In one embodiment, apart from adjustment module 125 according to pouring The boundary information-of water map is adjusted, control sprinkling distance, specifically, apart from adjustment module 125 and Intelligent lawn care machine The control module 36 of device people 600 realizes electric signal transmission or wireless signal transmission, 36 command range of indirect utilization control module Adjustment module 125 works.
In a preferred embodiment of Intelligent lawn care machine device people's system of second embodiment of the invention, module of watering 701 have the rotating device (not shown) for promoting spray head 704 or nozzle to rotate.When module 701 of watering works, pass through rotating dress The rotation set drives spray head 704 or nozzle rotation, so that watering module 701 completes the pouring to region is poured.
In one preferred embodiments of Intelligent lawn care machine device people's system of the present invention, watering module is set on base station. As shown in figure 15, Intelligent lawn care machine device people include shell 30, positioned at the mobile module 32 of 30 bottom of shell, for executing work The cutting module 34 of work, the control module 36 for controlling Intelligent lawn care machine device people automatic work and movement and for intelligence The energy module 38 of lawn-care machine people offer energy.Control module 36 is for controlling the work of cutting module 34.Mobile module 32 for driving the shell 30 mobile.Cutting module 34 in the operational mode in scheduled working region walking and into Row work, as shown in figure 13, base station 700 include watering module 701 and the water system 702 being connected to watering module 701.For Water system 702 includes water supply interface 703 and the valve 7021 for controlling the output water flow of water supply interface 703.Valve 7021 and a signal Receiving unit connection.Signal receiving unit connection one end in valve 7021 connect, signal receiving unit connection the other end with The control module 36 of Intelligent lawn care machine device people 600 realizes electric signal transmission or wireless signal transmission.It is further at this In embodiment, watering module 701 has no the space of water storage in itself, when watering module 701 is watered, needs from obtaining water elsewhere Source, to complete the work of watering.Regardless of watering module 701 obtains water source from where in which way, in the present invention, this is preferential In embodiment, the watering module 701 on base station 700 is for watering to lawn in the case where pouring aqueous mode, when base station 700 is watered, Intelligent lawn care machine device people 600 does not walk in working region, i.e., compared to the prior art in containment structures intelligence It needs to walk could water in working region always when lawn-care machine people waters, the intelligent lawn of this embodiment of the invention Intelligent lawn care machine device people 600 is not moving condition when base station 700 is watered in nursing robot's system, avoids intelligent grass Level ground nursing robot 600 blocks careless phenomenon caused by damp meadow is walked to be occurred, and can also be avoided the occurrence of because of intelligence Lawn-care machine people 600 rolls lawn phenomenon caused by damp meadow is walked.Also, it can be straight in the embodiment It connects and realizes that Intelligent lawn care machine device people and docking for base station are true using the control module 36 of Intelligent lawn care machine device people 600 Recognize, when docking successfully, control module 36 can receive the successful feedback signal of docking, and the then confirmation of control module 36 is docked successfully It can water, control module 36 is instructed to signal receiving unit transmission telecommunications number or wireless signal, and valve 7021 is opened in instruction, Signal receiving unit receives instruction unpack valve 7021, and water system 702 transmits water flow, and watering module 701 obtains current watering Subsequent pouring operation is finally realized at required water source, had not both been needed additionally to be arranged individually complicated control system control and has been poured Water makes full use of resource, reduces the setting of components, while realizing intelligentized control method, has saved cost, simplifies and is The layout of system.
In another preferred embodiments of Intelligent lawn care machine device people's system of the present invention, watering module is set to base station On.It is equally referred to shown in Figure 15, Intelligent lawn care machine device people includes shell 30, the mobile module positioned at 30 bottom of shell 32, the cutting module 34 for executing work, the control mould for controlling Intelligent lawn care machine device people automatic work and movement Block 36 and the energy module 38 of energy is provided for Intelligent lawn care machine device people.Control module 36 is for controlling mobile module 32, module 701 of watering and cutting module 34 work.Mobile module 32 is for driving the shell 30 in scheduled working region It is mobile.Cutting module 34 in scheduled working region for working in the operational mode, as shown in figure 13, base station 700 Including watering module 701 and the water system 702 being connected to watering module 701.Water system 702 includes water supply interface 703 And control water supply interface 703 exports the valve 7021 of water flow.Valve 7021 is connect with a signal receiving unit.Signal receiving unit One end of connection is connected in valve 7021, the other end of signal receiving unit connection and the control of Intelligent lawn care machine device people 600 Molding block 36 realizes electric signal transmission or wireless signal transmission.In the further embodiment, watering module 701 itself is simultaneously Space without water storage when watering module 701 is watered, is needed from water source is obtained elsewhere, to complete the work of watering.Regardless of Module 701 of watering is water source to be obtained from base station, or obtain water source from other water outlets, it is to be understood that watering module 701 be a component independently of Intelligent lawn care machine device people setting, and watering module 701 is watered according to watering map, And water module 701 water when, the Intelligent lawn care machine device people is in the position that some is fixed, not in working region expert It walks.I.e. compared to the prior art in containment structures Intelligent lawn care machine device people watering when need always in working region Interior walking could realize pouring, and the Intelligent lawn care machine device people 600 of this embodiment of the invention does not need setting watering module, and It is to be watered by the watering module 701 being independently arranged, can reduce the volume of Intelligent lawn care machine device people, and intelligence grass Level ground nursing robot 600 does not walk in working region, i.e., compared to the prior art in containment structures intelligent lawn protect It needs to walk could water in working region always when the watering of reason robot, the Intelligent lawn care machine of this embodiment of the invention Intelligent lawn care machine device people 600 is not moving condition when base station 700 is watered in device people's system, avoids Intelligent lawn care Robot 600 blocks careless phenomenon caused by damp meadow is walked to be occurred, and can be avoided the occurrence of because of Intelligent lawn care Robot 600 rolls lawn phenomenon caused by damp meadow is walked.Also, intelligence can be directly utilized in the embodiment The realization Intelligent lawn care machine device people of control module 36 of energy lawn-care machine people 600 docks confirmation with base station, is butted into When function, control module 36 can receive the successful feedback signal of docking, and then the confirmation of control module 36 is docked and can successfully be watered, Control module 36 is instructed to signal receiving unit transmission telecommunications number or wireless signal, and valve 7021 is opened in instruction, and signal receives Unit receives instruction unpack valve 7021, and water system 702 transmits water flow, water needed for watering module 701 obtains current watering Subsequent pouring operation is finally realized in source, has not both needed additionally to be arranged individually complicated control system control watering, sufficiently benefit With resource, reduce the setting of components, while realizing intelligentized control method, saved cost, simplifies the layout of system.
