CN114467469A - Lawn mower, lawn care method and storage medium - Google Patents
Lawn mower, lawn care method and storage medium Download PDFInfo
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- CN114467469A CN114467469A CN202210248027.7A CN202210248027A CN114467469A CN 114467469 A CN114467469 A CN 114467469A CN 202210248027 A CN202210248027 A CN 202210248027A CN 114467469 A CN114467469 A CN 114467469A
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- 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/007—Metering or regulating systems
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- 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
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- General Physics & Mathematics (AREA)
- Insects & Arthropods (AREA)
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Abstract
The invention discloses a mower, a lawn care method and a storage medium, wherein the method comprises the following steps: acquiring the current task type, wherein the type comprises a liquid spraying task and a mowing task; if the task is a mowing task, starting the mower main body to mow the lawn; if the task is a liquid spraying task, acquiring the distance between the liquid spraying device and the surface of the lawn as a first distance; judging whether the first distance is equal to a preset distance or not; if the distance between the liquid spraying device and the lawn surface is different, the height of the liquid spraying device is adjusted by the height adjusting part, the step of obtaining the distance between the liquid spraying device and the lawn surface is returned as the first distance until the first distance is equal to the preset distance, and then the liquid is sprayed on the lawn surface by the spraying device.
Description
Technical Field
The invention relates to the field of garden management, in particular to a mower and a lawn care method.
Background
The lawn is a lawn which is artificially planted or artificially maintained and managed and has the effects of greening and beautifying. It is one of the signs of civilization degree of a country and a city. It refers to the ground cover which is covered by grass of Gramineae and other delicate plants and is filled with the root and stolons of the grass of Gramineae and other delicate plants on the surface layer of the soil. Is suitable for beautifying the environment, the garden landscape, purifying the air, keeping the water and soil, providing outdoor activities and sports places, thereby needing to frequently nurse the lawn and ensuring the health of the lawn so as to bring better life experience for people.
The daily nursing work of the lawn comprises lawn fertilization, lawn deinsectization and sterilization, watering and the like, the flourishing lawn needs fertile soil, and the soil of the lawn is fertilized regularly, so that the soil is favorable for keeping fertile; meanwhile, the lawn naturally generates underground insect pests concentrated on a soil layer, overground insect pests concentrated on the surfaces of grass blades and lawn fungus pests along with climate change, so people need to regularly perform insect killing and sterilization treatment on the soil and the surfaces of the grass blades of the lawn, the flourishing growth and greening of the grass are facilitated, in addition, proper watering is very important, and the lawn needs to be watered with a large amount of water once in early spring and late autumn.
In the prior art, the lawn mower is mainly used for mowing, watering, supplementing liquid fertilizer, spraying insecticide and bactericide and other medicines are manually carried out, and the inventor finds that the prior art at least has the following problems in the process of lawn care:
at present, the lawn mower is mainly used for mowing, watering, supplementing liquid fertilizer, spraying insecticide and bactericide and other medicines need manual treatment, so that the lawn nursing is relatively complicated and the efficiency is relatively low.
2, in the spraying process of the liquid fertilizer, the liquid insecticide and the liquid bactericide, molecules of the liquid fertilizer, the liquid insecticide and the liquid bactericide can permeate into the air around a user, so that the user needs to wear a mask, gloves and goggles to prevent the human body from being contacted by the mouth, the nose, the skin, the mucous membrane and the eyes during operation, but chemical molecules of the solutions can be more or less contacted with the human body of the user, the work is required to be carried out every month, and the human body health is harmed for a long time;
3, the positions where the liquid reaches are difficult to control accurately by manually watering, supplementing liquid fertilizers and spraying pesticides, bactericides and other medicines, and the absorption of the liquid to the plants is greatly influenced due to the fact that the liquid reaches the root positions of the lower plants, so that the lawn care effect is poor.
Disclosure of Invention
The embodiment of the invention provides a mower and a lawn care method, which aim to improve the efficiency of lawn care.
In order to solve the technical problem, an embodiment of the present application provides a lawn mower, including the lawn mower body and connect in the base of lawn mower body, base fixedly connected with liquid holds the container, liquid holds the container and disposes at least one liquid sprinkler, liquid sprinkler's liquid outlet is connected with range unit and height adjusting part.
Optionally, an auxiliary wheel is connected below the base.
Optionally, a satellite positioning signal receiving device is connected to the base or the liquid containing container.
