WO2023173667A1 - 一种割草机、草坪护理方法和存储介质 - Google Patents

一种割草机、草坪护理方法和存储介质 Download PDF

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Publication number
WO2023173667A1
WO2023173667A1 PCT/CN2022/111416 CN2022111416W WO2023173667A1 WO 2023173667 A1 WO2023173667 A1 WO 2023173667A1 CN 2022111416 W CN2022111416 W CN 2022111416W WO 2023173667 A1 WO2023173667 A1 WO 2023173667A1
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Prior art keywords
task
liquid
lawn
component
lawn mower
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PCT/CN2022/111416
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English (en)
French (fr)
Inventor
林永明
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Menriyan Wireless High Power Technology Hk Ltd
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Menriyan Wireless High Power Technology Hk Ltd
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Publication of WO2023173667A1 publication Critical patent/WO2023173667A1/zh
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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
    • 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
    • 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
    • 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
    • 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
    • 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

Definitions

  • the present invention relates to the field of garden management, and in particular to a lawn mower and a lawn care method.
  • Lawn refers to grassland that is artificially planted or maintained and managed to play a greening and beautifying role. It is one of the symbols of the civilization level of a country and a city. Refers to the ground cover covered with grasses and other slender plants and filling the soil surface with its roots and stolons. It is suitable for beautifying the environment, gardening, purifying the air, maintaining water and soil, and providing venues for outdoor activities and sports. Therefore, regular care of the lawn is required to ensure the health of the lawn so as to bring a better life experience to people.
  • liquid fertilizers liquid pesticides, and liquid fungicides
  • their molecules will diffuse into the air around the applicator, so the applicator needs to wear a mask, gloves, and goggles when working.
  • human contact such as oral and nasal inhalation, skin contact, mucous membrane contact and eye contact, however, the chemical molecules of these solutions will more or less come into contact with the human body of the applicator.
  • Such work must be performed every month, which is harmful to human health. long-term harm;
  • Embodiments of the present invention provide a lawn mower and a lawn care method to improve lawn care efficiency.
  • a lawn mower which includes a lawn mower body and a base connected to the lawn mower body.
  • the base is fixedly connected with a liquid holding container, and the liquid holding container is configured
  • auxiliary wheels are connected below the base.
  • the base or the liquid holding container is connected with a satellite positioning signal receiving device.
  • the base or the liquid holding container is connected to a path calculation component and a power drive component.
  • the path calculation component is communicatively connected to the drive component and the satellite positioning signal receiving device respectively.
  • the power drive component The component is placed inside the auxiliary wheel, and the stator of the power drive component is fixedly connected to the inner ring of the tire.
  • the power drive component is placed outside the auxiliary wheel, and the power drive component is connected to the auxiliary wheel.
  • the wheels are connected by axles.
  • the base or the liquid holding container is connected to a timing task device and a self-starting device.
  • the distance measuring component is a laser ranging component or an ultrasonic ranging component.
  • a camera device is configured on the lawn mower base or the liquid holding container.
  • the liquid holding container is reserved with a liquid injection port.
  • the liquid holding container is connected to a liquid level monitoring component, and the liquid level monitoring component is used to monitor the liquid level in the liquid holding container.
  • the lawn mower further includes an automatic liquid filling component
  • the liquid automatic filling component is communicatively connected to the liquid level monitoring component, and is used to monitor the liquid level when the liquid level monitoring component detects that the liquid level is lower than the preset liquid level.
  • the liquid holding container is filled with liquid.
  • embodiments of the present application also provide a lawn care method, including:
  • Get the current task type which includes spraying liquid tasks and lawn mowing tasks
  • the task is a liquid spraying task, obtain the distance between the liquid spraying device and the lawn surface as the first distance;
  • a height adjustment component to adjust the height of the liquid spraying device, and return to the step of obtaining the distance between the liquid spraying device and the lawn surface as the first distance until the first distance is equal to the first distance.
  • the default distance is equal;
  • the lawn mower body is enabled to mow the lawn.
  • the type of the spray liquid includes liquid fertilizer, liquid medicine and water, and the preset distance is determined based on the type of the spray liquid.
  • the method further includes:
  • dynamic path planning is performed to obtain the working path of the lawn mower.
  • the lawn care regimen also includes:
  • the lawn mower is controlled to travel based on the working path, and performs the lawn mowing process or the spraying liquid during travel.
  • the task is a liquid spraying task
  • the liquid level of the liquid holding container is monitored according to the preset method
  • the current position is recorded as a recording point, and the lawn mower is driven to a designated replenishment point for liquid replenishment;
  • the lawn care method further includes:
  • the task parameters include task type and task time, and set the task status corresponding to the task parameters to to be executed, wherein the task The status includes executed, executing and pending execution;
  • the current time is compared with the trigger time regularly. If the current time reaches the trigger time, the task parameter corresponding to the trigger time is used as the current task, and the lawn mower is driven to perform the current task.
  • embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed, the steps of the above-mentioned lawn care method are implemented.
  • the lawn mower, lawn care method and storage medium provided by the embodiment of the present invention obtain the current task type; if the task is a lawn mowing task, the lawn mower main body is enabled to mow the lawn; if the task is a liquid spraying task, obtain The distance between the liquid spraying device and the lawn surface is used as the first distance; it is judged whether the first distance is equal to the preset distance; if they are not the same, the height adjustment component is used to adjust the height of the liquid spraying device, and return to obtain the relationship between the liquid spraying device and the lawn surface.
  • the distance on the lawn surface is used as the first distance step until the first distance is equal to the preset distance, and then the spray device is used to spray liquid on the lawn surface, achieving both mowing and watering functions, which is beneficial to improving the efficiency of lawn care.
  • the height of the liquid spray device can be adjusted according to actual needs to achieve precise spraying, so that the sprayed liquid can be better absorbed by plants and improve the efficiency of lawn care.
  • Figure 1 is a schematic structural diagram of an embodiment of the lawn mower of the present application.
  • FIG. 2 is a schematic diagram of partial components of the present application.
  • Figure 3 is an exemplary structural diagram of the combing device of the lawn mower of the present application.
  • Figure 4 is a flow chart of one embodiment of the lawn care method of the present application.
  • Figure 5 is an exemplary system architecture diagram in which the lawn care method of the present application may be applied.
  • an embodiment means that a particular feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application.
  • the appearances of this 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. Those skilled in the art understand, both explicitly and implicitly, that the embodiments described herein may be combined with other embodiments.
  • Figure 1 is an example diagram of the lawn mower in this embodiment. The details are as follows:
  • a lawn mower including a lawn mower body 01 and a base 02 connected to the lawn mower body.
  • the base is fixedly connected to a liquid holding container 03.
  • the liquid holding container is equipped with at least one liquid spray device 04.
  • the liquid spray device The liquid outlet 041 is connected to a distance measuring component 05 and a height adjusting component 06 .