Intelligent lawn care machine device people's system of second embodiment of the invention further includes to confirm Intelligent lawn care machine The docking confirmation module 708 whether device people 600 successfully docks with base station 700.Valve 7021 can be electromagnetic valve or mechanical valve Door.Certainly, it in the case where valve is machinery valve, does not have to have secondary control unit and carrys out control valve, as machinery valve Valve can also be by manually controlling.Water supply interface 703 is connect with water source, such as running water outlet mouth etc..Intelligent lawn Nursing robot 600 is docked in the case where pouring aqueous mode with base station 700, and whether the docking perception of confirmation module 708 docks success, works as docking After the perception of confirmation module 708 is docked successfully, control module 36 can receive the successful feedback signal of docking, then control module 36 Confirmation is docked and can successfully be watered, and control module 36 is instructed to signal receiving unit transmission telecommunications number or wireless signal, instruction Valve 7021 is opened, signal receiving unit receives instruction unpack valve 7021, and water system 702 transmits water flow, module 701 of watering Water source needed for obtaining current watering, finally realizes subsequent pouring operation.It can also be single in other further embodiments One secondary control unit is solely set on base station, docks successful feedback signal and does not feed back to control module 36 but directly feed back Secondary control unit is given, the confirmation of secondary control unit is docked and can successfully be watered, and secondary control unit transmits telecommunications to signal receiving unit Number or wireless signal instruction, instruction open valve 7021, signal receiving unit receives instruction unpack valve 7021.
The function that confirmation module 708 is docked in Intelligent lawn care machine device people's system of second embodiment of the invention can be by Various ways realization, can be using the first way in Intelligent lawn care machine device people's system of first embodiment of the invention extremely Any one of 9th kind of mode is realized.Do not repeat to repeat herein.
Wireless communication between control module of the present invention and signal receiving unit can be WIFI, bluetooth, radio, 3G letter Number, 4G signal etc..
Intelligent lawn care machine device people system of the invention carries out pouring operation according to watering map.Intelligence grass of the invention It include map generation module in the nursing robot's system of level ground, watering module is watered according to the watering map of generation.Intelligence grass The mode that level ground nursing robot generates watering map includes automated manner and manual mode.Automated manner include it is a variety of, mainly Intelligent lawn care machine device people obtains map by way of walking, such as robot utilizes inertial navigation technique, and walking obtains work The coordinate of each point in region, ultimately forms pouring map.Or robot passes through the boundary for going to working region Line sounds out the position of boundary line, repeatedly sounds out and ultimately forms pouring map.Or watering map is generated using GPS or DGPS.
Manual mode include it is a variety of, predominantly user obtains watering map manually, such as user holds certain position machine edge Lawn border row, which takes a round, generates watering map.Or the image that user hand takes camera installation to obtain working region is transmitted to APP On, working region is divided by APP and forms pouring map.Or map, user are shown by map softwares such as google maps Hand labeled working region, which obtains, directly on map pours map.Be also possible to user the manual guidance machine people of charging station into Row pouring mode, manual setting pour water boundaries, and robot carries out mode of learning, remember all pouring points to obtain pouring map And it saves.When pouring, robot is successively poured according to the point of memory.It is to be appreciated that the present invention is to the side for obtaining map Formula without limitation, can obtain the mode of map for any automatic or manual that can be realized.
In the preferred embodiment of Intelligent lawn care machine device people's system of the present invention, Intelligent lawn care machine device people's system packet Watering planning module is included, the watering map generated for generation module according to the map carries out watering planning, and watering planning is determined as Control signal is generated according to the boundary of watering map, and then utilizes the sprinkling distance apart from adjustment module control water.
As shown in figure 16, Figure 16 is that base station is watered and according to watering map in Intelligent lawn care machine device people's system of the present invention Realize the schematic diagram that different watering distances are adjusted.Watering after Intelligent lawn care machine device people obtains watering map, on base station Module intelligently adjusts the distance of water spray according to watering map, in Figure 15, to the different positions in the boundary 200 for pouring region 300 The pouring of a, b, c, d are set, Intelligent lawn care machine device people's system needs the distance of the water spray of intelligence adjusting watering module, to reach The purpose on boundary 200 is not poured out, and reaches the purpose poured comprehensively.