Optionally, the base or the liquid container is connected with a path calculating component and a power driving component, the path calculating component is respectively in communication connection with the driving component and the satellite positioning signal receiving device, the power driving component is arranged inside the auxiliary wheel, a stator of the power driving component is fixedly connected with an inner ring of the tire, or the power driving component is arranged outside the auxiliary wheel, and the power driving component is connected with the auxiliary wheel through a shaft.
Optionally, the base or the liquid holding container is connected to a timed task device and a self-starting device.
Optionally, the timed task device includes a task setting component, a timing setting component and a task triggering component, the task setting component is configured to set a basic task, the timing setting component is configured to set a trigger time of the basic task, and the task triggering component is configured to start the self-starting device and execute the basic task when a current time reaches the trigger time set in the timing setting component.
Optionally, the distance measuring component is a laser distance measuring component or an ultrasonic distance measuring component.
Optionally, a camera device is arranged on the mower base or the liquid containing container.
Optionally, a liquid filling port is reserved in the liquid containing container.
Optionally, a liquid level monitoring part is connected to the liquid container, and the liquid level monitoring part is used for monitoring the liquid level in the liquid container.
Optionally, the lawn mower further comprises an automatic liquid filling component, and the automatic liquid filling component is in communication connection with the liquid level monitoring component and is used for filling the liquid in the liquid container when the liquid level monitoring component monitors that the liquid level is lower than a preset liquid level.
In order to solve the above technical problem, an embodiment of the present application further provides a lawn care method, including:
acquiring current task types, wherein the types comprise a liquid spraying task and a mowing task;
if the task is a liquid spraying task, acquiring the distance between the liquid spraying device and the surface of the lawn as a first distance;
judging whether the first distance is equal to a preset distance or not;
if not, adjusting the height of the liquid spraying device by adopting a height adjusting part, and returning to the step of acquiring the distance between the liquid spraying device and the lawn surface as a first distance until the first distance is equal to the preset distance;
spraying liquid on the surface of the lawn by using the spraying device;
and if the task is a mowing task, starting the mower main body to mow the lawn.
Optionally, the type of the sprayed liquid includes liquid fertilizer, liquid medicine, and water, and the preset distance is determined based on the type of the sprayed liquid.
Optionally, before the obtaining of the current task type, the method further includes:
determining the lawn range based on a real-time carrier dynamic differential positioning mode;
and performing dynamic path planning according to the lawn range and the working radius of the mower to obtain the working path of the mower.
Optionally, after the spraying device is used to spray the liquid on the surface of the lawn, or after the mower body is started to mow the lawn if the task is a mowing task, the lawn care method further includes:
controlling the mower to travel based on the working path and to perform the mowing process or to perform the spraying liquid during the travel.
Optionally, the method of lawn care further comprises:
if the task is a liquid spraying task, monitoring the liquid level of the liquid containing container according to a preset mode when the task is executed;
when the liquid level is lower than a preset liquid level, recording the current position as a recording point, and driving the mower to run to a specified supplement point for liquid supplement;
and after the liquid is supplemented, returning to the recording point, and continuing to execute the liquid spraying task.
Optionally, before the obtaining the current task type, the lawn care method further comprises:
receiving input task parameters, writing the task parameters into a task list, setting task states corresponding to the task parameters to be executed, wherein the task states comprise executed, executing and to-be-executed task states;
taking the task time with each task state in the task list as to-be-executed as trigger time;
and comparing the current time with the trigger time at regular time, and if the current time reaches the trigger time, taking the task parameter corresponding to the trigger time as a current task and driving the mower to execute the current task.
In order to solve the technical problem, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed, the computer program implements the steps of the lawn care method.
The lawn mower, the lawn care method and the storage medium provided by the embodiment of the invention are used for acquiring the current task type; if the task is a mowing task, starting the mower main body to mow the lawn; if the task is a liquid spraying task, acquiring the distance between the liquid spraying device and the surface of the lawn as a first distance; judging whether the first distance is equal to a preset distance or not; if inequality, then adopt the altitude mixture control part to adjust liquid sprinkler's height, and return and acquire the distance on liquid sprinkler and lawn surface, as the step of first distance, until first distance equals with preset distance, adopt sprinkler to spray liquid to the lawn surface again, realized having had the function of mowing simultaneously and watering, be favorable to improving the efficiency of lawn nursing, and simultaneously, can be according to actual need, highly adjusting liquid sprinkler, realize accurate spraying, make the liquid of spraying better absorbed by the plant, improve the efficiency of lawn nursing.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic view of an embodiment of a lawnmower of the present application;
FIG. 2 is a partial component schematic view of the present application;
FIG. 3 is an exemplary architecture diagram of a grass combing device of a lawn mower of the present application;
FIG. 4 is a flow chart of an embodiment of a lawn care method of the present application;
fig. 5 is an exemplary system architecture diagram in which the lawn care methods of the present application may be applied.