  • the lawn mower body is connected to a base, the base is used to support a liquid holding container, and at least one liquid spraying device is configured on the liquid holding container, so that the lawn mower can be used for liquids at the same time. Spray for more efficient lawn care.
  • the type of liquid includes but is not limited to: water, liquid fertilizer, lawn insecticide and lawn fungicide.
  • the specific type of liquid selected shall be selected according to the actual application needs, and is not specifically limited here.
  • a distance measuring component and a height adjusting component are connected to the liquid outlet of the liquid spray device.
  • the ranging component includes but is not limited to a laser ranging component or an ultrasonic ranging component, such as a laser ranging sensor.
  • the height adjustment component can be a rotating column or a threaded column structural component provided at the liquid outlet of the liquid spraying device. When the rotating column or the threaded column is rotated, the height can be raised or lowered. Alternatively, a height adjustment member can be provided at the liquid outlet of the liquid spraying device. Vertical telescopic interface serves as height adjustment component.
  • liquid fertilizers/pesticides there are both liquid and solid fertilizers/pesticides on the market.
  • the disadvantage of solid materials is that they are too concentrated. You need to water them immediately after spraying to dissolve them and allow them to be absorbed by the soil. The amount of watering must be controlled appropriately. If the amount of water is too large, the solid materials will be taken away by the water after being dissolved. The actual absorption capacity of the soil is very small. Small, the amount of water is too small, and the location concentration of the solid material is too high, resulting in grass burning.
  • liquid fertilizer/insecticide and fungicide is used. First, mix it with water according to the material ratio and stir evenly. According to the actual situation of different liquids choose the best position for spraying and adjust the spraying height to maximize the absorption effect.
  • training wheels are attached underneath the base.
  • a liquid atomizing device is installed inside the liquid holding container, which can atomize the liquid and then spray it from the liquid outlet (nozzle) of the liquid spraying device.
  • the atomization can make the molecules of the liquid diffuse wider and more evenly.
  • the height of the liquid outlet (nozzle) of the liquid spray device from the ground is adjustable.
  • this embodiment sets the height-adjustable distance range to be 20 mm to 100 mm. The closer the height is to 20 mm, the closer the sprinkler head is to the lawn soil. , can directly spray the soil, allowing the liquid to penetrate deeper into the soil. The closer the height is to 100 mm, the closer the sprinkler head is to the height of the grass blades, and can directly spray the grass blades. Therefore, the liquid outlet (nozzle) of the adjustable liquid spray device ) not only meets the lawn care needs of spraying directly on the soil, but also spraying on the surface of the grass blades.
  • FIG. 3 is a schematic diagram of a combing device.
  • the combing device is a flat, uniformly serrated combing plate (left side of Figure 3). Or a cylindrical grass combing column (right picture in Figure 3), which is used to comb the lawn before spraying liquid.
  • the combed grass is more breathable, and the effect is better when spraying pesticides. Watering/pesticides and fertilizers are 100% Being absorbed by the land, the advantages compared with the existing system are that it is more water-saving, more environmentally friendly and reduces air pollution.
  • auxiliary wheels are provided below the base connected to the lawn mower body.
  • the auxiliary wheels can drive the base and the lawn mower body to move.
  • the base is fixedly connected with a liquid holding container, so that the lawn mower The weight of the lawn mower is heavy, and the traditional hand-held lawn mower method will make the corresponding staff more strenuous.
  • auxiliary wheels are provided under the base, and the auxiliary wheels are used to drive the lawn mower to move, which is conducive to improving the efficiency of cutting.
  • the moving speed of the lawnmower during the process of mowing or spraying liquid thus reducing the total time spent in the process of mowing or spraying liquid, is beneficial to improving lawn care efficiency.
  • a satellite positioning signal receiving device is connected to the base or liquid holding container of the lawn mower.
  • the base or the liquid holding container is connected to a path calculation component and a power drive component.
  • the path calculation component is communicatively connected to the drive component and the satellite positioning signal receiving device respectively.
  • the power drive component The component is placed inside the auxiliary wheel, and the stator of the power drive component is fixedly connected to the inner ring of the tire.
  • the power drive component is placed outside the auxiliary wheel, and the power drive component and the auxiliary wheel are connected through a shaft.
  • the satellite positioning signal receiving equipment is used to receive satellite signals, such as a GPS receiver device, etc.
  • the path calculation component is used to determine the edge of the lawn based on the received satellite signal, and calculate the driving route of the lawn mower based on the determined edge of the lawn.
  • the power drive component is used to drive the auxiliary wheels according to the driving route determined by the path calculation component to realize automatic liquid spraying or lawn mowing tasks.
  • the power driving component specifically includes but is not limited to: a driving motor , power battery, power controller system, etc.
  • the power driving component is a hub motor
  • it is generally placed inside the auxiliary wheel and is fixedly connected to the inner ring of the auxiliary wheel through the stator of the hub motor.
  • the base or the liquid holding container is connected to the timing task device and the self-starting device.
  • the scheduled task device includes a task setting component, a timing setting component and a task triggering component.
  • the task setting component is used to set the basic task
  • the timing setting component is used to set the triggering time of the basic task
  • the task triggering component Used to start the self-starting device and perform basic tasks when the current time reaches the trigger time set in the timing setting component.
  • the scheduled task device includes a task setting component, a timing setting component and a task triggering component.
  • the task setting component includes an input device and a display screen for configuring data for the scheduled task, or the task setting component includes a data receiving component.
  • the self-starting device refers to starting the working state of the lawn mower and performing preset basic tasks when it is triggered.
  • a camera device is configured on the base of the lawn mower or the liquid holding container.
  • the lawn mower has a satellite positioning signal receiving device, a path calculation component, a power drive component and auxiliary wheels, and can realize an automatic cruise function.
  • the lawn mower in this embodiment also has a timing task device.
  • a scheduled task can be set.
  • at least one camera device is configured on the base of the lawn mower or the liquid holding container.
  • the camera device is used to perform the scheduled cruise task. Photograph suspicious targets and provide early warning.
  • a scheduled task device is used to set up a night cruise task.
  • the camera equipment is used to capture images to a remote server.
  • the remote server is used to analyze the images. When suspicious targets are found, an early warning is issued, or when cutting
  • the lawn mower is equipped with an intelligent image processing module that analyzes the photos taken in real time and issues an early warning when the analysis results indicate that there is a risk.
  • the liquid holding container is reserved with a liquid filling port.
  • the liquid holding container is connected with a liquid level monitoring component, and the liquid level monitoring component is used to monitor the liquid level in the liquid holding container.
  • the lawn mower also includes an automatic liquid filling component.
  • the liquid automatic filling component is communicatively connected with the liquid level monitoring component, and is used for filling the liquid holding container when the liquid level monitoring component monitors that the liquid level is lower than the preset liquid level. Perform liquid filling.
  • the liquid level in the liquid holding container is monitored through the liquid level monitoring component.
  • the liquid level monitoring component monitors the liquid level to be lower than the preset liquid level, in order to ensure the normal execution of the task of spraying liquid , using automatic liquid filling components to perform liquid filling processing on the liquid holding container through the reserved liquid filling port of the liquid holding container, avoiding task interruption due to insufficient liquid, and helping to improve the efficiency of liquid spraying.