As shown in figure 17, Figure 17 is Intelligent lawn care machine device people in Intelligent lawn care machine device people system 100 of the present invention It waters and the schematic diagram that different watering distances are adjusted is realized according to watering map.When Intelligent lawn care machine device people obtains watering ground After figure, the watering module on base station intelligently adjusts the distance of water spray, in Figure 17, Intelligent lawn care machine device according to watering map The watering distance of people is changed, and becomes L2 from L1.
Each watering module has certain jet power, and when pouring region is smaller, a base station, which is arranged, be can be completed Comprehensive covering to the pouring region, for example, when drive nozzle can spray 11-15m apart from when, can be to 350m2Left and right Working region poured, therefore when pour region be less than 350m2When, a base station, which is arranged, can be completed to the pouring region Comprehensive covering.
It is described to pour when base station includes multiple in the preferred embodiment of Intelligent lawn care machine device people's system of the present invention Water planning is determined as using the position of multiple base stations as the fixed water spot that pours, and pours setting preservation at water spot each and pour waterside Boundary, the Intelligent lawn care machine device people successively water when watering according to the water spot that pours of memory.
As shown in figure 18, Figure 18 is that Intelligent lawn care machine device people's system of the present invention divides region and is arranged multiple The schematic diagram of base station.In the preferred embodiment of Intelligent lawn care machine device people's system of the present invention, when the workspace that needs pour When domain area is larger, then according to the ability to work of work area and pouring unit, lawn is divided into multiple working regions, each The base station that at least one includes water system is all arranged in working region.The preferred reality of Intelligent lawn care machine device people's system of the present invention It applies in example, Intelligent lawn care machine device people's system includes watering region division module, is poured for what to map generation module generated Water map carries out region division, and each region after division forms independent watering map and carries out watering planning.It is every after division A region is configured at least one base station.
Such as Figure 18, working region is divided into region A, region B, region C, the pouring that first base station 1 is responsible for a-quadrant is made The pouring operation of B area is responsible in industry, the second base station 2, and the pouring operation in the region C is responsible in third base station 3, so that intelligent lawn Nursing robot 900 can be realized the pouring to entire working region, complete comprehensive covering to large area working region.Work as work Make region relatively to disperse, spacing distance farther out when, such as front garden and back garden in user family cannot pass through a base station realization Multiple working regions farther away to spacing distance are poured, then an at least base station can be respectively set in different zones, from And realize comprehensive pouring to entire working region.After the completion of region A is poured, Intelligent lawn care machine device people walks along boundary line To the second base station 2 and continue to pour region B, after the completion of region B is poured, Intelligent lawn care machine device people is along boundary line row It goes to third base station 3 and continues to pour region C, after the completion of region C is poured, Intelligent lawn care machine device people can be returned Charging station goes to other irrigated area domains to be poured to be poured.
It is above-mentioned about generate watering map and carry out map partitioning, and carry out watering planning description be equally applicable to The Intelligent lawn care of Intelligent lawn care machine the device people system and second embodiment of the invention of the above-mentioned first embodiment of the present invention Robot system.
As shown in figure 19, in the preferred embodiment of Intelligent lawn care machine device people's system of the present invention, Intelligent lawn care Robot can be equipped with watering time and obtain module, and watering time obtains the implementation there are many modes of module acquisition watering time Intelligent lawn care machine device people's system of example includes humidity sensor 801, Intelligent lawn care machine device people 802, base station 803, intelligence Energy lawn-care machine people system carries out sprinkling irrigation operation, in other embodiments, Intelligent lawn care machine in sprinkling irrigation region 804 Device people system can also receive the Weather information 805 of weather station feedback or Intelligent lawn care machine device people system can also be from long-range Weather information is obtained on control device 806, is described in detail below.
First way: Intelligent lawn care machine device people system according to lawn soil humidity information judge automatically whether needs Watering.Lawn information includes the soil humidity information on lawn, and Intelligent lawn care machine device people's system includes that soil moisture obtains mould Block, the humidity information of the lawn soil to receive the reception and registration of humidity sensor 801, the soil moisture obtain module and are configured as By issuing control module after humidity information is directly issued control module processing or processing, after the control module is according to processing Result judge whether need enter pour aqueous mode.Meanwhile the control module obtains the soil that module provides according to soil moisture Watering time is obtained after the analysis of earth humidity information.
As shown in figure 19, in a kind of embodiment of Intelligent lawn care machine device people's system of the present invention, humidity sensor 801 is straight It connects and is embedded in lawn, direct detection soil moisture, the soil moisture of Intelligent lawn care machine device people 802 obtains module and obtains soil Earth humidity value and by humidity value compared with critical value, if humidity value be more than critical value, Intelligent lawn care machine device people 802 judge It needs to carry out pouring operation.And the time of watering is calculated using software algorithm according to specific humidity value.In the embodiment In, watering time refers to the time for completing to pour, and the time is related with the total Water poured in the unit time, and software calculates When, the total Water and humidity condition of meeting bonding unit time converses the reasonable watering time of comparison, after watering time determines, Nozzle is controlled within the time of the determination further according to map and is poured comprehensively to region is poured.In this embodiment, pool is poured Multiple humidity sensors 801 can be set in domain, since the humidity condition of different zones may be not quite similar, in watering proce Soil moisture obtains module can obtain the soil humidity information of the humidity sensor 801 in poured region at any time, right in real time Watering time is adjusted.
In another embodiment of Intelligent lawn care machine device people's system of the present invention, humidity sensor is set up directly on machine On, humidity detection is carried out by machine during the work time.Such as it is carried inside Intelligent lawn care machine device people and represents soil moisture Critical value, if humidity sensor obtain soil moisture value be more than critical value, Intelligent lawn care machine device people judge need Pouring operation is carried out, certainly it will be appreciated that user can also represent the critical value of soil moisture with sets itself or modification, such as Critical value is set or modified on the operation panel of Intelligent lawn care machine device people or through long-distance operating device.