Description of the reference numerals:
01. a mower body; 02. a base; 03. a liquid holding container; 04 liquid spraying device; 041 liquid outlet of the liquid spraying device; 05 a distance measuring part; 06 height adjustment means.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is an exemplary diagram of a lawn mower in the embodiment, which is detailed as follows:
the utility model provides a lawn mower, includes lawn mower body 01 and connects in the base 02 of lawn mower body, and base fixedly connected with liquid holds container 03, and liquid holds the container and disposes at least one liquid sprinkler 04, and liquid sprinkler's liquid outlet 041 is connected with range unit 05 and height adjusting part 06.
Specifically, in this embodiment, the lawn mower body is connected with the base, and the base is used for supporting liquid holding container to dispose at least one liquid sprinkler on liquid holding container to make the lawn mower can be used for liquid to spray simultaneously, improve lawn care efficiency.
Among the types of liquids, there are but not limited to: the water, the liquid fertilizer, the lawn insecticide and the lawn bactericide are selected according to the actual application requirements, and are not limited specifically.
Furthermore, a liquid outlet of the liquid spraying device is connected with a distance measuring component and a height adjusting component.
The distance measuring component includes, but is not limited to, a laser distance measuring component or an ultrasonic distance measuring component, such as a laser distance measuring sensor.
Wherein, altitude mixture control part can be the column spinner, the screw thread post structural component that liquid sprinkler's liquid outlet set up, when column spinner, screw thread post were rotated, realized high lift, perhaps, is provided with the interface of stretching out and drawing back perpendicularly as altitude mixture control part at liquid sprinkler's liquid outlet.
It should be noted that there are two kinds of liquid and solid fertilizers/deinsectization agents on the market. The solid material has the defects that the solid material is too concentrated, the solid material is required to be watered immediately and simultaneously after being sprayed and is dissolved and is absorbed by soil, the watering amount is required to be controlled appropriately, the solid material with too large water amount is taken away by water after being dissolved, the actual absorption amount of the soil is very small, and the position concentration of the solid material with too small water amount is too high to generate a grass burning phenomenon.
Optionally, an auxiliary wheel is connected below the base.
Preferably, the liquid atomization device is arranged in the liquid containing container, liquid can be atomized and then sprayed out from a liquid outlet (nozzle) of the liquid spraying device, and the atomization can enable molecules of the liquid to be diffused more widely and more uniformly. Liquid sprinkler's liquid outlet (spout) is highly adjustable apart from ground, as preferred mode, this embodiment sets for height-adjustable apart from the scope and is 20 millimeters to 100 millimeters, be close 20 millimeters height more, then the shower nozzle is close the soil on lawn more, can directly spray soil, let liquid go deeper soil, be close 100 millimeters height more, then the shower nozzle is close the height of grass leaf more, can directly spray grass leaf, consequently, adjustable's liquid outlet (spout) had both been satisfied directly and have been sprayed soil, also satisfied and carried out the lawn care demand that sprays to grass leaf surface.
It should be understood that in a real scene, the lawn is affected by wind, etc. and there is a certain disorder, as a preferable mode, the embodiment is provided with a grass combing device at the front end of the liquid spraying device, the grass combing device is connected with the liquid spraying device, or is connected with the liquid containing container or is connected with the base, as shown in fig. 3, fig. 3 is a schematic view of the grass combing device, the grass combing device is a flat uniform sawtooth grass combing plate (left side view of fig. 3) or a cylindrical grass combing column (right side view of fig. 3) for combing the lawn and then spraying liquid, the grass after combing is more breathable, the effect during spraying pesticide is better, the watering/pesticide and fertilizer are absorbed by the ground 100%, compared with the existing system, the advantages of saving water, protecting environment and reducing air pollution are achieved.
In this embodiment, the base below of lawn mower body coupling, be provided with the auxiliary wheel, the auxiliary wheel can drive base and lawn mower body and move, it needs to explain, base fixedly connected with liquid holds the container, make the weight of lawn mower heavier, adopt the mode of traditional handheld lawn mower, can make corresponding staff comparatively labouring, and in this embodiment, the base below is provided with the auxiliary wheel, adopt the auxiliary wheel to drive the lawn mower and move, be favorable to improving the travelling speed of lawn mower at the mowing or spraying liquid in-process, thereby when reducing the total consumption of mowing or spraying this process of liquid, be favorable to improving lawn care efficiency.
