Self-Moving Gardening Robot and its System

Abstract

A self-propelled gardening robot (100) includes a positioning module (70), a control module (30), a material chamber (52), and a working module (50). The positioning module (70) of the self-propelled gardening robot (100) is used for path planning, and the control module (30) controls the self-propelled gardening robot (100) to walk according to the planned path; while the self-propelled gardening robot (100) is walking, the working module (50) performs corresponding work. When different materials are placed in the material chamber (52), the self-propelled gardening robot (100) can complete different functional tasks according to the same control program. Preferably, the self-propelled gardening robot (100) also has an accessory interface (12). By connecting different functional accessories through the accessory interface (12), the self-propelled gardening robot (100) can achieve multiple functions. This path-planning, multi-functional self-propelled gardening robot (100) improves the efficiency of machine use and reduces the user's operating costs.

Description

Technical Field

[0001] This invention relates to a self-moving gardening robot and its system. More particularly, this invention relates to a self-moving gardening robot and its system for performing garden maintenance functions. Background Technology

[0002] Typical family yard scenes, such as Figure 1 As shown, the area around a house (such as the front and back) is usually covered with a large lawn, while other parts of the yard may have scattered or structured shrubs, flower beds, or trees. Maintaining the yard requires users to perform various tasks. These include frequent tasks such as mowing, watering, and sweeping fallen leaves, as well as less frequent but physically demanding tasks such as sowing, fertilizing, loosening the soil, and removing dead grass.

[0003] To free users from various yard maintenance tasks, a variety of automated and semi-automated yard maintenance machines have emerged on the market. These include automated smart lawnmowers, semi-automated blowers and vacuums for sweeping up fallen leaves, automated irrigation systems for watering, semi-automated seeders for sowing seeds, semi-automated fertilizer applicators for fertilizing, semi-automated soil looseners for loosening soil, and weeders for removing dead grass.

[0004] To complete all the maintenance work in their yards, users need to purchase various machines to perform different tasks. This is not only expensive, but also leads to a cluttered home environment.

[0005] Furthermore, using existing single-function self-moving gardening robots for yard maintenance requires users to select different robots at different times and control their activation and deactivation. This high level of human intervention prevents the effective implementation of intelligent yard maintenance.

[0006] Therefore, users urgently need a self-moving gardening robot platform when performing yard maintenance. This self-moving robot platform can integrate multiple functions of yard maintenance.

[0007] In existing self-propelled gardening robot systems, each type of automated device typically requires a separate charging station and related wiring. Users need to lay out different boundary signal lines for different systems, and these boundary signal lines may also cause mutual interference.

[0008] In existing self-moving gardening robots that perform single-function tasks for yard maintenance, the robots can only perform the task on the entire lawn according to instructions. The resulting problem is that some areas of the yard may not require this task and are still mechanically performed; some areas of the lawn may have the same task repeatedly performed on them.

[0009] In existing self-propelled gardening robots that perform single-function tasks for lawn maintenance, such as fertilizing self-propelled gardening robots, users need to replenish the fertilizer in real time when the fertilizer carried by the self-propelled robot runs out. This type of fertilizing self-propelled gardening robot lacks full automation and is detrimental to the user experience.

[0010] While users can remotely control existing self-moving gardening robots that perform single-function tasks such as lawn maintenance, the suppliers or service providers of these robots do not utilize remote facilities for statistical analysis and simple management of their operational status.

[0011] Currently, to solve the problem of lawn irrigation, users generally use automated irrigation systems with buried pipes or manual irrigation. Automated irrigation systems with buried pipes not only damage the lawn surface but are also labor-intensive and costly. Manual irrigation, on the other hand, leaves users unable to shirk their lawn maintenance duties. Therefore, there is an urgent need for an automated sprinkler system that eliminates the need for buried pipes to solve the lawn irrigation problem. Summary of the Invention

[0012] In view of this, the purpose of the present invention is to provide a multifunctional self-moving gardening robot that has positioning capabilities and can work and move according to a planned path.

[0013] The present invention provides a technical solution as follows: a self-moving gardening robot for performing at least two lawn care tasks, comprising: a shell; a moving module for moving the self-moving gardening robot; a working module for performing the corresponding lawn care task; a power module for driving the moving module and the working module; an energy module for providing energy to the self-moving gardening robot; and a control module for controlling the self-moving gardening robot to move automatically and perform tasks. The self-moving gardening robot includes a positioning module for acquiring the position information of the self-moving gardening robot; the control module includes a path planning unit for storing preset path patterns; and the control module controls the self-moving gardening robot to move according to the preset path patterns based on the acquired positioning information.

[0014] Preferably, the path planning unit stores at least two preset path patterns, and the control module controls the self-moving gardening robot to move according to the corresponding preset path pattern when performing at least two lawn care tasks.

[0015] Preferably, the working modules include at least two of the following: mowing module, spraying module, fertilizing module, loosening soil module, leaf collection module, sowing module, weed removal module, and sweeping module, each performing the corresponding lawn care work.

[0016] Preferably, the self-moving gardening robot includes an accessory interface for connecting an external working module to perform lawn care tasks.

[0017] Preferably, the self-moving gardening robot includes an environmental detection module for detecting the environment of the work area; the control module generates a preset movement path or a preset target location based on the preset path pattern and at least based on environmental information and / or positioning information; the control module controls the self-moving gardening robot to move along the preset movement path or to the preset target location.

[0018] Preferably, the control module generates at least two preset movement paths for performing a lawn care task, so that the self-moving gardening robot does not move along the same path when performing the corresponding lawn care task.