The second way: Intelligent lawn care machine device people system judges automatically whether need to pour according to lawn growth information Water.Lawn information includes the growth information of lawn medium-height grass, and Intelligent lawn care machine device people's system includes lawn growth situation Module is obtained, to receive the lawn growth information that lawn growth sensors are conveyed in lawn soil.The lawn growth situation It obtains module to be configured as by issuing control module after lawn growth information is directly issued control module processing or processing, institute Stating control module, result judges whether to need to enter to pour aqueous mode, Intelligent lawn care machine device people's system according to treated It further include that watering time obtains module, the watering time obtains module and is configured as being mentioned according to lawn growth situation acquisition module Watering time is obtained after the lawn growth information analysis of confession.The lawn growth sensor is embedded in lawn, direct detection grass Growth information, obtain grass growth information after be sent on Intelligent lawn care machine device people, Intelligent lawn care machine device people will Growth value is compared with critical value, if growth value is more than critical value, Intelligent lawn care machine device people judgement needs to carry out pouring work Industry, and watering time is calculated using software algorithm according to the case where growth, watering time refers to the time for completing to pour, should Time is related with the total Water poured in the unit time, when software calculates, the total Water and growth value of meeting bonding unit time It converses comparison reasonable watering time and controls nozzle pair within the time of the determination further according to map after watering time determines Region is poured to be poured comprehensively.
The third mode: the available Weather information 805 of Intelligent lawn care machine device people's system is used as reference information, described Watering time obtains module and is configured as obtaining watering time after analyzing according to the recent weather conditions information of acquisition.Such as it is intelligent Lawn-care machine people directly has the device for perceiving Weather information or Intelligent lawn care machine device people and long-distance operating device It communicates to connect, for example weather forecast is transferred to the control module of Intelligent lawn care machine device people by remote operation controller, into And obtain Weather information.For example, if the Weather information obtained shows and will rain after a period of time, user do not need today into Row pours operation.Weather information can also be obtained by specific weather station.
4th kind of mode: the watering time obtains module and is configured as according to setting in Intelligent lawn care machine device people Set time obtains watering time.Specific watering time plan is set on Intelligent lawn care machine device people, such as is set as The mode that timing is poured, such as fixed time period starting pouring operation at regular intervals, Intelligent lawn care machine device people system Start by set date of uniting, which executes, pours operation, does not need artificially to control, simply, conveniently.Pouring plan such as user may be configured as monthly, Fixed time period weekly or daily carries out pouring operation, or need work on the day of some period of user setting carry out Operation is poured, Intelligent lawn care machine device people starts return charging station within the set time set and dock realizing Pour operation.General display screen and key by the operation panel of Intelligent lawn care machine device people is timed reservation.Example Such as, after selecting automatic timing function in the selection menu in the display screen of operation panel, when will appear reservation in display screen Between, the time of timing is chosen or set by key, and after setting, one can be realized automatic timing function by acknowledgement key Reservation.User may be set in it and think suitable any moment driving Intelligent lawn care machine device people (for intelligence grass as a result, Level ground nursing robot completes the case where watering work) or it is (complete for base station by Intelligent lawn care machine device people driving base station The case where at watering work) it completes to pour work.
In a preferred embodiment of Intelligent lawn care machine device people's system of the present invention, Intelligent lawn care machine device people with Remote operation controller communication connection, user are sent to Intelligent lawn care machine device after setting pouring plan on remote operation controller On people, working method of the Intelligent lawn care machine device people after obtaining pouring plan with it is above-mentioned straight in Intelligent lawn care machine device people The working method for connecing setting pouring plan is identical.
It will be appreciated that in the 4th kind of mode, Intelligent lawn care machine device people and remote operation controller by WIFI or The modes such as cellular network or bluetooth are communicatively coupled, and remote operation controller can be mobile terminal or fixed terminal, example The for example mobile terminals such as mobile phone, iPad, laptop or fixed terminal.User sets pouring on remote operation controller Plan more convenient and quicker, not direct contact with Intelligent lawn care machine device people of user can also complete to pour operation, such as user When staying out, pouring plan also can be set, execute Intelligent lawn care machine device people and pour operation.Intelligent lawn care at this time Robot can be the machine without display screen, reach the requirement of save the cost.
Fifth procedure: user directly operates, such as a representative is arranged on Intelligent lawn care machine device people and pours The button of function presses pouring button when user's judgement needs to pour, and Intelligent lawn care machine device people is automatic after being instructed It returns to base station to dock with base station, pouring operation is carried out by Intelligent lawn care machine device people or base station.
In a preferred embodiment of Intelligent lawn care machine device people's system of the present invention, Intelligent lawn care machine device people with One remote operation controller communication connection, clicks the button for representing and pouring function on remote operation controller, pours instruction and sends To Intelligent lawn care machine device people, auto-returned charging station carries out pouring operation after Intelligent lawn care machine device people is instructed.
It will be appreciated that Intelligent lawn care machine device people and remote operation controller pass through WIFI or cellular network or bluetooth etc. Mode is communicatively coupled, and remote operation controller can be mobile terminal or fixed terminal, for example, mobile phone, iPad, pen Remember the mobile terminals such as this computer or fixed terminal.