  • Figure 4 shows the implementation process of the lawn care method provided by this application, and the details are as follows:
  • lawn care involves multiple tasks, including but not limited to the task of spraying liquid and the task of mowing.
  • the task of spraying liquid can be further subdivided according to the type of liquid and actual needs. There is no specific limit here.
  • the type of liquid sprayed Including but not limited to liquid fertilizers, liquid medicines and water.
  • the current task type can be set manually in real time, or can be generated through remote control and transmission of corresponding task data, or it can be generated based on scheduled task triggering, and can be set based on actual needs. There are no specific limitations.
  • the lawn care method also includes:
  • the task parameters include task type and task time, and set the task status corresponding to the task parameters to to be executed, where the task status includes executed, executing and To be executed;
  • the current time is compared with the trigger time regularly. If the current time reaches the trigger time, the task parameters corresponding to the trigger time are used as the current task, and the lawn mower is driven to perform the current task.
  • the input task parameters are received through the scheduled task device on the lawn mower, and then the task parameters are parsed, specific tasks are generated and added to the task list, and the corresponding task status is added.
  • each task in the task list is The task status is the task time to be executed as the trigger time.
  • the current time is compared with the trigger time through timing. When the current time reaches the trigger time, the task parameters corresponding to the trigger time are used as the current task and the lawn mower is driven to perform the current task. .
  • the input task parameters can be set by manually operating the scheduled task device on the lawn mower, or they can be set through a remote application and then send the configuration data to the scheduled task device of the lawn mower.
  • the task status is an executed task, that is, a task that has been completed
  • the task status is a task in execution, that is, the task that the lawn mower is currently executing
  • the task status is a task to be executed, that is, the current lawn mower is waiting to be executed.
  • the execution time of the task to be executed is used as the trigger time, so as to realize the automatic trigger execution of the task to be executed without manual intervention and improve the efficiency of task execution. It is easy to understand that sprinkling tasks and the like need to be performed more frequently, and the method provided by this embodiment is beneficial to improving the efficiency of lawn care.
  • the ranging component is used to obtain the distance between the liquid spraying device and the lawn surface, and the obtained distance is used as the first distance.
  • S203 Determine whether the first distance is equal to the preset distance.
  • the types of spray liquids include but are not limited to liquid fertilizers, liquid medicines and water.
  • the preset distance may be based on the distance of the spray liquid.
  • the type is determined and is not limited here. 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.
  • the first distance is the same as the preset distance
  • spraying is performed directly; when the first distance is not equal to the preset distance, the height of the liquid spraying device is adjusted through the height adjustment component, and the first distance is redetermined, Until the obtained first distance is equal to the preset distance, at this time, the optimal spraying height is reached and the quality of lawn care is improved.
  • the spraying device when the first distance is equal to the preset distance, that is, when the distance between the liquid spraying device and the lawn reaches the optimal spraying distance, the spraying device is used to spray the liquid on the lawn surface. At this time, it is beneficial for the plants to spray the liquid. Optimal absorption of liquids.
  • a spray device to spray liquid on the lawn surface includes:
  • the liquid level of the liquid holding container will be monitored according to the preset method
  • each liquid is provided with a fixed replenishing point.
  • a preset method is used to monitor the liquid level of the liquid holding container in real time, and when the liquid level is lower than the preset level, , record the current position of the lawn mower as a recording point, and drive the lawn mower to the liquid replenishment point corresponding to the liquid spraying task for liquid replenishment, and after the replenishment is completed, return to the recording point to continue the liquid spraying task.
  • the automatic liquid filling component of the lawn mower and the designated replenishment point both have magnetic socket structures, and the replenishment point is sealed and connected with the automatic liquid filling component through the magnetic socket structure, and after the connection is completed, An automatic liquid filling component is used to refill the liquid holding container.
  • the designated replenishment point has a liquid injection pipe. After the lawn mower travels to the self-determined replenishment point, the liquid injection pipe is connected to the liquid injection port of the lawn mower. Then perform fluid replenishment.
  • a spray device to spray liquid on the lawn surface also includes:
  • the current task type is obtained, which includes a liquid spraying task and a lawn mowing task; if the task is a lawn mowing task, the lawn mower body is enabled to mow the lawn; if the task is a liquid spraying task, the liquid spraying task is obtained
  • the distance between the device and the lawn surface is used as the first distance; determine whether the first distance is equal to the preset distance; if not, use the height adjustment component to adjust the height of the liquid spray device, and return to obtain the relationship between the liquid spray device and the lawn surface distance, as the first distance step, until the first distance is equal to the preset distance, and then the spray device is used to spray liquid on the lawn surface, achieving both mowing and watering functions, which is beneficial to improving the efficiency of lawn care.
  • the height of the liquid spray device can be adjusted according to actual needs to achieve precise spraying, so that the sprayed liquid can be better absorbed by plants and improve the efficiency of lawn care.
  • step S201 that is, before obtaining the current task type, the method further includes:
  • dynamic path planning is performed to obtain the working path of the lawn mower.
  • Figure 5 is an application scenario for determining the lawn range based on real-time carrier dynamic differential positioning in this embodiment.
  • the specific process of determining the lawn range is: on the lawn
  • a base station that receives satellite positioning signals and an RTK (Real Time Kinematic, real-time carrier dynamic differential positioning) device are installed nearby.
  • the RTK device is responsible for accurately processing the satellite positioning coordinates received by the base station so that the coordinates can reach centimeters. level of accuracy, the principle of RTK technology is to place a receiver on the base station, and another or several receivers on the carrier (called the rover).
  • the base station and the rover receive the same signal at the same time.
  • the base station transmits measured carrier phase observations, pseudo-range observations, base station coordinates, etc. to the moving rover via radio in real time, and the rover receives the signals transmitted by the base station via radio Information
  • the carrier phase observation values are differentially processed in real time to obtain the base station and rover baseline vectors ( ⁇ X, ⁇ Y, ⁇ Z); the baseline vector is added to the base station coordinates to obtain the WGS84 coordinates of each point on the rover, which are converted through coordinate conversion parameters Obtain the plane coordinates x, y and normal height h of each point of the rover.
  • the virtual boundary line of the lawn also called an electronic fence
  • RTK Real-time kinematic, real-time kinematic carrier phase difference technology is a differential method that processes carrier phase observations of two measurement stations in real time. The collected carrier phases are sent to the user receiver for differential calculation of coordinates. This is a new and commonly used satellite positioning measurement method. Previous static, fast static, and dynamic measurements all required post-processing to obtain centimeter-level accuracy. RTK is a measurement method that can obtain centimeter-level positioning accuracy in real time in the wild. , which uses the carrier phase dynamic real-time differential method, is a major milestone in GPS applications. Its emergence has brought new measurement principles and methods to engineering stakeout, topographic mapping, and various control measurements, greatly improving operational efficiency.