[0019] Preferably, the preset movement path includes a reciprocating path; the working module includes a leaf collection module for performing leaf collection work; the leaf collection module includes a rake for gathering leaves on the working surface and causing the gathered leaves to move with the self-moving gardening robot; the control module controls the self-moving gardening robot to move along the reciprocating path when performing leaf collection work; and controls the rake to perform rake work when the self-moving gardening robot moves in one direction of the reciprocating path, causing the leaves to move to the leaf storage position along the direction of movement of the self-moving gardening robot; and controls the rake to not perform rake work when the self-moving gardening robot moves in the other direction of the reciprocating path, causing the self-moving gardening robot to return to the working position.

[0020] Preferably, the working module includes a spraying device for performing spraying operations; the preset target position includes a spraying position; the control module generates at least two spraying positions, the control module controls the self-moving gardening robot to move to at least two spraying positions to perform spraying operations, and controls the working parameters of the self-moving gardening robot to be different when performing spraying operations at the at least two spraying positions.

[0021] Preferably, the preset target location includes the docking station location of the self-moving gardening robot, or the preset movement path includes the movement path of the self-moving gardening robot returning to the docking station; when the self-moving gardening robot interrupts the execution of at least one lawn care task, the control module records the position and posture of the self-moving gardening robot when the work was interrupted, then controls the self-moving gardening robot to move to the docking station according to the preset movement path or preset target location, and then controls the self-moving gardening robot to return to the position when the work was interrupted, and continue to perform the work according to the posture when the work was interrupted.

[0022] Preferably, the working module includes a leaf collection module for performing leaf collection work; the leaf collection module includes a leaf storage section for storing the collected leaves; the docking station is used to store the leaves stored in the leaf storage section; the leaf storage section includes a capacity detection device for detecting the capacity of the leaves stored in the leaf storage section; when the capacity detection device detects that the capacity of the leaves stored in the leaf storage section reaches a preset threshold, the control module controls the self-moving gardening robot to interrupt the leaf collection work, records the current position and posture, and then controls the self-moving gardening robot to move to the docking station according to a preset movement path or preset target position to store the leaves, and then controls the self-moving gardening robot to return to the recorded position and continue to perform the leaf collection work according to the recorded posture.

[0023] Preferably, the self-moving gardening robot includes a material chamber for storing materials, and the self-moving gardening robot performs the corresponding material spreading operation; the docking station is used to replenish the material chamber with materials; the material chamber includes a capacity detection device to detect the material capacity in the material chamber; when the capacity detection device detects that the material capacity in the material chamber is lower than a preset threshold, the control module controls the self-moving gardening robot to interrupt the spreading operation, records the current position and posture, and then controls the self-moving gardening robot to move to the docking station according to a preset movement path or a preset target position to replenish the material chamber with materials, and then controls the self-moving gardening robot to return to the recorded position and continue to perform the spreading operation according to the recorded posture.

[0024] Preferably, the self-moving gardening robot's return path to the docking station does not pass through the area where the self-moving gardening robot has already performed lawn care work.

[0025] Preferably, the movement path of the self-moving gardening robot returning to the dock includes the shortest path from the starting point to the dock.

[0026] Preferably, the control module controls the self-moving gardening robot to return to the docking station via a changed movement path.

[0027] Preferably, the positioning module includes a DGPS receiver module for receiving satellite signals.

[0028] Preferably, the self-moving gardening robot includes a wireless communication module for enabling wireless communication between the self-moving gardening robot and the user device. The self-moving gardening robot receives a preset path pattern set by the user through the wireless communication module, and the path planning unit stores the preset path pattern set by the user.

[0029] Preferably, the self-moving gardening robot includes a self-learning mode. In the self-learning mode, the self-moving gardening robot learns a preset path pattern, and the path planning unit stores the preset path pattern learned by the self-moving gardening robot.

[0030] Preferably, the self-moving gardening robot includes a function selection module, and according to the instructions received by the function selection module, the control module controls the self-moving gardening robot to perform at least one lawn care task accordingly.

[0031] Preferably, the self-moving gardening robot includes an input module located in the housing, for users to input instructions to perform at least one lawn care task, and transmits the instructions to the function selection module.

[0032] Preferably, the self-moving gardening robot includes a wireless communication module for enabling wireless communication between the self-moving gardening robot and the user device. The wireless communication module receives instructions from the user device to perform at least one lawn care task and transmits the instructions to the function selection module.

[0033] Preferably, according to the instructions received by the function selection module, the control module controls the self-moving gardening robot to perform at least two lawn care tasks in sequence.

[0034] Preferably, the self-moving gardening robot includes a grass condition recognition sensor for recognizing the growth status of grass; the control module includes a storage unit that stores location information of the locations traversed by the self-moving gardening robot during its movement and information on the grass condition recognized at those locations; after the self-moving gardening robot traverses the work area, the control module compiles statistics on the grass condition within the work area.

[0035] Preferably, the self-moving gardening robot includes a wireless communication module, which remotely connects to a server, and the server collects and / or statistically analyzes relevant data information of the self-moving gardening robot.

[0036] The beneficial effects of this invention are: the self-moving gardening robot can perform at least two lawn care tasks, and has a path planning function, which saves costs, is convenient to use, and is more intelligent.

[0037] A self-moving gardening robot, performing at least two lawn care tasks, includes: a housing; a movement module for moving the self-moving gardening robot; a work module for performing the corresponding lawn care tasks; a power module for driving the movement module and the work module; an energy module for providing energy to the self-moving gardening robot; and a control module for controlling the self-moving gardening robot to move automatically and perform tasks. The control module generates a work schedule and controls the start or end time of the self-moving gardening robot performing at least two lawn care tasks according to the work schedule.