Above-mentioned Intelligent lawn care machine device people's system judges whether to need the mode poured that can be used in any combination.Such as Mode one and mode three are applied in combination, and when Intelligent lawn care machine device people's system acquisition soil moisture, judge the dry needs in lawn It when pouring, but will rain after a period of time when Weather information is shown, then user does not need to carry out pouring operation today.Or side Formula one, mode three and mode four are applied in combination, for example, when the pouring plan of Intelligent lawn care machine device people is 10:00- on every Mondays When 12:00 carries out pouring operation automatically, Weather information shows that Zhou Yihui rains, then user's control Intelligent lawn care machine device people is not Execute the plan of pouring.Or by when Intelligent lawn care machine device people pouring plan be on every Mondays 10:00-12:00 automatically into When row pours operation, the soil moisture value of humidity sensor detection is lower than critical value, then user's control Intelligent lawn care machine device People does not execute pouring plan.Or when the pouring plan of Intelligent lawn care machine device people is that 10:00-12:00 is automatic on every Mondays When carrying out pouring operation, the soil moisture value of humidity sensor detection is also above critical value, but Weather information is shown under Zhou Yihui Rain, then user's control Intelligent lawn care machine device people does not execute pouring plan.
In a preferred embodiment of Intelligent lawn care machine device people's system of the present invention, according to different demands, intelligence grass Control module inside the nursing robot of level ground can control Intelligent lawn care machine device people when docking with charging station, executes to pour and make Industry still charges operation.Such as when Intelligent lawn care machine device people electricity is sufficient, and lawn is dry, then control module controls in advance When Intelligent lawn care machine device people returns to charging station, pouring operation is only carried out, charging operation is not executed, works as Intelligent lawn care machine Device people's not enough power supply when lawn is also dried, then when control module control Intelligent lawn care machine device people returns to charging station, is held simultaneously Row pours operation and charging operation.
The remote control dress of above-mentioned 4th kind of mode and fifth procedure introduction being connect with Intelligent lawn care machine device people It sets, other than the function of above-mentioned introduction, additionally it is possible to execute a variety of manipulations to Intelligent lawn care machine device people, such as by long-range Control device control Intelligent lawn care machine device people, which executes when being back to charging station, to pour operation and still charges operation, can also be straight Connect the multiple functions such as opening or closing of manually making of control Intelligent lawn care machine device.
In the description of Intelligent lawn care machine device people system previous embodiment of the present invention, it is shown in the attached drawing that is related to Base station is wholely set with charging station, i.e., the function of base station is integrated on charging station.As shown in figure 20, certainly in other embodiments In, base station can be provided separately with charging station.Intelligent lawn care machine device people's system of embodiment described in Figure 20 includes pouring irrigated area Domain 901, base station 902 and charging station 903.
As shown in figure 22, for a kind of watering of Intelligent lawn care machine device people's system of working region setting single base station Method, Intelligent lawn care machine device people's system include Intelligent lawn care machine device people, the base station with water system and from Water system obtains the watering module at water source, and the watering module has nozzle and controls the distance adjusting of the sprinkling distance of water Module, the sprinkling method of Intelligent lawn care machine device people's system comprising steps of
S103: determine whether lawn needs to water；
S104: needing to water, and Intelligent lawn care machine device people obtains watering instruction, returns to base station；
S105: Intelligent lawn care machine device people docks completion with base station, and the water system of base station supplies water to watering module；
S106: watering module executes watering task；
S107: task is completed, and water system stops supplying water, and watering module does not work.
Before being to pour for the first time when situation or pouring region changes and (needs to regenerate watering map, re-start and pour Water route planning) when, Intelligent lawn care machine device people system executes step before the step S103:
S101: water area is poured in definition, generates watering map；
S102: watering path planning is carried out according to watering map.
After the predefined work of step S101-S102, then executes the usually pouring of step S103-S107 and execute instruction work Make, does not change when pouring region, when usually lawn needs to pour, lawn-care machine people system executes step S103- automatically The work of S107.
In the step S101, the method for generating watering map is at least one of following methods: utilizing inertial navigation technique It is generated with boundary line and obtains watering map after pouring water boundaries, watering map is generated using GPS or DGPS, is hand-held certain according to user Position machine walks along lawn boundary and generates watering map, obtains watering map according to picture pick-up device or network map.
In the step S102, the method for the path planning that waters is to be utilized according to the boundary of watering map apart from adjustment module It is adjusted, and then controls the sprinkling distance of water.
Watering time, the watering are determined before the watering module execution watering task or during execution watering task Module executes watering task in watering time.
Determine that the method for watering time referring to the description of aforementioned four kinds of modes, can be combined judgement watering time, point Be not first way: Intelligent lawn care machine device people system judges automatically whether need to pour according to lawn soil humidity information Water.The second way: Intelligent lawn care machine device people system judges automatically whether need to water according to lawn growth information.Third Kind mode: the Intelligent lawn care machine available Weather information of device people's system obtains mould as reference information, the watering time Block is configured as obtaining watering time after analyzing according to the recent weather conditions information of acquisition.4th kind of mode: when the watering Between obtain module and be configured as obtaining watering time according to set time for setting in Intelligent lawn care machine device people.Such as mode One and mode three be applied in combination, when Intelligent lawn care machine device people's system obtain soil moisture, judge lawn drying need to pour When, but will rain after a period of time when Weather information is shown, then user does not need to carry out pouring operation today.Or mode One, mode three and mode four are applied in combination, for example, when the pouring plan of Intelligent lawn care machine device people is 10:00- on every Mondays When 12:00 carries out pouring operation automatically, Weather information shows that Zhou Yihui rains, then user's control Intelligent lawn care machine device people is not Execute the plan of pouring.Or by when Intelligent lawn care machine device people pouring plan be on every Mondays 10:00-12:00 automatically into When row pours operation, the soil moisture value of humidity sensor detection is lower than critical value, then user's control Intelligent lawn care machine device People does not execute pouring plan.Or when the pouring plan of Intelligent lawn care machine device people is that 10:00-12:00 is automatic on every Mondays When carrying out pouring operation, the soil moisture value of humidity sensor detection is also above critical value, but Weather information is shown under Zhou Yihui Rain, then user's control Intelligent lawn care machine device people does not execute pouring plan.