In a particularly alternative embodiment, the base or fluid holding container of the lawnmower is connected to a satellite positioning signal receiving device.
In another specific alternative embodiment, as shown in fig. 2, the base or the liquid container is connected with a path calculating component and a power driving component, the path calculating component is respectively connected with the driving component and the satellite positioning signal receiving device in a communication manner, the power driving component is arranged inside the auxiliary wheel, and a stator of the power driving component is fixedly connected with an inner ring of the tire, or the power driving component is arranged outside the auxiliary wheel and is connected with the auxiliary wheel through a shaft.
Wherein the satellite positioning signal receiving device is used for receiving satellite signals, such as a GPS receiver device or the like.
Wherein the path calculation component is used for determining the lawn edge based on the received satellite signal and calculating the driving route of the mower based on the determined lawn edge.
The power driving component is used for driving the auxiliary wheel to travel according to the traveling route determined by the path calculating component based on the traveling route, so as to realize automatic liquid spraying or mowing tasks, and in the embodiment, the power driving component specifically includes but is not limited to: a drive motor, a power battery, a power controller system, etc.
When the power drive member is an in-wheel motor, it is generally placed inside the auxiliary wheel and fixedly connected to the inner ring of the auxiliary wheel through the stator of the in-wheel motor.
In a particular alternative embodiment, the base or liquid holding container is connected to the timed task device and the self-priming device.
In another specific optional implementation manner, the timed task device includes a task setting component, a timing setting component and a task triggering component, the task setting component is configured to set a basic task, the timing setting component is configured to set a triggering time of the basic task, and the task triggering component is configured to start the self-starting device and execute the basic task when a current time reaches the triggering time set in the timing setting component.
Optionally, the task setting component comprises an input device and a display screen, and is used for configuring data for the timed task, or the task setting component comprises a data receiving device, and is used for receiving task configuration data set by the remote application program.
The self-starting device is used for starting the working state of the mower and executing a preset basic task when being triggered.
Optionally, a camera device is arranged on the mower base or the liquid containing container.
Specifically, in this embodiment, the lawn mower has a satellite positioning signal receiving device, a path calculating component, a power driving component and an auxiliary wheel, and can realize an automatic cruise function, and the lawn mower in this embodiment further has a timing task device, which can set a timing task. For example, a timing task device is used for setting a night cruise task, when the night cruise task is executed, a camera shooting device is used for shooting images to a remote server, the remote server is used for analyzing the images, early warning reminding is carried out when suspicious targets are found, or an intelligent image processing module carried on a mower is used for analyzing the shot images in real time, and early warning is carried out when risks exist in the analysis result.
Optionally, the liquid container is reserved with a liquid injection port.
Optionally, a liquid level monitoring component is connected to the liquid holding container for monitoring the liquid level in the liquid holding container.
Optionally, the lawn mower further comprises an automatic liquid filling component, wherein the automatic liquid filling component is in communication connection with the liquid level monitoring component and is used for filling the liquid containing container with liquid when the liquid level monitoring component monitors that the liquid level is lower than a preset liquid level.
Specifically, when the lawn mower carries out and sprays the liquid task, monitor the liquid level in the liquid holds the container through liquid level monitoring part, be less than preset liquid level monitoring the liquid level, for the normal execution who ensures to spray the liquid task, adopt the automatic part that fills of liquid, hold the notes liquid mouth that the container was reserved through liquid, carry out liquid filling to the liquid holds the container and handle, avoid because of liquid not enough leads to the task to break off, be favorable to improving the efficiency that liquid sprayed.
As shown in fig. 4, fig. 4 shows an implementation process of the lawn care method provided by the present application, and details are as follows:
s201: and acquiring the current task type, wherein the types comprise a liquid spraying task and a grass cutting task.
In particular, lawn care relates to a plurality of tasks, including but not limited to a liquid spraying task and a mowing task, wherein the liquid spraying task can be further subdivided according to the type of liquid and the actual need, and is not specifically limited herein, and the type of liquid spraying includes but is not limited to liquid fertilizer, liquid medicine, water and the like.
It should be noted that the current task type may be generated by transmitting corresponding task data through manual real-time setting or remote control, or may be generated based on a timed task trigger, and may be set based on actual needs, which is not specifically limited herein.