[0038] Preferably, the self-moving gardening robot includes an input module for users to input the self-moving gardening robot's work time plan information or instructions. Based on the information or instructions received by the input module, the control module generates a work time plan.

[0039] Preferably, the self-moving gardening robot includes a wireless communication module for enabling wireless communication between the self-moving gardening robot and the user device. The wireless communication module receives work schedule information or instructions sent by the user device, and the control module generates a work schedule based on the information or instructions received by the wireless communication module.

[0040] Preferably, the self-moving gardening robot includes a wireless communication module, which receives weather information via the Internet, and the control module generates a work schedule based on the weather information received by the wireless communication module.

[0041] Preferably, the self-moving gardening robot includes an environmental detection module to detect environmental conditions, and the control module generates a work schedule based on the environmental conditions detected by the environmental detection module.

[0042] Preferably, the self-moving gardening robot includes a wireless communication module for enabling wireless communication between the self-moving gardening robot and the user device; the control module sends environmental condition information to the user device through the wireless communication module and formulates a work schedule through an application applied to the user device.

[0043] Preferably, the environmental detection module includes a capacitive sensor or an image sensor.

[0044] Preferably, the work schedule includes the self-moving gardening robot performing at least two lawn care tasks in sequence.

[0045] Preferably, the work schedule includes time intervals between the self-moving gardening robot performing at least two lawn care tasks.

[0046] Preferably, the work schedule includes the frequency at which the self-moving gardening robot performs a lawn care task.

[0047] Preferably, the control module includes a storage unit that stores a map of the work area and divides the work area into several sub-work areas based on the map. The control module controls the start or end time of the lawn care work performed by the self-moving gardening robot in different sub-work areas.

[0048] Preferably, the self-moving gardening robot includes an environmental detection module to detect environmental conditions, and the control module updates the map of the work area based on the environmental condition information detected by the environmental detection module.

[0049] Preferably, the energy module includes a battery pack, and the area of ​​the sub-working area is not greater than the working area covered by the self-moving gardening robot during a single discharge of the battery pack.

[0050] Preferably, the self-moving gardening robot includes a material chamber for storing materials, and the area of ​​the sub-working area is not greater than the working area covered by the self-moving gardening robot after spreading the materials stored in the material chamber.

[0051] Preferably, the control module divides the work area using at least two division modes, and the division results of the work area by the control module differ under the two division modes.

[0052] The beneficial effects of this invention are: the self-moving gardening robot can perform at least two lawn care tasks, and has an automatic scheduling function, which saves costs, is convenient to use, and is more intelligent.

[0053] A self-moving gardening robot includes: a housing; a movement module for moving the self-moving gardening robot; a working module for performing corresponding tasks; a power module for driving the movement module and the working module; an energy module for providing energy to the self-moving gardening robot; and a control module for controlling the self-moving gardening robot to move automatically and perform tasks. The self-moving gardening robot also includes a material chamber for storing materials; the material chamber includes a material opening; the working module includes an automatic switch for opening or closing the material opening; and the control module controls the automatic switch to open the material opening to perform material spreading.

[0054] Preferably, a capacity detection device is provided inside or on the material cavity to detect the remaining material capacity in the material cavity.

[0055] Preferably, the capacity detection device includes a distance sensor, a weight sensor, or a space sensor.

[0056] Preferably, the control module includes a capacity conversion unit, which converts the capacity detected by the capacity detection device according to the slope of the slope where the self-moving gardening robot is located and a preset algorithm.

[0057] Preferably, the capacity detection device includes at least two capacity detection sensors arranged along the moving direction of the self-moving gardening robot, and the control module calculates the remaining material capacity in the material chamber based on the output of the at least two capacity detection sensors.

[0058] Preferably, the self-moving gardening robot includes a display module for displaying information on the remaining material capacity.

[0059] Preferably, the self-moving gardening robot includes a wireless communication module for enabling wireless communication between the self-moving gardening robot and the user device, wherein the self-moving gardening robot sends the remaining material capacity information to the user device through the wireless communication module.

[0060] Preferably, the material chamber is used to store at least two types of materials, and the self-moving gardening robot performs corresponding lawn care work according to the type of materials stored in the material chamber.

[0061] Preferably, the control module controls the moving speed of the self-moving gardening robot or controls the size of the opening of the material in the material chamber according to the type of material stored in the material chamber.

[0062] Preferably, the material stored in the material chamber includes water, nutrient solution, pesticide, fertilizer, or seeds.

[0063] Preferably, the material chamber includes at least two cavities.

[0064] Preferably, one of the cavities stores nutrient solution or pesticide, and the other stores water. A liquid passage and a passage switch are provided between the cavities. The passage switch is used to open or close the liquid passage. When the passage switch opens the liquid passage, the nutrient solution or pesticide flows into the cavity storing water.

[0065] Preferably, the material chamber includes a partition, and the at least two chambers are formed by the partition; the material chamber includes a partition switch for opening or closing the partition, and when the partition switch opens the partition, the material flows through the at least two chambers.

[0066] Preferably, there is a height difference between the bottom surfaces of the cavities.

[0067] Preferably, the housing is provided with a counterweight, which is located at the front of the self-moving gardening robot in the direction of movement.

[0068] Preferably, the material chamber is equipped with a cleaning device that automatically or by the user cleans the material chamber.

[0069] Preferably, the walls of the material chamber are at least partially made of a thermally conductive material.

[0070] Preferably, the material cavity is disposed in the housing, or

[0071] The material chamber is connected to the housing via a connecting device and moves with the self-moving gardening robot.

[0072] Preferably, the housing is further provided with a drip irrigation device, which is connected to the material chamber.