  • path planning is one of the main research contents of motion planning.
  • Motion planning consists of path planning and trajectory planning.
  • the sequence of points or curves connecting the starting position and the end position is called a path, and the strategy that constitutes the path is called path planning.
  • Path planning has wide applications in many fields.
  • Applications in the field of high-tech include: autonomous non-collision actions of robots; obstacle avoidance and penetration flight of drones; cruise missiles to avoid radar searches, prevent rebound attacks, and complete penetration and blasting tasks, etc.
  • Applications in daily life include: GPS navigation; road planning based on GIS systems; urban road network planning and navigation, etc.
  • Applications in the field of decision-making management include: vehicle problem (VRP) in logistics management and similar resource management resource allocation problems. Routing issues in the field of communication technology, etc.
  • Scenario path planning algorithms include but are not limited to: ant colony algorithm, neural network algorithm, particle swarm algorithm, genetic algorithm, etc.
  • this embodiment uses at least one camera device configured on the base of the lawnmower or the liquid holding container to photograph suspicious targets and provide early warning when performing a scheduled cruise mission.
  • a scheduled task device is used to set up a night cruise task.
  • the camera equipment is used to capture images to a remote server.
  • the remote server is used to analyze the images.
  • an early warning is issued, or when cutting
  • the lawn mower is equipped with an intelligent image processing module that analyzes the photos taken in real time and issues an early warning when the analysis results indicate that there is a risk.
  • 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 to obtain the working path of the lawn mower to ensure that all lawns are sprayed and at the same time, repeated paths are avoided. , leading to a reduction in efficiency and avoiding over-spraying (uneven spraying), improving the quality and efficiency of lawn care.
  • the method also includes:
  • the lawn mower is controlled to travel based on the working path, and performs lawn mowing or spraying liquid during travel.
  • the lawn range is determined through real-time carrier dynamic differential positioning, and then dynamic path planning is performed based on the lawn range and the working radius of the lawn mower to obtain the working path of the lawn mower, thereby improving the accuracy of the working path.
  • the lawn mower can work according to the generated working path to achieve intelligent lawn care, improve the efficiency of lawn care, and at the same time, free up manpower.
  • sequence number of each step in the above embodiment does not mean the order of execution.
  • the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.
  • the computer-readable storage medium stores an interface display program.
  • the interface display program can be executed by at least one processor, so that the interface display program can be executed by at least one processor.