Further, prior to obtaining the current task type, the lawn care method further comprises:
receiving input task parameters, writing the task parameters into a task list, setting task states corresponding to the task parameters to be executed, wherein the task states comprise executed, executed and to-be-executed states, and the task parameters comprise task types and task time;
taking the time of each task in the task list, the state of which is the task to be executed, as the trigger time;
and comparing the current time with the trigger time at regular time, and if the current time reaches the trigger time, taking the task parameter corresponding to the trigger time as the current task and driving the mower to execute the current task.
Specifically, a timed task device on the mower receives input task parameters, then analyzes the task parameters, generates specific tasks, adds the specific tasks to a task list, adds corresponding task states, takes each task state in the task list as task time to be executed as trigger time, compares the current time with the trigger time by timing, takes the task parameter corresponding to the trigger time as the current task when the current time reaches the trigger time, and drives the mower to execute the current task.
The input task parameters may be specifically set by manually operating a timed task device on the lawn mower, or may be set by a remote application program and then send configuration data to the timed task device of the lawn mower.
It should be understood that the task state is an executed task, namely, a completed task, the task state is an executed task, namely, a task currently being executed by the mower, the task state is a task to be executed, namely, a task to be executed by the mower currently waiting for execution, and the execution time of the task to be executed is taken as a trigger time, so that the task to be executed is automatically triggered and executed without manual intervention, and the task execution efficiency is improved. Easily understand, to watering task etc. and need the execution frequency higher, adopt the mode that this embodiment provided, be favorable to improving the efficiency of lawn care.
S202: and if the task is a liquid spraying task, acquiring the distance between the liquid spraying device and the lawn surface as a first distance.
Specifically, when the acquired task type is a task of spraying liquid, the distance measuring component is used for acquiring the distance between the liquid spraying device and the lawn surface, and the acquired distance is used as a first distance.
It will be appreciated that the lawn may have a slope in different areas and therefore the distance of the liquid spraying device from the surface of the lawn needs to be measured in real time while the task of spraying the liquid is being performed.
S203: and judging whether the first distance is equal to the preset distance.
Specifically, the type of the sprayed liquid includes, but is not limited to, liquid fertilizer, liquid medicine, and water, and the plant absorbs different parts and amounts of the liquid, and thus, in the present embodiment, the preset distance may be specifically determined based on the type of the sprayed liquid, which is not limited herein. For example, when the spray liquid is water, the preset distance is half the height from the ground to the lawn surface, and the lawn height is determined based on the difference between the distance from the liquid spray device to the ground and the first distance.
S204: if not, adjusting the height of the liquid spraying device by adopting the height adjusting part, and returning to the step of acquiring the distance between the liquid spraying device and the lawn surface as the first distance until the first distance is equal to the preset distance.
Specifically, when first distance and preset distance are the same, directly spray, when first distance and preset distance are not equal, adjust liquid sprinkler's height through height adjusting part to confirm first distance again, until the first distance that obtains equals with preset distance, at this moment, reach the best and spray the height, improve the quality of lawn care.
S205: and spraying liquid on the surface of the lawn by adopting a spraying device.
Specifically, when the first distance is equal to the preset distance, that is, the distance between the liquid spraying device and the lawn reaches the optimal spraying distance, the spraying device is adopted to spray liquid on the surface of the lawn, and at the moment, the optimal absorption of the plants on the sprayed liquid is favorably realized.
Further, spraying the liquid on the lawn surface with a spraying device includes:
if the task is a liquid spraying task, monitoring the liquid level of the liquid containing container according to a preset mode during the task execution;
when the liquid level is lower than the preset liquid level, recording the current position as a recording point, and driving the mower to drive to a specified supplement point for liquid supplement;
and after the liquid is supplemented, returning to the recording point, and continuing to perform the liquid spraying task.
In this embodiment, every liquid is provided with fixed replenishment point, and when the task was for spraying liquid task, the mode was predetermine in the adoption, and real time monitoring liquid holds the liquid level of container to when the liquid level was less than preset liquid level, the current position of record lawn mower, as the record point, and order about the lawn mower to carry out the liquid supply to the liquid replenishment point that sprays the correspondence of liquid task, and after the replenishment finishes, return the record point and continue to carry out and spray the liquid task.
Preferably, in this embodiment, the automatic liquid filling component and the designated replenishing point of the lawn mower both have a magnetic sockable structure, the replenishing point is in sealed communication with the automatic liquid filling component through the magnetic sockable structure, and after the communication is completed, the automatic liquid filling component is used to replenish liquid for the liquid container.