[0073] Preferably, the drip irrigation device includes a drip irrigation opening, the drip irrigation opening being no higher than the bottom of the housing, or the distance between the drip irrigation opening and the working surface being no more than 15cm.

[0074] Preferably, the width of the drip irrigation device is not less than the width of the housing.

[0075] Preferably, the drip irrigation device is located behind the mobile module.

[0076] Preferably, the drip irrigation device is connected to the material opening, and the drip irrigation device includes a drip irrigation opening, the cross-sectional area of ​​which increases with the increase of the distance between the drip irrigation opening and the material opening.

[0077] Preferably, the housing is further provided with a spraying device, which is connected to the material chamber.

[0078] Preferably, the spraying device includes a nozzle and a pump, and the control module controls the amount of hydraulic pressure generated by the pump to control the range of the spraying device.

[0079] Preferably, the working module includes a cutting module, which is driven to rotate by a drive module; the cutting module is located below the material opening; the rotation of the cutting module performs grass cutting work; the rotation of the cutting module also performs material spreading work.

[0080] Preferably, the control module controls the rotation speed of the cutting module, and the cutting module performs the tasks of mowing grass and spreading materials when rotating at different speeds.

[0081] Preferably, the rotational speed of the cutting module when performing grass cutting is greater than the rotational speed when performing material spreading.

[0082] Preferably, when the cutting module rotates to perform the grass-cutting work, the control module controls the rotation speed of the cutting module to be greater than 2000 r / min.

[0083] Preferably, when the cutting module rotates to perform the material spreading operation, the control module controls the rotation speed of the cutting module to be less than or equal to 1000 r / min.

[0084] Preferably, when the cutting module performs the spreading of different materials, the control module controls the rotation speed of the cutting module to be different.

[0085] Preferably, when the capacity detection device detects that the remaining material capacity is lower than a preset threshold, the control module controls the self-propelled gardening robot to move to the docking station to replenish the material.

[0086] Preferably, the material chamber includes a main chamber and an overflow prevention chamber. The overflow prevention chamber is connected to the main chamber at a preset height. When the material height in the main chamber is higher than the preset height, the material flows out of the material chamber through the overflow prevention chamber.

[0087] Preferably, the docking station includes a material replenishment device, which includes a material replenishment opening and a material replenishment switch. The material replenishment switch is used to open or close the material replenishment opening. When the material replenishment switch opens the material replenishment opening, the material replenishment device outputs material.

[0088] Preferably, the material replenishment device includes a docking detection device for detecting whether the self-propelled gardening robot is at a predetermined docking position. If the self-propelled gardening robot is detected at the predetermined docking position, the material replenishment device replenishes the material chamber with material.

[0089] Preferably, the self-propelled gardening robot sends a docking signal to the material replenishment device, indicating the type of material stored in the material chamber, and the material replenishment device replenishes the material chamber with the corresponding type of material according to the received docking signal.

[0090] Preferably, the self-moving gardening robot includes a wireless communication module that communicates wirelessly with the material replenishment device. When the material capacity in the material chamber is higher than a preset threshold, the self-moving gardening robot sends a signal to the material replenishment device through the wireless communication module, instructing the material replenishment device to stop replenishing the material.

[0091] The beneficial effects of this invention are: by using a material chamber, different functions can be achieved on the same machine, thereby improving the efficiency of machine use.

[0092] A self-moving gardening robot system includes the self-moving gardening robot described in any of the preceding claims, and a docking station.

[0093] Preferably, the docking station is also used to replenish the energy module of the self-moving gardening robot.

[0094] The present invention provides a technical solution as follows: a self-moving gardening robot, comprising: a shell; a moving module for moving the self-moving gardening robot; a working module for performing corresponding tasks; a power module for driving the moving module and the working module; an energy module for providing energy to the self-moving gardening robot; and a control module for controlling the self-moving gardening robot to move automatically and perform tasks; wherein, the self-moving gardening robot further comprises a positioning module for determining the position information of the self-moving gardening robot; the control module comprises a path planning unit; the control module walks and / or works according to the path set by the path planning unit based on the positioning information; the self-moving gardening robot further comprises a material chamber for storing materials.

[0095] Preferably, the positioning module includes a DGPS receiver module for receiving satellite signals.

[0096] Preferably, the material chamber is disposed within the housing and includes a material inlet and a material opening.

[0097] Preferably, the working module includes an automatic valve, which, under the control of the control module, opens and / or closes the material inlet and the material outlet.

[0098] Preferably, the self-moving gardening robot performs different functions when storing different materials in the material chamber.

[0099] Preferably, when water is stored in the material chamber, the self-moving gardening robot performs the watering function.

[0100] Preferably, the housing is further provided with a drip irrigation device, which is connected to the material chamber.

[0101] Preferably, the housing is further provided with a spraying device, which is connected to the material chamber.

[0102] Preferably, when seeds are stored in the material chamber, the self-moving gardening robot performs the sowing function.

[0103] Preferably, when pesticides are stored in the material chamber, the self-moving gardening robot performs the spraying function.

[0104] Preferably, when fertilizer is stored in the material chamber, the self-moving gardening robot performs the fertilization function.

[0105] Preferably, a capacity detection device is provided inside or on the material cavity to detect the remaining material capacity in the material cavity.

[0106] Preferably, the capacity detection device is an infrared detection sensor.

[0107] Preferably, the self-moving gardening robot is equipped with an accessory interface for connecting external accessories to achieve different functions.

[0108] Preferably, the self-moving machine is provided with a cutting module below the material chamber, and the cutting module rotates under the drive of the power module.

[0109] Preferably, the control module controls the rotation speed of the cutting module to achieve different functions with the same cutting module.

[0110] Preferably, when the cutting module performs the cutting function, the control module controls the rotation speed of the cutting module to be greater than 2000 r / min.