  • the at least one processor performs the steps of the lawn care method as described above.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Water Supply & Treatment (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Soil Sciences (AREA)
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Abstract

提供一种割草机、草坪护理方法及存储介质。该草坪护理方法包括：获取当前任务类型，类型包括喷洒液体任务和割草任务；若任务为割草任务，则启用割草机本体（01）对草坪进行割草处理；若任务为喷洒液体任务，获取液体喷洒装置（04）与草坪表面的距离，作为第一距离；判断第一距离与预设距离是否相等；若不相同，则采用高度调节部件（06）对液体喷洒装置（04）的高度进行调整，并返回获取液体喷洒装置（04）与草坪表面的距离，作为第一距离的步骤，直至第一距离与预设距离相等，再采用喷洒装置（04）对草坪表面进行喷洒液体。该草坪护理方法提高了草坪护理的效率。

Description

一种割草机、草坪护理方法和存储介质 技术领域
本发明涉及园林管理领域，尤其涉及一种割草机和草坪护理方法。
背景技术
草坪是指由人工建植或人工养护管理，起绿化美化作用的草地。它是一个国家、一个城市文明程度的标志之一。指以禾本科草及其它质地纤细的植物为覆盖并以它的根和匍匐茎充满土壤表层的地被。适用于美化环境、园林景观、净化空气、保持水土、提供户外活动和体育运动场所，因而，需要经常对草坪进行护理，确保草坪的健康，以便给人们带来更好的生活体验。
对草坪的日常护理工作包括草坪施肥、草坪除虫除菌和浇水等，长势茂盛的草坪需要肥沃的土壤，定期对草坪的土壤进行施肥，有助于让土壤保持肥沃；同时，草坪会随着气候变化自然的产生一些集中在土壤层的地下虫害、集中在草叶表面的地上虫害以及草坪菌害，因此人们需要定期对草坪的土壤及草叶表面进行杀虫和杀菌处理，这样有助于草的茂盛生长和绿化，另外适当的浇水非常重要，草坪在初春和秋末时必须各浇一次量较多的水。
现有方式中，主要通过割草机进行割草处理，通过人工的方式进行浇水、补充液体肥料和喷洒杀虫剂杀菌剂等药物，发明人在实现本发明的过程中发现，采用现有方式进行草坪护理的过程中，至少存在如下问题：
1，目前主要通过主要通过割草机进行割草处理，浇水、补充液体肥料和喷洒杀虫剂杀菌剂等药物需要人工处理，使得草坪护理较为繁杂，效率较低。
2，这些液体肥料、液体杀虫剂、液体杀菌剂在喷洒的过程中，其分子会弥漫到施药者周围的空气中，所以施药者需要在作业时佩戴好口罩、手套、护目镜，以防止口鼻吸入、皮肤接触、黏膜接触和眼睛接触等人体接触，但是这些溶液的化学分子或多或少都会接触到施药者的人体，每月都要进行这样的工作，对人体健康有长期的危害；
3，人工浇水、补充液体肥料和喷洒杀虫剂杀菌剂等药物，其液体到达的位置很难精准控制，而由于这些液体到低植物的根部位置不同，对于植物的吸收影响较大，这使得草坪护理的效果不佳。
发明内容
本发明实施例提供一种割草机和草坪护理方法，以提高草坪护理的效率。
为了解决上述技术问题，本申请实施例提供一种割草机，包括割草机本体和连接于割草机本体的底座，所述底座固定连接有液体盛放容器，所述液体盛放容器配置有至少一个液体喷洒装置，所述液体喷洒装置的出液口连接有测距部件和高度调节部件。
可选地，所述底座下方连接有辅助轮。
可选地，所述底座或所述液体盛放容器连接有卫星定位信号接收设备。
可选地，所述底座或所述液体盛放容器连接有路径计算部件和动力驱动部件，所述路径计算部件分别与所述驱动部件、所述卫星定位信号接收设备通信连接，所述动力驱动部件置于所述辅助轮内部，所述动力驱动部件的定子与所述轮胎的内圈固定连接，或者，所述动力驱动部件置于所述辅助轮外部，所述动力驱动部件与所述辅助轮通过轴连接。
可选地，所述底座或所述液体盛放容器连接定时任务装置和自启动装置。
可选地，所述定时任务装置包括任务设置组件、定时设置组件和任务触发组件，所述任务设置组件用于设置基础任务，所述定时设置组件用于设置基础任务的触发时间，所述任务触发组件用于在当前时间达到所述定时设置组件中设置的触发时间时，启动所述自启动装置，并执行所述基础任务。
可选地，所述测距部件为激光测距部件或超声波测距部件。
可选地，所述割草机底座或液体盛放容器上配置有摄像设备。
可选地，所述液体盛放容器预留有注液口。
可选地，所述液体盛放容器连接有液位监控部件，所述液位监控部件用于监控所述液体盛放容器内的液体液位。
可选地，所述割草机还包括液体自动填充部件，所述液体自动填充部件与所述液位监控部件通信连接，用于在所述液位监控部件监控到液位低于预设液位时，对所述液体盛放容器进行液体填充。
为了解决上述技术问题，本申请实施例还提供一种草坪护理方法，包括：
获取当前任务类型，所述类型包括喷洒液体任务和割草任务；
若所述任务为喷洒液体任务，获取液体喷洒装置与草坪表面的距离，作为第一距离；
判断所述第一距离与预设距离是否相等；
若不相同，则采用高度调节部件对所述液体喷洒装置的高度进行调整，并返回所述获取液体喷洒装置与草坪表面的距离，作为第一距离的步骤，直至所述第一距离与所述预设距离相等；
采用所述喷洒装置对所述草坪表面进行喷洒液体；
若所述任务为割草任务，则启用割草机主体对所述草坪进行割草处理。
可选地，所述喷洒液体的类型包括液体肥料、液体药物和水，所述预设 距离基于所述喷洒液体的类型确定。
可选地，在所述获取当前任务类型之前，所述方法还包括：
基于实时载波动态差分定位的方式，确定所述草坪范围；
根据所述草坪范围和割草机的工作半径，进行动态路径规划，得到割草机的工作路径。
可选地，在所述采用所述喷洒装置对所述草坪表面进行喷洒液体之后，或者，在所述若所述任务为割草任务，则启用割草机主体对所述草坪进行割草处理之后，所述草坪护理方法还包括：
控制所述割草机基于所述工作路径行进，并在行进过程中执行所述割草处理或执行所述喷洒液体。
可选地，所述草坪护理方法还包括：
若所述任务为喷洒液体任务，则在任务执行时，按照预设方式，监测液体盛放容器的液体液位；
在所述液体液位低于预设液位时，记录当前位置作为记录点，并驱使所述割草机行驶至指定补充点进行液体补充；
在液体补充完毕后，返回所述记录点，并继续执行所述喷洒液体任务。
可选地，在所述获取当前任务类型之前，所述草坪护理方法还包括：
接收输入的任务参数，并将所述任务参数写入到任务清单中，所述任务参数包括任务类型和任务时间，并将所述任务参数对应的任务状态设置为待执行，其中，所述任务状态包括已执行、执行中和待执行；
将所述任务清单中的每个任务状态为待执行的所述任务时间作为触发时间；
定时将当前时间与所述触发时间进行对比，若所述当前时间达到所述触 发时间，则将所述触发时间对应的任务参数作为当前任务，并驱动所述割草机执行所述当前任务。
为了解决上述技术问题，本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被执行时实现上述草坪护理方法的步骤。
本发明实施例提供的割草机、草坪护理方法及存储介质，获取当前任务类型；若任务为割草任务，则启用割草机主体对草坪进行割草处理；若任务为喷洒液体任务，获取液体喷洒装置与草坪表面的距离，作为第一距离；判断第一距离与预设距离是否相等；若不相同，则采用高度调节部件对液体喷洒装置的高度进行调整，并返回获取液体喷洒装置与草坪表面的距离，作为第一距离的步骤，直至第一距离与预设距离相等，再采用喷洒装置对草坪表面进行喷洒液体，实现了兼备割草和洒水功能，有利于提高草坪护理的效率，同时，可根据实际需要，对液体喷洒装置的高度进行调整，实现精准化喷洒，使得喷洒出的液体更好被植物吸收，提高草坪护理的效率。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例的描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请割草机的一个实施例的结构示意图；