In another preferred embodiment, the specified replenishment point includes a liquid pouring tube, and after the lawnmower travels to the specified replenishment point, the liquid pouring tube is connected to a liquid pouring port of the lawnmower, and the replenishment of the liquid is performed.
Further, adopting sprinkler to spray liquid on the lawn surface still includes:
and determining the current spraying rate according to the advancing speed of the mower and the required spraying amount of the lawn per unit area.
S206: and if the task is a mowing task, starting the mower main body to mow the lawn.
In the embodiment, the current task types are obtained, and the types comprise a liquid spraying task and a mowing task; if the task is a mowing task, starting the mower main body to mow the lawn; if the task is a liquid spraying task, acquiring the distance between the liquid spraying device and the surface of the lawn as a first distance; judging whether the first distance is equal to a preset distance or not; if inequality, then adopt the altitude mixture control part to adjust liquid sprinkler's height, and return and acquire the distance on liquid sprinkler and lawn surface, as the step of first distance, until first distance equals with preset distance, adopt sprinkler to spray liquid to the lawn surface again, realized having had the function of mowing simultaneously and watering, be favorable to improving the efficiency of lawn nursing, and simultaneously, can be according to actual need, highly adjusting liquid sprinkler, realize accurate spraying, make the liquid of spraying better absorbed by the plant, improve the efficiency of lawn nursing.
In a specific embodiment, before step S201, that is, before obtaining the current task type, the method further includes:
determining a lawn range based on a real-time carrier dynamic differential positioning mode;
and performing dynamic path planning according to the lawn range and the working radius of the mower to obtain the working path of the mower.
Further, as shown in fig. 5, fig. 5 is an application scenario in which the lawn range is determined based on the real-time carrier dynamic differential positioning manner in this embodiment, and the specific process of determining the lawn range based on the real-time carrier dynamic differential positioning manner includes: a reference station for receiving satellite positioning signals and an RTK (Real Time Kinematic differential positioning) device are installed near the lawn, the RTK device is responsible for accurately processing satellite positioning coordinates received by the reference station to make the coordinates reach centimeter-level accuracy, the RTK technology is based on the principle that a receiver is placed on the reference station, another receiver or receivers is placed on a carrier (called a rover station), the reference station and the rover station simultaneously receive signals transmitted by the same GPS satellite at the same Time, the reference station transmits measured carrier phase observation values, pseudo-range observation values, reference station coordinates and the like to the rover station in motion in Real Time by radio, the rover station receives information transmitted by the reference station by radio, performs differential processing on the carrier phase observation values in Real Time to obtain base line vectors (Δ X, Δ Y, Δ Z); and adding the baseline vector and the coordinates of the reference station to obtain WGS84 coordinates of each point of the rover station, and converting coordinate conversion parameters to obtain plane coordinates x, y and normal height h of each point of the rover station. Further, a virtual boundary line (also referred to as an electronic fence) of the lawn is generated by the characteristics of the RTK device, and the range of the lawn is determined.
The RTK (Real-time kinematic) carrier phase differential technique is a differential method for processing carrier phase observations of two measurement stations in Real time, and sends acquired carrier phases to a user receiver for difference calculation and coordinate calculation. The method is a new common satellite positioning measurement method, the former static, rapid static and dynamic measurements all need to be solved afterwards to obtain centimeter-level accuracy, the RTK is a measurement method capable of obtaining centimeter-level positioning accuracy in real time in the field, a carrier phase dynamic real-time difference method is adopted, the method is a major milestone applied to GPS, the appearance of the method is project lofting and terrain mapping, various control measurements bring new measurement principles and methods, and the operation efficiency is greatly improved.
Among them, path planning is one of the main research contents of motion planning. The motion planning is composed of path planning and trajectory planning, sequence points or curves connecting the starting position and the end position are called paths, and the strategy for forming the paths is called path planning.
Path planning has wide application in many fields. The applications in the high and new technology field are as follows: autonomous collision-free action of the robot; obstacle avoidance and sudden prevention flight of the unmanned aerial vehicle; the cruise missile avoids radar search, prevents missile attack, completes a penetration and explosion task and the like. The application in the daily life field is as follows: GPS navigation; road planning based on a GIS system; urban road network planning navigation and the like. The application in the field of decision management is as follows: vehicle problems (VRP) in logistics and similar resource management resource allocation problems. Routing problems in the field of communications technology, etc. Path planning algorithms for a scenario include, but are not limited to: ant colony algorithm, neural network algorithm, particle swarm algorithm, genetic algorithm, etc.