[0111] Preferably, when the cutting module performs the spreading function, the control module controls the rotation speed of the cutting module to be less than or equal to 1000 r / min.

[0112] Preferably, the self-moving gardening robot also includes a grass condition recognition sensor for recognizing the grass condition at the location of the self-moving gardening robot.

[0113] Preferably, the grass condition identification sensor is a capacitive sensor, and the signal processing circuit connected to the capacitive sensor will output different frequency signals under different grass conditions.

[0114] Preferably, the grass condition recognition sensor is an image / video sensor, and the control module identifies the grass condition based on the image obtained by the image / video sensor by means of the color and texture of the image.

[0115] Preferably, the control module controls whether the working module performs its work based on the grass condition identified by the grass condition recognition sensor.

[0116] Preferably, the self-moving gardening robot further includes a wireless communication module for remote data and / or command communication.

[0117] Preferably, the self-moving gardening robot is remotely connected to the server via the wireless communication module, and the server is remotely connected to the user equipment.

[0118] Preferably, the server collects and / or statistically analyzes relevant data information of the self-moving gardening robot.

[0119] Preferably, the server monitors the weather forecast information and, based on the weather forecast information, remotely changes the work schedule of the self-moving gardening robot through the wireless communication module.

[0120] Preferably, the wireless communication module acquires weather forecast information, and the control module changes the work schedule of the self-moving gardening robot based on the weather forecast information.

[0121] Preferably, the control module includes a storage unit that stores relevant data from the mobile gardening robot; when the mobile gardening robot is within the wireless communication coverage area, the wireless communication module remotely transmits the relevant data stored in the storage unit.

[0122] Preferably, when the control module detects that the material volume in the material chamber is lower than a preset threshold, the control module controls the self-propelled machine to move to the docking station to replenish the material.

[0123] Preferably, the docking station is equipped with a material replenishment device, and the material replenishment device is equipped with a docking detection device for detecting whether the self-moving gardening robot is at a predetermined position at the docking station.

[0124] Preferably, the material replenishment device is equipped with an automatic valve, which automatically initiates the opening and closing of the material supply.

[0125] The present invention also provides a technical solution as follows: a multifunctional self-moving gardening robot, comprising: a shell; a moving module for moving the self-moving gardening robot; a multifunctional module for performing different functions; a power module for driving the moving module and the working module; an energy module for providing energy to the self-moving gardening robot; a control module for controlling the self-moving gardening robot to move automatically and perform work; and a positioning module for determining the position information of the self-moving gardening robot; wherein, the self-moving gardening robot has a single-function selection mode and a fully automatic multifunctional mode. In the single-function selection mode, the self-moving gardening robot automatically performs the selected single-function task; in the fully automatic multifunctional mode, the self-moving gardening robot automatically performs multiple functional tasks at different time periods and / or at different time intervals.

[0126] This invention also provides a technical solution: a multifunctional self-propelled gardening robot, comprising: a shell; a movement module for moving the self-propelled gardening robot; a multifunctional module for performing different functions; a power module for driving the movement module and the working module; an energy module for providing energy to the self-propelled gardening robot; a control module for controlling the self-propelled gardening robot to move automatically and perform work; a positioning module for determining the position information of the self-propelled gardening robot; and a grass condition recognition sensor for recognizing the growth status of the grass. The control module includes a storage unit that stores the position information of the locations traversed by the self-propelled gardening robot during its movement, as well as the grass condition information recognized at those locations. After the self-propelled gardening robot traverses the working area, the control module statistically analyzes the grass condition within the working area.

[0127] This invention also provides a technical solution: a multifunctional self-propelled gardening robot system, comprising a self-propelled gardening robot and a docking station. The self-propelled gardening robot includes: a shell; a movement module for moving the self-propelled gardening robot; a multifunctional module for performing different functions; a power module for driving the movement module and the working module; an energy module for providing energy to the self-propelled gardening robot; a control module for controlling the self-propelled gardening robot to move automatically and perform work; and a positioning module for determining the position information of the self-propelled gardening robot. The docking station includes a material replenishment device and / or an accessory transfer device. The multifunctional module includes a material chamber and / or an accessory interface. When the content of the material chamber is lower than a preset threshold or when an accessory needs to be transferred, the self-propelled gardening robot automatically walks to the docking station to replenish materials or transfer accessories.

[0128] Compared with existing technologies, the beneficial effects of this invention are as follows: This invention employs a material chamber design, allowing different functions to be implemented on the same machine, thus improving machine efficiency. This invention utilizes a positioning device, enabling the self-moving gardening robot to plan its path during self-movement and operation, better performing its work and ensuring coverage of the work area, thereby improving efficiency. This invention's self-moving gardening robot has a single-function selection mode and a fully automatic multi-functional mode, providing users with semi-automatic and fully automatic lawn maintenance strategies, significantly enhancing the user experience. This invention provides a self-moving gardening robot working system, with a docking station including a material replenishment device and an accessory transfer device, which can automatically add materials to the self-moving gardening robot or transfer functional accessories, providing automation performance and improving the user experience. This invention uses a grass condition recognition sensor and a positioning device to statistically analyze the grass condition of the entire work area, allowing users to intuitively understand the lawn's condition information.

[0129] Compared with existing technologies, the beneficial effects of this invention are as follows: This invention provides an automatic sprinkler robot that can automatically complete the task of watering lawns and automatically add water when the water source in the material chamber is insufficient. The automatic sprinkler robot of this invention utilizes a positioning module to achieve path planning, and waters according to the planned path without damaging the already watered lawn. The automatic sprinkler robot of this invention can also irrigate flower beds in a yard using a spraying device, and automatically walks to the flower bed location to perform irrigation work through the positioning module. Attached Figure Description

[0130] The objectives, technical solutions, and beneficial effects of the present invention described above can be further described in detail below through specific embodiments that enable the realization of the present invention.