As shown in figure 23, a kind of watering of Intelligent lawn care machine device people's system of multiple base stations is set for working region Method, Intelligent lawn care machine device people's system include Intelligent lawn care machine device people, multiple base stations with water system And the watering module at water source is obtained from water system, the sprinkling method of Intelligent lawn care machine device people's system comprising steps of
S203: determine whether lawn needs to water；
S204: needing to water, and Intelligent lawn care machine device people, which enters, pours aqueous mode, returns to first base station；
S205: Intelligent lawn care machine device people is docked with first base station, and the water system of first base station gives watering mould Block supplies water；
S206: watering module executes watering task to first base station region range；
S207: first base station region watering task is completed, and water system stops supplying water, and watering module does not work；
S208: determine whether not water there are also region；
S209: if do not watered there are also region, Intelligent lawn care machine device moves to i-th of base station, open this i-th The water system of a base station, watering module go to the watering task of i-th of base station region, and task is completed, water system Stop supplying water, watering module does not work；
S210: it if do not watered without region, ends task.
Before being to pour for the first time when situation or pouring region changes and (needs to regenerate watering map, re-start and pour Water route planning) when, Intelligent lawn care machine device people system also has step before the step S203:
S201: water area is poured in definition, generates watering map, and is N number of region by watering map partitioning；
S202: watering path planning is carried out to N number of region.
In the step S201, the method for generating watering map is at least one of following methods: utilizing inertial navigation technique It is generated with boundary line and obtains watering map after pouring water boundaries, watering map is generated using GPS or DGPS, is hand-held certain according to user Position machine walks along lawn boundary and generates watering map, obtains watering map according to picture pick-up device or network map.
In the step S202, the method for the path planning that waters is the side according to the watering map of each region after division Boundary utilizes and is adjusted apart from adjustment module, and then controls the sprinkling distance of water.A base station, institute are equipped in each region It states in step S202, the method for the watering path planning is to pour water spot using each base station as what is remembered, and in each watering Setting, which saves, at point pours water boundaries, and the Intelligent lawn care machine device people successively pours when watering according to the water spot that pours of memory Water.
Watering time, the watering are determined before the watering module execution watering task or during execution watering task Module executes watering task in watering time.Determining the method for watering time, referring to the description of aforementioned four kinds of modes, is respectively First way: Intelligent lawn care machine device people system judges automatically whether need to water according to lawn soil humidity information.The Two kinds of modes: Intelligent lawn care machine device people system judges automatically whether need to water according to lawn growth information.The third side Formula: the Intelligent lawn care machine available Weather information of device people's system obtains module quilt as reference information, the watering time It is configured to obtain watering time after analyzing according to the recent weather conditions information of acquisition.4th kind of mode: the watering time obtains Modulus block is configured as obtaining watering time according to the set time set in Intelligent lawn care machine device people.
After the predefined work of step S201-S202, then executes the usually pouring of step S203-S210 and execute instruction work Make, does not change when pouring region, when usually lawn needs to pour, lawn-care machine people system executes step S203- automatically The work of S210.
The beneficial effects of the present invention are: Intelligent lawn care machine device people does not need to walk when watering module watering, water mould Block waters according to watering map in situ, and watering module is set up directly on Intelligent lawn care machine device people above or is integrated in On base station, when watering, Intelligent lawn care machine device people will not walk on lawn, and Intelligent lawn care machine device people is avoided to filter wet Block careless phenomenon caused by the meadow walking filtered, can also avoid the occurrence of because Intelligent lawn care machine device people is in damp grass Lawn phenomenon is rolled caused by ground walking；Meanwhile base station provides sufficient water source, does not need midway plus water, it is time saving and energy saving, It waters high-efficient, securely and reliably, user can thoroughly free from lawn-care labor service, do not need the complicated pipe of arrangement Net, it is few using part, it is low in cost；Also, Intelligent lawn care machine device people is complete in a fixed place when watering At, and watered by the map that waters, it is not only able to complete the pouring of watering map institute overlay area, and according to watering ground Figure waters, and can prevent from pouring out boundary, avoids watering to unnecessary place；Also, intelligent grass is directly utilized The controlling terminal for module of watering has been directly integrated in Intelligent lawn care machine device people by the control module of level ground nursing robot On, it does not need that various processing and control that individually complicated control system completes watering are additionally arranged, realizes intelligent control While processed, cost has been saved, the various resources in working environment has been taken full advantage of, simplifies the cloth of control system and structure Office.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.

Claims (39)

1. a kind of Intelligent lawn care machine device people's system comprising Intelligent lawn care machine device people, the Intelligent lawn care machine Device people includes:
Shell；
Mobile module, for driving the shell to move in scheduled working region；
Operational module, for working in scheduled working region in the operational mode；
It is characterized in that, Intelligent lawn care machine device people's system further include:
Watering module, for watering in the case where pouring aqueous mode to lawn；
Base station, the base station are arranged and have water system independently of Intelligent lawn care machine device people, described in the case where pouring aqueous mode Intelligent lawn care machine device people is docked with base station, water source needed for water system provides current watering to watering module；
Control module, for controlling mobile module, cutting module and watering module work.
2. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the watering module includes spray Head receives entering water portion and connecting spray head and enter the connecting line in water portion for water source, and the spray head includes the nozzle to water, The base station has and the outlet part that enters water portion and dock.
3. Intelligent lawn care machine device people's system according to claim 2, which is characterized in that the watering module, which has, to be promoted The rotating device for rotating spray head or nozzle.
4. Intelligent lawn care machine device people's system according to claim 2, which is characterized in that the watering module, which has, to be used With adjust nozzle water spray distance apart from adjustment module.
5. Intelligent lawn care machine device people's system according to claim 2, which is characterized in that it is described enter water portion have water flow Buffer area, the area of section in the water flow buffer area are greater than the area of section of connecting line.
6. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the Intelligent lawn care machine Device people's system has docking confirmation module, and the docking confirmation module has the be set on the Intelligent lawn care machine device people One triggering end and the second triggering end on base station, after first triggering end is docked with the completion of the second triggering end, the confession Water source needed for water system provides current watering to watering module.
7. Intelligent lawn care machine device people's system according to claim 6, which is characterized in that the Intelligent lawn care machine Device people's system has charging station, and the base station is set at charging station and connect with charging station, and first triggering end is set on intelligence The first charging part on energy lawn-care machine people, second triggering end is to be located at docking on charging station with the first charging part The second charging part, after the completion of first charging part and the second charging part dock, the control module controls water system and gives Water source needed for module of watering provides current watering.
8. Intelligent lawn care machine device people's system according to claim 7, which is characterized in that the base station is integrated in charging On standing.
9. Intelligent lawn care machine device people's system according to claim 6, which is characterized in that first triggering end is to use Enter water portion to receive the water source of base station transmitting, second triggering end be with the outlet part that enters water portion and dock, the intelligence is careless Level ground nursing robot's system further includes the guide housing to guide the first triggering end to dock with the second triggering end.
10. Intelligent lawn care machine device people's system according to claim 9, which is characterized in that the guide housing is first Triggering end can float when docking with the second triggering end.
11. Intelligent lawn care machine device people's system according to claim 6, which is characterized in that first triggering end is Water source to receive base station transmitting enters water portion, second triggering end be with the outlet part that enters water portion and dock, described first Triggering end or the second triggering end further include check valve and pressure sensor, and first triggering end is single after docking with the second triggering end It is connected to valve, the pressure sensor has detected hydraulic pressure, and the water system provides current watering institute directly to watering module The water source needed.
12. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the water system has Water supply interface and the extensible hose connecting with water supply interface, the watering module are set on Intelligent lawn care machine device people, The watering module is connect with hose, and the Intelligent lawn care machine device people can walk under the driving of control module with hose Certain distance.
13. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the watering module is integrated On base station, there is the water system water supply interface, control water supply interface to export the valve of water flow and believe with control module The signal receiving unit of number transmission, the Intelligent lawn care machine device people docks in the case where pouring aqueous mode with base station, the control mould Block indicates that valve is opened by signal receiving unit, water source needed for the water system provides current watering to watering module.
14. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the Intelligent lawn care Robot system further includes map generation module, is set in shell, and the watering module is carried out according to the watering map of generation Watering.
15. Intelligent lawn care machine device people's system according to claim 14, which is characterized in that the Intelligent lawn care Robot system further includes watering region division module, is set in shell, the watering generated for map generation module Figure carries out region division, and each region after division forms independent watering map and carries out watering planning.
16. Intelligent lawn care machine device people's system according to claim 15, which is characterized in that each region after division Configured with the base station described at least one.
17. Intelligent lawn care machine device people's system according to claim 14, which is characterized in that the Intelligent lawn care Robot system further includes watering planning module, and the watering map generated for generation module according to the map carries out watering planning, The watering planning is determined as the sprinkling distance of the boundary Control water according to watering map.
18. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the base station include it is multiple, Intelligent lawn care machine device people's system further includes watering planning module, and the watering planning is determined as the position of multiple base stations It sets as the fixed water spot that pours, the Intelligent lawn care machine device people successively waters when watering according to the water spot that pours of memory.
19. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the Intelligent lawn care Robot system further includes that soil moisture obtains module and watering time acquisition module, and the soil moisture acquisition module is configured Control is issued to receive the soil humidity information of humidity sensor reception and registration and issuing humidity information after control module is handled or handled Molding block, according to treated, result judges whether to need to enter to pour aqueous mode the control module, and the watering time obtains Module is configured as obtaining watering time after obtaining the soil humidity information analysis that module provides according to soil moisture.
20. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the Intelligent lawn care Robot system further includes that lawn growth situation obtains module and watering time acquisition module, the lawn growth situation acquisition mould Block is configured as receiving the lawn growth information of lawn growth sensors reception and registration in lawn soil and issues lawn growth information Control module is issued after control module processing or processing, result judges whether to need to enter the control module according to treated Aqueous mode is poured, the watering time obtains module and is configured as obtaining the lawn growth letter that module provides according to lawn growth situation Watering time is obtained after breath analysis.
21. Intelligent lawn care machine device people's system according to claim 20, which is characterized in that the Intelligent lawn care Robot system further includes that watering time obtains module, and the watering time obtains module and is configured as the recent day according to acquisition Watering time is obtained after vaporous condition information analysis.
22. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the Intelligent lawn care Robot system further includes that watering time obtains module, and the watering time obtains module and is configured as according to Intelligent lawn care The set time set in robot obtains watering time.
23. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the Intelligent lawn care Robot system further includes that watering time obtains module, the watering time obtain module according to the soil humidity information on lawn, Lawn growth information, recent weather conditions and fixation watering time at least two situations combined treatment obtain watering when Between.
24. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the watering module is integrated On base station, when the watering module is watered, the Intelligent lawn care machine device people is slack.
25. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the watering module is integrated On base station, when the watering module is watered according to watering map, the Intelligent lawn care machine device people is slack.
26. Intelligent lawn care machine device people's system according to claim 1, which is characterized in that the Intelligent lawn care The artificial intelligent grass-removing of machine, the operational module include cutting module, in the operational mode in scheduled working region Inside mow.
27. a kind of Intelligent lawn care machine device people characterized by comprising
Shell；
Mobile module is set on shell, for driving the shell mobile；
Cutting module is set on shell, for working in scheduled working region in the operational mode；
Watering module, is set on shell, for watering in the case where pouring aqueous mode to lawn；
Control module, for controlling mobile module, cutting module and watering module work；
The Intelligent lawn care machine device people does not walk when watering in working region.
28. a kind of Intelligent lawn care machine device people characterized by comprising
Shell；
Mobile module is set on shell, for driving the shell mobile；
Cutting module is set on shell, for working in scheduled working region in the operational mode；
Watering module, is set on shell, for watering in the case where pouring aqueous mode to lawn；
Control module, for controlling mobile module, cutting module and watering module work；
It is watered in fixed position according to watering map when the Intelligent lawn care machine device people waters.
29. a kind of sprinkling method of Intelligent lawn care machine device people's system, Intelligent lawn care machine device people's system includes intelligence Energy lawn-care machine people, the base station with water system and the watering module that water source is obtained from water system, the watering mould Block have nozzle and control water sprinkling distance apart from adjustment module, which is characterized in that the Intelligent lawn care machine device The sprinkling method of people's system comprising steps of
S103: determine whether lawn needs to water；
S104: needing to water, and Intelligent lawn care machine device people obtains watering instruction, returns to base station；
S105: Intelligent lawn care machine device people docks completion with base station, and the water system of base station supplies water to watering module；
S106: watering module executes watering task；
S107: task is completed, and water system stops supplying water, and watering module does not work.
30. the sprinkling method of Intelligent lawn care machine device people's system according to claim 29, which is characterized in that described Before step S103, also there is step:
S101: water area is poured in definition, generates watering map；
S102: watering path planning is carried out according to watering map.
31. the sprinkling method of Intelligent lawn care machine device people's system according to claim 30, which is characterized in that the step In rapid S102, the method for the path planning that waters is and then to control water according to the boundary adjustable range adjustment module of watering map Spray distance.
32. the sprinkling method of Intelligent lawn care machine device people's system according to claim 29, which is characterized in that described to pour Before water module execution watering task or determining watering time during watering task is executed, the watering module is in watering time Interior execution watering task.
33. the sprinkling method of Intelligent lawn care machine device people's system according to claim 32, which is characterized in that determination is poured The method of water time be according at least one of following methods: according to the humidity information of soil analysis after obtain watering time, According to obtained after lawn growth information analysis watering time, according to obtained after recent weather conditions information analysis watering time, According to fixed watering time.
34. a kind of sprinkling method of Intelligent lawn care machine device people's system, Intelligent lawn care machine device people's system includes intelligence Energy lawn-care machine people, multiple base stations with water system and the watering module that water source is obtained from water system, feature Be, the sprinkling method of Intelligent lawn care machine device people's system comprising steps of
S203: determine whether lawn needs to water；
S204: needing to water, and Intelligent lawn care machine device people obtains watering instruction, returns to first base station；
S205: Intelligent lawn care machine device people is docked with first base station, and the water system of first base station is supplied to watering module Water；
S206: watering module executes watering task to first base station region range；
S207: first base station region watering task is completed, and water system stops supplying water, and watering module does not work；
S208: determine whether not water there are also region；
S209: if do not watered there are also region, Intelligent lawn care machine device moves to i-th of base station, opens i-th of base The water system stood, watering module go to the watering task of i-th of base station region, and task is completed, and water system stops It supplies water, watering module does not work；
S210: it if do not watered without region, ends task.
35. the sprinkling method of Intelligent lawn care machine device people's system according to claim 34, which is characterized in that described Before step S203, also there is step:
S201: water area is poured in definition, generates watering map, and is N number of region by watering map partitioning, is equipped with one in each region A base station,；
S202: watering path planning is carried out to N number of region.
36. the sprinkling method of Intelligent lawn care machine device people's system according to claim 35, which is characterized in that the step In rapid S202, the method for the path planning that waters is to be adjusted according to the boundary adjustable range of the watering map of each region after division Module, and then control the sprinkling distance of water.
37. the sprinkling method of Intelligent lawn care machine device people's system according to claim 35, which is characterized in that the step In rapid S202, the method for the watering path planning is to pour water spot using each base station as memory, and pour at water spot each Setting, which saves, pours water boundaries, and the Intelligent lawn care machine device people successively waters when watering according to the water spot that pours of memory.
38. the sprinkling method of Intelligent lawn care machine device people's system according to claim 34, which is characterized in that described to pour Before water module execution watering task or determining watering time during watering task is executed, the watering module is in watering time Interior execution watering task.
39. the sprinkling method of Intelligent lawn care machine device people's system according to claim 38, which is characterized in that determination is poured The method of water time be according at least one of following methods: according to the humidity information of soil analysis after obtain watering time, According to obtained after lawn growth information analysis watering time, according to obtained after recent weather conditions information analysis watering time, According to fixed watering time.
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