As a preferable mode, the embodiment uses at least one camera device configured on the base of the lawn mower or the liquid container to shoot suspicious targets and perform early warning when the timed cruise task is executed. For example, a timing task device is used for setting a night cruise task, when the night cruise task is executed, a camera shooting device is used for shooting images to a remote server, the remote server is used for analyzing the images, early warning reminding is carried out when suspicious targets are found, or an intelligent image processing module carried on a mower is used for analyzing the shot images in real time, and early warning is carried out when risks exist in the analysis result.
In this embodiment, the width of each path is determined according to the working radius of the lawn mower, and then dynamic path planning is performed according to the lawn range, so as to obtain the working path of the lawn mower, ensure that spraying is completed on all lawns, avoid repeated paths, reduce efficiency, avoid excessive spraying (uneven spraying), and improve the quality and efficiency of lawn care.
It will be readily appreciated that after generating the working path, the method further comprises:
controlling the mower to travel based on the working path, and performing a mowing process or spraying liquid during the traveling.
In this embodiment, the lawn range is determined by a real-time carrier dynamic differential positioning method, and then dynamic path planning is performed according to the lawn range and the working radius of the mower, so as to obtain the working path of the mower, thereby improving the accuracy of the working path, and the mower can work according to the generated working path, thereby realizing intelligent lawn care, improving the efficiency of lawn care, and simultaneously freeing up manpower.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The present application further provides another embodiment, which is to provide a computer-readable storage medium storing an interface display program, which is executable by at least one processor to cause the at least one processor to perform the steps of the lawn care method as described above.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) and includes several instructions for causing the lawn mower to perform the method according to the embodiments of the present application.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (18)
1. The utility model provides a lawn mower, includes the lawn mower body and connects in the base of lawn mower body, its characterized in that, base fixedly connected with liquid holds the container, liquid holds the container and disposes at least one liquid sprinkler, liquid sprinkler's liquid outlet is connected with range unit and height adjusting part.
2. The mower of claim 1, wherein an auxiliary wheel is attached below said base.
3. The lawnmower of claim 2, wherein a satellite positioning signal receiving device is connected to the base or the fluid holding vessel.
4. A lawnmower as claimed in claim 3, wherein said base or said fluid container has a path calculating means and a power driving means connected thereto, said path calculating means being in communication with said driving means and said satellite positioning signal receiving device, respectively, said power driving means being disposed inside said auxiliary wheel, the stator of said power driving means being fixedly connected to the inner ring of said tyre, or said power driving means being disposed outside said auxiliary wheel, said power driving means being connected to said auxiliary wheel by a shaft.
5. A lawnmower as claimed in claim 4, wherein said base or said fluid containing vessel is connected to timed task means and self-actuating means.
6. The lawnmower of claim 5, wherein the timed task device comprises a task setting component for setting a basic task, a timing setting component for setting a trigger time of the basic task, and a task triggering component for starting the self-starting device and executing the basic task when a current time reaches the trigger time set in the timing setting component.
7. A lawnmower as claimed in any one of claims 1 to 6 wherein said distance measuring means is a laser distance measuring means or an ultrasonic distance measuring means.
8. A lawnmower as claimed in any one of claims 1 to 6, wherein the mower base or fluid holding container is provided with a camera device.
9. The mower according to any one of claims 1 to 6, wherein a pouring port is reserved in said liquid container.
10. The lawnmower of claim 9, wherein a fluid level monitoring component is coupled to the fluid container for monitoring a fluid level within the fluid container.
11. The lawnmower of claim 8, further comprising an automatic fluid fill component in communication with the fluid level monitoring component for filling the fluid container with fluid when the fluid level monitoring component monitors that the fluid level is below a predetermined level.
12. A method of lawn care, comprising:
acquiring current task types, wherein the types comprise a liquid spraying task and a mowing task;
if the task is a liquid spraying task, acquiring the distance between the liquid spraying device and the surface of the lawn as a first distance;
judging whether the first distance is equal to a preset distance or not;
if not, adjusting the height of the liquid spraying device by adopting a height adjusting part, and returning to the step of acquiring the distance between the liquid spraying device and the surface of the lawn to be used as a first distance until the first distance is equal to the preset distance;
spraying liquid on the surface of the lawn by using the spraying device;
and if the task is a mowing task, starting the mower main body to mow the lawn.
13. An lawn-care method as defined in claim 12, wherein the type of spray liquid includes liquid fertilizer, liquid medicine, and water, and the predetermined distance is determined based on the type of spray liquid.