图2是本申请的局部部件示意图；
图3是本申请割草机的梳草装置的示例性架构图；
图4是本申请的草坪护理方法的一个实施例的流程图；
图5是本申请的草坪护理方法可以应用于其中的示例性系统架构图。
附图标记说明：
01、割草机本体；02、底座；03、液体盛放容器；04液体喷洒装置；041液体喷洒装置的出液口；05测距部件；06高度调节部件。
具体实施方式
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同；本文中在申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请；本申请的说明书和权利要求书及上述附图说明中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。本申请的说明书和权利要求书或上述附图中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创 造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参照图1，图1为本实施例中割草机的一种示例图，详述如下：
一种割草机，包括割草机本体01和连接于割草机本体的底座02，底座固定连接有液体盛放容器03，液体盛放容器配置有至少一个液体喷洒装置04，液体喷洒装置的出液口041连接有测距部件05和高度调节部件06。
具体地，本实施例中，割草机本体与底座相连，底座用于支撑液体盛放容器，并在液体盛放容器上配置有至少一个液体喷洒装置，以使得割草机同时可以用于液体喷洒，提高草坪护理效率。
其中，液体的类型包括但不限于：水、液体肥料、草坪除虫剂和草坪除菌剂，具体选用液体的类型根据实际应用需要作出相应选择，此处不作具体限定。
进一步地，在液体喷洒装置的出液口连接有测距部件和高度调节部件。
其中，测距部件包括但不限于为激光测距部件或超声波测距部件，例如激光测距传感器。
其中，高度调节部件可以是液体喷洒装置的出液口设置的旋转柱、螺纹柱结构部件，在旋转柱、螺纹柱被旋转时，实现高度升降，或者，在液体喷洒装置的出液口设置有垂直伸缩接口作为高度调节部件。
需要说明的是，市面上有液态和固态肥料/除虫除菌剂两种。固态材料的缺点是太浓缩，施洒后需立刻同时间浇水把其溶解並让泥土吸收，浇水量必须控制适宜，水量太大固态材料溶解后被水带走，泥土实际的吸收量很小，水量太小固态材料的位置浓度太高而产生烧草现象，本实施例中，采用液态肥料/除虫除菌剂，先按材料比例与水兑开並搅拌均匀，在根据不同液体实际喷洒的最佳位置，调节喷洒高度，实现最大化的吸收效果。
可选地，底座下方连接有辅助轮。
优选地，液体盛放容器内部安装了液体雾化装置，能使液体雾化后再从液体喷洒装置的出液口(喷口)喷出，雾化能使液体的分子弥漫得更宽广也更均匀。液体喷洒装置的出液口(喷口)距地高度可调整，作为优选方式，本实施例设定高度可调距离范围是20毫米至100毫米，越接近20毫米高度，则喷头越接近草坪的土壤，能直接喷洒土壤，让液体更深入土壤，越接近100毫米高度，则喷头越接近草叶的高度，能直接对草叶进行喷洒，因此，可调节式的液体喷洒装置的出液口(喷口)既满足了直接对土壤进行喷洒，也满足了对草叶表面进行喷洒的草坪护理需求。
应理解，在现实场景中，草坪受到吹风等影响，会存在一定的杂乱，作为一种优选方式，本实施例在液体喷洒装置前端配置有梳草装置，该梳草装置与液体喷洒装置连接，或者，与液体盛放容器连接或者，与底座连接，如图3所示，图3为梳草装置的示意图，该梳草装置为平面的均匀锯齿状梳草板(图3的左侧图)或者圆柱的梳草柱(图3的右侧图)，用于对草坪进行梳理后再进行喷洒液体，梳理后的小草更透气，喷洒农药时效果更佳，浇水/农药和肥料100％被土地吸收，与现存的系统对比后的优点是更省水，更环保减少空气污染。
本实施例中，割草机本体连接的底座下方，设置有辅助轮，辅助轮可以带动底座和割草机本体进行运动，需要说明的是，底座固定连接有液体盛放容器，使得割草机的重量较重，采用传统的手持割草机的方式，会使得相应工作人员较为吃力，而本实施例中，底座下方设置有辅助轮，采用辅助轮带动割草机进行运动，有利于提高割草机在割草或喷洒液体过程中的移动速度，从而减少割草或喷洒液体这一过程的总耗时，有利于提高草坪护理效率。
在一具体可选实施方式中，该割草机的底座或液体盛放容器连接有卫星定位信号接收设备。
在另一具体可选实施方式中，如图2所示，底座或液体盛放容器连接有路径计算部件和动力驱动部件，路径计算部件分别与驱动部件、卫星定位信号接收设备通信连接，动力驱动部件置于所述辅助轮内部，动力驱动部件的定子与轮胎的内圈固定连接，或者，动力驱动部件置于辅助轮外部，动力驱动部件与辅助轮通过轴连接。
其中，卫星定位信号接收设备用于接收卫星信号，例如GPS接收器装置等。
其中，路径计算部件用于基于接收到的卫星信号确定草坪边缘，并基于确定好的草坪边缘计算割草机的行驶路线。
其中，动力驱动部件用于基于路径计算部件确定的行驶路线，驱动辅助轮按照该行驶路线行进，实现自动喷洒液体或者割草任务，本实施例中，动力驱动部件具体包括但不限于：驱动电机、动力电池、动力控制器系统等。
需要说明的是，在动力驱动部件为轮毂电机时，一般置于辅助轮的内部，通过轮毂电机的定子，与辅助轮的内圈进行固定连接。
在一具体可选实施方式中，底座或液体盛放容器连接定时任务装置和自启动装置。
在另一具体可选实施方式中，定时任务装置包括任务设置组件、定时设置组件和任务触发组件，任务设置组件用于设置基础任务，定时设置组件用于设置基础任务的触发时间，任务触发组件用于在当前时间达到定时设置组件中设置的触发时间时，启动自启动装置，并执行基础任务。
其中，定时任务装置包括任务设置组件、定时设置组件和任务触发组件， 可选地，任务设置组件包括输入设备和显示屏幕，用于为定时任务配置数据，或者，所述任务设置组件包括数据接收设备，用于接收远程应用程序设定的任务配置数据。
其中，自启动装置是指在受到触发时，启动割草机的工作状态，执行预先设定的基础任务。
可选地，割草机底座或液体盛放容器上配置有摄像设备。
具体地，本实施例中，割草机具有卫星定位信号接收设备、路径计算部件、动力驱动部件和辅助轮，能够实现自动巡航功能，同时，本实施例中的割草机还具有定时任务装置，可以设置定时任务，基于此，作为一种优选方式，本实施例在割草机的底座或液体盛放容器上，配置有至少一个摄像设备，该摄像设备用于在执行定时巡航任务时，对可疑目标进行拍摄，并进行预警。例如，采用定时任务装置，设置夜间的巡航任务，在执行夜间的巡航任务时，采用摄像装备拍摄图像到远程服务器，采用远程服务器对图像进行分析，发现可疑目标即进行预警提醒，或者，在割草机的搭载图像智能处理模块，对拍摄的照片进行实时分析，在分析结果为存在风险时，进行预警。
可选地，液体盛放容器预留有注液口。
可选地，液体盛放容器连接有液位监控部件，液位监控部件用于监控液体盛放容器内的液体液位。
可选地，割草机还包括液体自动填充部件，液体自动填充部件与液位监控部件通信连接，用于在液位监控部件监控到液位低于预设液位时，对液体盛放容器进行液体填充。
具体地，在割草机执行喷洒液体任务时，通过液位监控部件对液体盛放容器中的液位进行监测，在监控到液位低于预设液位，为确保喷洒液体任务 的正常执行，采用液体自动填充部件，通过液体盛放容器预留的注液口，对液体盛放容器执行液体填充处理，避免因液体不足导致任务中断，有利于提高液体喷洒的效率。
如图4所示，图4示出了本申请提供的草坪护理方法的实现过程，详叙如下：