[0131] The same reference numerals and symbols in the accompanying drawings and the specification are used to represent the same or equivalent elements.

[0132] Figure 1 This is a schematic diagram of a typical family courtyard layout.

[0133] Figure 2 This is a schematic diagram of a self-moving gardening robot working system according to one embodiment of the present invention.

[0134] Figure 3 This is a block diagram illustrating the structure of a self-moving gardening robot according to one embodiment of the present invention.

[0135] Figure 4 This is a schematic diagram of a remote system for a self-moving gardening robot according to one embodiment of the present invention.

[0136] Figure 5 This is a schematic diagram of the structure of a self-moving gardening robot according to one embodiment of the present invention.

[0137] Figure 6 is a planar schematic diagram of the geometric shape of the material cavity of the present invention.

[0138] Figure 7 is a geometric planar schematic diagram of three other embodiments of the material cavity of the present invention.

[0139] Figure 8 This is a structural schematic diagram of a self-moving gardening robot according to another embodiment of the present invention.

[0140] Figure 9 This is a structural schematic diagram of a self-moving gardening robot according to another embodiment of the present invention.

[0141] Figure 10 This is a schematic planar view of the internal geometry of the housing of a self-moving gardening robot according to another embodiment of the present invention.

[0142] Figure 11This is a schematic diagram of the structure of a self-moving gardening robot equipped with a drip irrigation device according to one embodiment of the present invention.

[0143] Figure 12 This is a schematic diagram of the structure of a self-moving gardening robot equipped with a drip irrigation device according to another embodiment of the present invention.

[0144] Figure 13 yes Figure 12 A schematic diagram of the structure along direction A.

[0145] Figure 14 This is a schematic diagram of the structure of a self-moving gardening robot equipped with a spraying device according to one embodiment of the present invention.

[0146] Figure 15 This is a schematic diagram of the structure of the soil loosening attachment of the present invention.

[0147] Figure 16 This is a schematic diagram of the module for collecting fallen leaves and accessories according to the present invention.

[0148] Figure 17 This is a schematic diagram of the structure of a self-moving gardening robot with an attached rake for fallen leaves, according to one embodiment of the present invention.

[0149] Figure 18 yes Figure 17 The diagram shows a scenario where a self-moving gardening robot performs the function of sweeping fallen leaves.

[0150] Figure 19 This is a schematic diagram of the signal processing circuit and output signal of the grass condition identification sensor of the present invention when detecting different grass conditions.

[0151] Figure 20 This is a schematic diagram illustrating the state of a self-moving gardening robot replenishing materials according to one embodiment of the present invention.

[0152] Figure 21 This is a schematic diagram of the overflow prevention structure of the self-moving gardening robot of the present invention.

[0153] Figure 22 This is a schematic diagram of the work area partitioning of the self-moving gardening robot of the present invention.

[0154] Figure 23 This is a schematic diagram of the sub-work area partitioning of the self-moving gardening robot of the present invention.

[0155] Figure 24 This is a schematic diagram of the walking route of the self-moving gardening robot of the present invention within a sub-work area.

[0156] Figure 25 This is a schematic diagram of the self-moving gardening robot of the present invention spraying water in a sub-working area.

[0157] Figure 26This is a schematic diagram illustrating another partitioning of the sub-work area by the self-moving gardening robot of the present invention.

[0158] Figure 27 This invention describes a workflow for a self-moving gardening robot to perform sowing tasks.

[0159] Figure 28 This invention describes a workflow for a self-moving gardening robot to perform watering tasks.

[0160] Figure 29 This invention describes a workflow for a self-moving gardening robot to perform watering tasks.

[0161] Figure 30 This invention describes a workflow for a self-moving gardening robot to perform leaf sweeping tasks.

[0162] Figure 31 This is a schematic diagram of the framing range of the self-moving gardening robot of the present invention.

[0163] Figure 32 This invention relates to an algorithm for a self-moving gardening robot to identify normal grass and weeds.

[0164] Figure 33 This is another algorithm flow for the self-moving gardening robot of the present invention to identify normal grass and weeds.

[0165] 100. Self-propelled gardening machine; 10. Housing; 20. Mobile modular robot.

[0166] 30. Control module; 40. Grass condition recognition sensor; 41. Probe

[0167] 43. Input capacitor; 45. Resistor; 47. Schmitt trigger

[0168] 52. Material cavity; 56. Cutting module; 521. Material inlet.

[0169] 523. Material outlet; 54a. First soil loosening attachment; 54b. Second soil loosening attachment.

[0170] 54c, Leaf suction attachment; 54d, Leaf rake attachment; 3, Working area.