14. An lawn-care method as claimed in claim 12 or 13, wherein prior to said obtaining a current task type, the method further comprises:
determining the lawn range based on a real-time carrier dynamic differential positioning mode;
and performing dynamic path planning according to the lawn range and the working radius of the mower to obtain the working path of the mower.
15. An lawn-care method as claimed in claim 14, wherein after said spraying of said liquid with said spraying device on said lawn surface or after said activating of said mower body to mow said lawn if said task is a mowing task, said lawn-care method further comprises:
controlling the mower to travel based on the working path and to perform the mowing process or to perform the spraying liquid during the travel.
16. A method of lawn care as claimed in claim 15, further comprising:
if the task is a liquid spraying task, monitoring the liquid level of the liquid containing container according to a preset mode when the task is executed;
when the liquid level is lower than a preset liquid level, recording the current position as a recording point, and driving the mower to run to a specified supplement point for liquid supplement;
and after the liquid is supplemented, returning to the recording point, and continuing to execute the liquid spraying task.
17. An lawn-care method as claimed in claim 12 or 13, wherein prior to said obtaining the current task type, the lawn-care method further comprises:
receiving input task parameters, writing the task parameters into a task list, setting task states corresponding to the task parameters to be executed, wherein the task states comprise executed, executing and to-be-executed;
taking the task time with each task state in the task list as to-be-executed as trigger time;
and comparing the current time with the trigger time at regular time, and if the current time reaches the trigger time, taking the task parameter corresponding to the trigger time as a current task and driving the mower to execute the current task.
18. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method of lawn care as claimed in any one of claims 12 to 17.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210248027.7A CN114467469A (en) | 2022-03-14 | 2022-03-14 | Lawn mower, lawn care method and storage medium |
| PCT/CN2022/111416 WO2023173667A1 (en) | 2022-03-14 | 2022-08-10 | Lawn mower, lawn care method and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210248027.7A CN114467469A (en) | 2022-03-14 | 2022-03-14 | Lawn mower, lawn care method and storage medium |
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| CN114467469A true CN114467469A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210248027.7A Pending CN114467469A (en) | 2022-03-14 | 2022-03-14 | Lawn mower, lawn care method and storage medium |
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| CN (1) | CN114467469A (en) |
| WO (1) | WO2023173667A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023173667A1 (en) * | 2022-03-14 | 2023-09-21 | 万维研无线动力（香港）有限公司 | Lawn mower, lawn care method and storage medium |
| CN117356546A (en) * | 2023-12-01 | 2024-01-09 | 南京禄口国际机场空港科技有限公司 | Control method, system and storage medium of spraying vehicle for airport lawn |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4242855A (en) * | 1979-02-22 | 1981-01-06 | Beaver Jr B Max | Lawn mower auxiliary unit with flexible drive shaft |
| CN105660039A (en) * | 2014-11-19 | 2016-06-15 | 苏州宝时得电动工具有限公司 | Intelligent mower system and intelligent mower |
| CN207612655U (en) * | 2017-12-21 | 2018-07-17 | 李仁英 | A kind of gardens grass trimmer |
| CN212876745U (en) * | 2020-09-18 | 2021-04-06 | 温妙云 | Lawn mower for garden grassland |
| CN215683412U (en) * | 2021-08-25 | 2022-02-01 | 内蒙古巴彦淖尔民航机场有限责任公司 | Mowing and pesticide spraying integrated machine |
| CN114467469A (en) * | 2022-03-14 | 2022-05-13 | 万维研无线动力（香港）有限公司 | Lawn mower, lawn care method and storage medium |
| CN217011813U (en) * | 2022-03-14 | 2022-07-22 | 万维研无线动力（香港）有限公司 | Grass cutter |
-
2022
- 2022-03-14 CN CN202210248027.7A patent/CN114467469A/en active Pending
- 2022-08-10 WO PCT/CN2022/111416 patent/WO2023173667A1/en unknown
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023173667A1 (en) * | 2022-03-14 | 2023-09-21 | 万维研无线动力（香港）有限公司 | Lawn mower, lawn care method and storage medium |
| CN117356546A (en) * | 2023-12-01 | 2024-01-09 | 南京禄口国际机场空港科技有限公司 | Control method, system and storage medium of spraying vehicle for airport lawn |
| CN117356546B (en) * | 2023-12-01 | 2024-02-13 | 南京禄口国际机场空港科技有限公司 | Control method, system and storage medium of spraying vehicle for airport lawn |
Also Published As
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| WO2023173667A1 (en) | 2023-09-21 |
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