S201：获取当前任务类型，类型包括喷洒液体任务和割草任务。
具体地，草坪护理涉及多项任务，包括但不限于喷洒液体任务和割草任务，其中，喷洒液体任务可根据液体类型和实际需要，作进一步细分，此处不作具体限定，喷洒液体的类型包括但不限于液体肥料、液体药物和水等。
需要说明的是，当前任务类型可以是通过人工实时设定，也可以是通过远程控制，传输相应的任务数据生成，还可以是基于定时任务触发的方式产生，可基于实际需要进行设定，此处不作具体限定。
进一步地，在获取当前任务类型之前，该草坪护理方法还包括：
接收输入的任务参数，并将任务参数写入到任务清单中，任务参数包括任务类型和任务时间，并将任务参数对应的任务状态设置为待执行，其中，任务状态包括已执行、执行中和待执行；
将任务清单中的每个任务状态为待执行的任务时间作为触发时间；
定时将当前时间与触发时间进行对比，若当前时间达到触发时间，则将触发时间对应的任务参数作为当前任务，并驱动割草机执行当前任务。
具体地，通过割草机上的定时任务装置，接收输入的任务参数，进而对任务参数进行解析，生成具体任务并添加到任务清单，并添加相应的任务状态，同时，将任务清单中的每个任务状态为待执行的任务时间作为触发时间，通过定时将当前时间与触发时间进行对比，在当前时间达到触发时间时，将 触发时间对应的任务参数作为当前任务，并驱动割草机执行当前任务。
需要说明的是，输入的任务参数，具体可以是通过人工操作割草机上的定时任务装置进行设置，也可以是通过远程应用程序设置后，将配置数据发送到割草机的定时任务装置。
应理解，任务状态为已执行的任务，即已经完成的任务，任务状态为执行中的任务，即当前割草机正在执行的任务，任务状态为待执行的任务，即当前割草机等待执行的任务，将待执行任务的执行时间，作为触发时间，以此实现待执行任务的自动触发执行，而无需人工干预，提高任务执行效率。易于理解地，对于洒水任务等，需执行频率较高，采用本实施例提供的方式，有利于提高草坪护理的效率。
S202：若任务为喷洒液体任务，获取液体喷洒装置与草坪表面的距离，作为第一距离。
具体地，在获取到的任务类型为喷洒液体任务时，采用测距部件获取液体喷洒装置与草坪表面的距离，并将获取到的距离作为第一距离。
应理解，不同区域的草坪可能存在坡度，因而，在执行喷洒液体任务，需要实时对液体喷洒装置与草坪表面的距离进行测量。
S203：判断第一距离与预设距离是否相等。
具体地，喷洒液体的类型包括但不限于液体肥料、液体药物和水，对于不同的喷洒液体，植物吸收的部位和量存在不同，因而，本实施例中，预设距离具体可基于喷洒液体的类型进行确定，此处不作限定。例如，在喷洒液体为水时，预设距离为地面到草坪表面高度的一半，基于液体喷洒装置到地面的距离，与第一距离之差，确定草坪高度。
S204：若不相同，则采用高度调节部件对液体喷洒装置的高度进行调整， 并返回获取液体喷洒装置与草坪表面的距离，作为第一距离的步骤，直至第一距离与预设距离相等。
具体地，在第一距离与预设距离相同时，直接进行喷洒，在第一距离与预设距离不相等时，通过高度调节部件对液体喷洒装置的高度进行调整，并重新确定第一距离，直至得到的第一距离与预设距离相等，此时，达到最佳喷洒高度，提高草坪护理的质量。
S205：采用喷洒装置对草坪表面进行喷洒液体。
具体地，在第一距离与预设距离相等时，也即，液体喷洒装置与草坪的距离达到最佳喷洒距离时，采用喷洒装置对草坪表面进行喷洒液体，此时，达到有利于植物对喷洒液体的最佳吸收。
进一步地，采用喷洒装置对草坪表面进行喷洒液体包括：
若任务为喷洒液体任务，则在任务执行时，按照预设方式，监测液体盛放容器的液体液位；
在液体液位低于预设液位时，记录当前位置作为记录点，并驱使割草机行驶至指定补充点进行液体补充；
在液体补充完毕后，返回记录点，并继续执行喷洒液体任务。
本实施例中，每种液体设置有固定的补充点，在任务为喷洒液体任务时，采用预设方式，实时监控液体盛放容器的液体液位，并在液位低于预设液位时，记录割草机的当前位置，作为记录点，并驱使割草机前往喷洒液体任务对应的液体补充点进行液体补充，并在补充完毕后，返回记录点继续执行喷洒液体任务。
优选地，本实施例中，割草机的液体自动填充部件与指定补充点均具有磁性可套接结构，补充点通过磁性可套接结构与液体自动填充部件密封连通， 并在连通完成后，采用液体自动填充部件为液体盛放容器补充液体。
作为另外一种优选方式，本实施例中，指定补充点具有液体注液管，在割草机行驶到自定补充点后，通过液体注液管与割草机的的注液口进行连接，进而执行补充液体。
进一步地，采用喷洒装置对草坪表面进行喷洒液体还包括：
根据割草机前进速度和每单位面积草坪需要的喷洒量，确定当前喷洒速率。
S206：若任务为割草任务，则启用割草机主体对草坪进行割草处理。
本实施例中，获取当前任务类型，类型包括喷洒液体任务和割草任务；若任务为割草任务，则启用割草机主体对草坪进行割草处理；若任务为喷洒液体任务，获取液体喷洒装置与草坪表面的距离，作为第一距离；判断第一距离与预设距离是否相等；若不相同，则采用高度调节部件对液体喷洒装置的高度进行调整，并返回获取液体喷洒装置与草坪表面的距离，作为第一距离的步骤，直至第一距离与预设距离相等，再采用喷洒装置对草坪表面进行喷洒液体，实现了兼备割草和洒水功能，有利于提高草坪护理的效率，同时，可根据实际需要，对液体喷洒装置的高度进行调整，实现精准化喷洒，使得喷洒出的液体更好被植物吸收，提高草坪护理的效率。
在一具体实施方式中，步骤S201之前，也即，在获取当前任务类型之前，该方法还包括：
基于实时载波动态差分定位的方式，确定草坪范围；
根据草坪范围和割草机的工作半径，进行动态路径规划，得到割草机的工作路径。
进一步地，如图5所示，图5为本实施例基于实时载波动态差分定位的 方式确定草坪范围的一种应用场景，基于实时载波动态差分定位的方式，确定草坪范围具体过程为：在草坪的附近安装了一个接收卫星定位信号的基准站和一个RTK(Real Time Kinematic，实时载波动态差分定位)装置，RTK装置负责精确化的处理基准站所接收到的卫星定位坐标以让这个坐标达到厘米级的精确度，RTK这项技术的原理是将一台接收机置于基准站上，另一台或几台接收机置于载体(称为流动站)上，基准站和流动站同时接收同一时间、同一GPS卫星发射的信号，基准站实时地将测量的载波相位观测值、伪距观测值、基准站坐标等用无线电传送给运动中的流动站，而流动站通过无线电接收基准站所发射的信息，将载波相位观测值实时进行差分处理，得到基准站和流动站基线向量(ΔX，ΔY，ΔZ)；基线向量加上基准站坐标得到流动站每个点WGS84坐标，通过坐标转换参数转换得出流动站每个点的平面坐标x，y和正常高h。进而借助RTK装置的特性生成了草坪的虚拟边界线(亦称电子围栏)，从而确定了草坪的范围。
其中，RTK(Real-time kinematic，实时动态)载波相位差分技术，是实时处理两个测量站载波相位观测量的差分方法，将采集的载波相位发给用户接收机，进行求差解算坐标。这是一种新的常用的卫星定位测量方法，以前的静态、快速静态、动态测量都需要事后进行解算才能获得厘米级的精度，而RTK是能够在野外实时得到厘米级定位精度的测量方法，它采用了载波相位动态实时差分方法，是GPS应用的重大里程碑，它的出现为工程放样、地形测图，各种控制测量带来了新的测量原理和方法，极大地提高了作业效率。
其中，路径规划是运动规划的主要研究内容之一。运动规划由路径规划和轨迹规划组成，连接起点位置和终点位置的序列点或曲线称之为路径，构成路径的策略称之为路径规划。
路径规划在很多领域都具有广泛的应用。在高新科技领域的应用有：机器人的自主无碰行动；无人机的避障突防飞行；巡航导弹躲避雷达搜索、防反弹袭击、完成突防爆破任务等。在日常生活领域的应用有：GPS导航；基于GIS系统的道路规划；城市道路网规划导航等。在决策管理领域的应用有：物流管理中的车辆问题(VRP)及类似的资源管理资源配置问题。通信技术领域的路由问题等。场景的路径规划算法包括但不限于：蚁群算法、神经网络算法、粒子群算法、遗传算法等。