[0171] 12. Attachment interface 90, wireless communication module 300, server

[0172] 200, User Equipment 80, Power Module 70, Positioning Module

[0173] 500, Material replenishment device; 400, Dock station; 501, Automatic valve

[0174] 524, Capacity detection device 524a, First capacity detection device 524b, Second capacity detection device

[0175] 523a, First material outlet; 523b, Second material outlet; 52a, First material chamber

[0176] 52b, Second material chamber 50, Working module 542, Connecting part

[0177] 542a, Left mating part; 542b, Right mating part; 544, Rigid shaft

[0178] 548. Rolling part; 546. Protrusion; 543. Leaf collecting device

[0179] 5431, Fallen Leaf Storage Section; 5433, Fallen Leaf Collection Section; 503, Material Pipe

[0180] 505, Terminal 527, Hall sensor 528a, Drip irrigation device

[0181] 528b, Drip irrigation system; 545, Rake blades; 526, Spraying system

[0182] 60. Image sensor 302, Capacity conversion unit 511, Partition

[0183] 513, diaphragm valve 700, trailer 710, connection interface

[0184] 720, housing; 730, connector; 725, sprinkler system

[0185] 51. Nutrient chamber; 53. Control valve; 529. Drip irrigation device

[0186] 5291, Connecting part; 5293, Drip irrigation accessory; 5292, Drip hole

[0187] 524. Overflow chamber; 522. Main chamber; 525. Overflow outlet

[0188] 527. Overflow outlet Detailed Implementation

[0189] The detailed description and technical content of the present invention are explained below with reference to the accompanying drawings. However, the accompanying drawings are provided for reference and illustration only and are not intended to limit the present invention.

[0190] Figure 2A self-moving gardening robot working system is disclosed. The self-moving gardening robot working system includes a self-moving gardening robot 100 and a docking station 400. The self-moving gardening robot 100 moves automatically and performs tasks within a working area 3. The docking station 400 is arranged within or near the boundary of the working area 3 to provide docking, energy replenishment, and / or material replenishment for the self-moving gardening robot 100.

[0191] Figure 3 A block diagram of a self-moving gardening robot 100 is shown. The self-moving gardening robot 100 includes a housing 10, a movement module 20 located at the bottom of the housing 10, a power module 80 located inside the housing 10, a work module 50 for performing tasks, a control module 30 for controlling the automatic operation and movement of the self-moving gardening robot 100, and an energy module 60 for providing energy to the self-moving gardening robot 100. The movement module 20 can be tracked or wheeled. The energy module 60 can be a lead-acid battery, a rechargeable lithium battery, a supercapacitor, or can be replenished by solar or wind power. The power module 80 is a drive motor, which can be one or multiple, used to drive the movement module 20 to move and the work module 50 to perform corresponding functions. Please refer to [reference needed]. Figure 3 In a preferred embodiment, the self-moving gardening robot 100 further includes a positioning module 70. The positioning module 70 is used to determine the location information of the self-moving gardening robot 100. The positioning module 70 can assist the self-moving gardening robot 100 in realizing various functions such as navigation and path planning.

[0192] In one embodiment, the positioning module 70 is a GPS positioning device, which achieves positioning by receiving satellite signals. In another embodiment, the positioning module 70 is a DGPS positioning device, which achieves differential precise positioning by receiving satellite signals and cooperating with a base station. In one embodiment, the positioning module 70 is a combination of an odometer and a compass, which achieves positioning by calculating the walking distance and determining the direction of movement. In one embodiment, the positioning module 70 is a combination of a GPS positioning device and an inertial navigation system (INS), which achieves precise positioning through the coordinated use of the INS and GPS. In one embodiment, the positioning module 70 is an image navigation device, which achieves positioning by comparing captured image information with stored image information.

[0193] Please refer to Figure 3, in a preferred embodiment, the self - moving gardening robot 100 further includes a wireless communication module 90 for remote communication. The wireless communication module 90 is electrically connected to the control module 30, and the control module 30 includes a storage unit for storing programs and data. The control module 30 sends data to the outside or receives data and instructions from the outside through the wireless communication module 90. The specific device type of the wireless communication module 90 can be various wireless communication devices such as wifi devices, Bluetooth devices, cellular mobile communication devices, zigbee, sub - 1G, etc.

[0194] Figure 4 A remote working system for a self - moving gardening robot is disclosed. In this embodiment, the self - moving gardening robot 100 communicates with the server 300 through the wireless communication module 90, and the server 300 communicates wirelessly with the user device 200. The server 300 is specifically a remote server provided by the supplier or manufacturer of the self - moving gardening robot 100, providing multiple functions such as data transmission, data statistics, control commands, software updates, etc. The user device 200 is specifically a mobile phone, computer, tablet computer, smart wearable device, etc. The user device 200 is provided with an application program that matches the self - moving gardening robot 100 and the server 300. The user can understand the status of the self - moving gardening robot 100, the lawn environment, and the statistical information of the grass condition through the application program interface, and set the relevant working instructions for the self - moving gardening robot 100.

[0195] In this embodiment, the dealer or manufacturer of the self - moving gardening robot 100 can statistically collect the data of each sold self - moving gardening robot 100 through the server 300. The specific types of data can be performance data information such as fault information, the working setting data of the user for the self - moving gardening robot 100, the total working duration of the self - moving gardening robot 100, or data information such as user preferences. Based on the data information statistically collected by the server 300, the supplier or manufacturer of the self - moving gardening robot 100 can obtain multi - directional guiding information for product planning, product R & D, etc. The supplier or manufacturer of the self - moving gardening robot 100 can also automatically update the software version in the self - moving gardening robot 100 through the server 300, or automatically update the working schedule of the self - moving gardening robot 100 based on the database information.

[0196] In another embodiment, the self - moving gardening robot 100 can also directly communicate remotely with the user device 200 through the wireless communication module 90. The server 300 then communicates remotely with the user device 200. The server 300 collects and statistically analyzes the data of the self - moving gardening robot 100 through the user device 200, and / or sends various reminder instructions to the user device 200. Of course, in some cases, the remote working system of the self - moving gardening robot 100 may not include the server 300.