作为一种优选方式，本实施例通过割草机的底座或液体盛放容器上配置的至少一个摄像设备，用于在执行定时巡航任务时，对可疑目标进行拍摄，并进行预警。例如，采用定时任务装置，设置夜间的巡航任务，在执行夜间的巡航任务时，采用摄像装备拍摄图像到远程服务器，采用远程服务器对图像进行分析，发现可疑目标即进行预警提醒，或者，在割草机的搭载图像智能处理模块，对拍摄的照片进行实时分析，在分析结果为存在风险时，进行预警。
本实施例中，根据割草机的工作半径，确定每行路径的宽度，进而根据草坪范围，进行动态路径规划，得到割草机的工作路径，确保对所有草坪完成喷洒，同时，避免重复路径，导致效率的降低和避免过度喷洒(喷洒不均匀)，提高草坪护理的质量和效率。
容易理解地，在生成工作路径后，该方法还包括：
控制割草机基于工作路径行进，并在行进过程中执行割草处理或执行喷洒液体。
本实施例中，通过实时载波动态差分定位的方式，确定草坪范围，进而根据草坪范围和割草机的工作半径，进行动态路径规划，得到割草机的工作 路径，提高工作路径的准确性，割草机可以根据生成的工作路径进行工作，实现智能化草坪护理，提高草坪护理的效率，同时，也解放人力。
应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。
本申请还提供了另一种实施方式，即提供一种计算机可读存储介质，所述计算机可读存储介质存储有界面显示程序，所述界面显示程序可被至少一个处理器执行，以使所述至少一个处理器执行如上述的草坪护理方法的步骤。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得割草机执行本申请各个实施例所述的方法。
显然，以上所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例，附图中给出了本申请的较佳实施例，但并不限制本申请的专利范围。本申请可以以许多不同的形式来实现，相反地，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。尽管参照前述实施例对本申请进行了详细的说明，对于本领域的技术人员来而言，其依然可以对前述各具体实施方式所记载的技术方案进行修改，或者对其中部分技术特征进行等效替换。凡是利用本申请说明书及附图内容所做的等效结构，直接或间接运用在其他相关的技术领域，均同理在本申请专利保护范围之内。

Claims (18)

  1. 一种割草机，包括割草机本体和连接于割草机本体的底座，其特征在于，所述底座固定连接有液体盛放容器，所述液体盛放容器配置有至少一个液体喷洒装置，所述液体喷洒装置的出液口连接有测距部件和高度调节部件。
  2. 如权利要求1所述的割草机，其特征在于，所述底座下方连接有辅助轮。
  3. 如权利要求2所述的割草机，其特征在于，所述底座或所述液体盛放容器连接有卫星定位信号接收设备。
  4. 如权利要求3所述的割草机，其特征在于，所述底座或所述液体盛放容器连接有路径计算部件和动力驱动部件，所述路径计算部件分别与所述驱动部件、所述卫星定位信号接收设备通信连接，所述动力驱动部件置于所述辅助轮内部，所述动力驱动部件的定子与所述轮胎的内圈固定连接，或者，所述动力驱动部件置于所述辅助轮外部，所述动力驱动部件与所述辅助轮通过轴连接。
  5. 如权利要求4所述的割草机，其特征在于，所述底座或所述液体盛放容器连接定时任务装置和自启动装置。
  6. 如权利要求5所述的割草机，其特征在于，所述定时任务装置包括任务设置组件、定时设置组件和任务触发组件，所述任务设置组件用于设置基础任务，所述定时设置组件用于设置基础任务的触发时间，所述任务触发组件用于在当前时间达到所述定时设置组件中设置的触发时间时，启动所述自启动装置，并执行所述基础任务。
  7. 如权利要求1至6所述的割草机，其特征在于，所述测距部件为激光 测距部件或超声波测距部件。
  8. 如权利要求1至6所述的割草机，其特征在于，所述割草机底座或液体盛放容器上配置有摄像设备。
  9. 如权利要求1至6所述的割草机，其特征在于，所述液体盛放容器预留有注液口。
  10. 如权利要求9所述的割草机，其特征在于，所述液体盛放容器连接有液位监控部件，所述液位监控部件用于监控所述液体盛放容器内的液体液位。
  11. 如权利要求8所述的割草机，其特征在于，所述割草机还包括液体自动填充部件，所述液体自动填充部件与所述液位监控部件通信连接，用于在所述液位监控部件监控到液位低于预设液位时，对所述液体盛放容器进行液体填充。
  12. 一种草坪护理方法，其特征在于，所述草坪护理方法包括：
    获取当前任务类型，所述类型包括喷洒液体任务和割草任务；
    若所述任务为喷洒液体任务，获取液体喷洒装置与草坪表面的距离，作为第一距离；
    判断所述第一距离与预设距离是否相等；
    若不相同，则采用高度调节部件对所述液体喷洒装置的高度进行调整，并返回所述获取液体喷洒装置与草坪表面的距离，作为第一距离的步骤，直至所述第一距离与所述预设距离相等；
    采用所述喷洒装置对所述草坪表面进行喷洒液体；
    若所述任务为割草任务，则启用割草机主体对所述草坪进行割草处理。
  13. 如权利要求12所述的草坪护理方法，其特征在于，所述喷洒液体的类型包括液体肥料、液体药物和水，所述预设距离基于所述喷洒液体的类型 确定。
  14. 如权利要求12或13所述的草坪护理方法，其特征在于，在所述获取当前任务类型之前，所述方法还包括：
    基于实时载波动态差分定位的方式，确定所述草坪范围；
    根据所述草坪范围和割草机的工作半径，进行动态路径规划，得到割草机的工作路径。
  15. 如权利要求14所述的草坪护理方法，其特征在于，在所述采用所述喷洒装置对所述草坪表面进行喷洒液体之后，或者，在所述若所述任务为割草任务，则启用割草机主体对所述草坪进行割草处理之后，所述草坪护理方法还包括：
    控制所述割草机基于所述工作路径行进，并在行进过程中执行所述割草处理或执行所述喷洒液体。
  16. 如权利要求15所述的草坪护理方法，其特征在于，所述方法还包括：
    若所述任务为喷洒液体任务，则在任务执行时，按照预设方式，监测液体盛放容器的液体液位；
    在所述液体液位低于预设液位时，记录当前位置作为记录点，并驱使所述割草机行驶至指定补充点进行液体补充；
    在液体补充完毕后，返回所述记录点，并继续执行所述喷洒液体任务。
  17. 如权利要求12或13所述的草坪护理方法，其特征在于，在所述获取当前任务类型之前，所述草坪护理方法还包括：
    接收输入的任务参数，并将所述任务参数写入到任务清单中，所述任务参数包括任务类型和任务时间，并将所述任务参数对应的任务状态设置为待执行，其中，所述任务状态包括已执行、执行中和待执行；
    将所述任务清单中的每个任务状态为待执行的所述任务时间作为触发时间；
    定时将当前时间与所述触发时间进行对比，若所述当前时间达到所述触发时间，则将所述触发时间对应的任务参数作为当前任务，并驱动所述割草机执行所述当前任务。
  18. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求12至17任一项所述的草坪护理方法。
PCT/CN2022/111416 2022-03-14 2022-08-10 一种割草机、草坪护理方法和存储介质 Ceased WO2023173667A1 (zh)

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