[0197] In one embodiment, the working module 50 is an execution component that performs a single function, and correspondingly, the self-moving gardening robot 100 is a single-function self-moving gardening robot. In this embodiment, the self-moving gardening robot 100 has different functions depending on the working module 50. Specifically, when the working module 50 is a cutting component, the self-moving gardening robot 100 is an automatic lawnmower; when the working module 50 is a sweeping component, the self-moving gardening robot 100 is an automatic sweeper (intelligent vacuum cleaner, intelligent snowplow); when the working module 50 is a fertilizing component, the self-moving gardening robot 100 is an automatic fertilizer applicator; when the working module 50 is a watering component, the self-moving gardening robot 100 is an automatic sprinkler, etc.

[0198] In one embodiment, the working module 50 includes multiple functional execution components, and correspondingly, the self-moving gardening robot 100 is a multifunctional self-moving gardening robot. The multiple functional execution components can be multiple execution components that each perform different functions, or a single execution component that can perform multiple functions.

[0199] Figure 5 A multifunctional self-moving gardening robot 100 suitable for lawn maintenance is disclosed. The self-moving gardening robot 100 can automatically navigate within a work area and perform various tasks. In this embodiment, the self-moving gardening robot 100 is mainly used for lawn maintenance and has multiple functions for lawn maintenance, such as: seeding, watering, pesticide application, fertilization, mowing, loosening soil, and weeding. The self-moving gardening robot 100 includes multiple functional modules, each controlled to perform its corresponding function. The self-moving gardening robot 100 may also include interfaces for multiple functional modules, connecting accessories to perform each function to achieve the corresponding functionality.

[0200] The following content uses a multifunctional self-moving gardening robot as an example to specifically introduce the structural components of the self-moving gardening robot.

[0201] Continue to refer to Figure 5 In this embodiment, the self-propelled gardening robot 100 also includes a cutting module 56 located at the bottom of the housing 10. Driven by the power module 80, the cutting module 56 generates a rotational motion to achieve the lawn mowing function.

[0202] In this embodiment, the self-propelled gardening robot 100 also includes a material chamber 52 for storing materials such as seeds, fertilizer, water, and pesticides. Specifically, the material chamber 52 is fixedly located within the housing 10. The material chamber 52 has a material inlet 521 through which materials enter the material chamber 52. The material chamber 52 has a material outlet 523 (i.e., a material opening) through which materials fall onto the lawn, realizing functions such as sowing, fertilizing, watering, and spraying pesticides. The material inlet 521 is provided with an inlet cover for covering the inlet. The inlet cover is externally connected to an elastic element, which automatically covers the inlet under the elastic force of the elastic element. When the inlet cover is subjected to an external force, the external force overcomes the elastic force of the elastic element, and the inlet cover no longer covers the inlet, allowing materials to enter the material chamber 52 from the inlet. The material outlet 523 includes an outlet cover for covering the outlet. The outlet cover is driven by the power module 80 and can be connected to automatically cover or automatically not cover the outlet. The outlet cover is equivalent to an automatic valve (a type of automatic switch). Preferably, the inlet cover of the material inlet 521 is also equipped with an automatic valve. Under the control of the control module 30, the automatic valve can automatically open and close the inlet cover and the outlet cover. Preferably, under the control of the control module 30, the automatic valve can control the opening size of the inlet cover and / or the outlet cover, thereby controlling the flow rate of the material. Preferably, depending on the type of material, the control module 30 controls the walking speed of the self-propelled gardening robot 100 and the opening size of the outlet cover to meet the material quantity required per square meter of lawn. In this embodiment, there is one material inlet, located on the upper surface of the material cavity 52 relative to the housing 10. There is one material outlet, located on the lower surface of the material cavity 52 relative to the housing 10. Preferably, the material inlet 521 is located in front of the material cavity 52, and the material outlet 523 is located behind the material cavity 52. ​​Of course, the number of material inlets and material outlets can also be other quantities.

[0203] In a preferred embodiment, the material chamber has a plurality of outlets. Different material outlets are used to release materials with different functions or in different forms. In this embodiment, the opening sizes of the different material outlets can also be set to be different.

[0204] In a preferred embodiment, the self-propelled gardening robot 100 further includes a capacity detection device 524 for detecting the amount of material stored. The capacity detection device 524 is electrically connected to the control module 30. The capacity detection device 524 detects the remaining material volume in the material chamber 52 and transmits this capacity signal to the control module 30. The control module 30 controls the self-propelled gardening robot 100 to perform different actions based on the different capacity signals. The capacity detection device 524 can be implemented in various ways, such as using a distance sensor, weight sensor, spatial sensor, capacitance sensor, Hall effect sensor, etc. When the main function of the material chamber 52 is to store liquid, the capacity detection device 524 can also use a float for capacity detection. Specifically, the distance sensor can be an infrared sensor, an ultrasonic sensor, a laser sensor, etc.

[0205] In one specific embodiment, the capacity detection device 524 employs a ranging sensor. Preferably, the ranging sensor is disposed on the upper surface of the material chamber 52. The ranging sensor is located near the material inlet 521 of the material chamber 52 and generally faces the material outlet 523. The ranging sensor emits a ranging signal, which contacts the material surface and is then reflected back to the ranging sensor. The control module 30 determines the location of the upper surface of the material in the material chamber 52 based on the time difference between the emitted and received ranging signals, and thus determines the remaining material in the material chamber 52. When the self-propelled gardening robot 100 walks on a slope, the material in the material chamber 52 moves towards the foot of the slope due to gravity, causing the surface of the material to be inclined. Therefore, the remaining capacity detected by the capacity detection device 524 is no longer accurate. Preferably, the control module 30 has a capacity conversion unit 302. The capacity conversion unit 302 converts the capacity detected by the capacity detection device 524 according to the slope of the slope and a preset algorithm. Through the conversion by the capacity conversion unit 302, the self-moving gardening robot 10 will not be unable to accurately determine the remaining material capacity in the material chamber 52 due to walking on a slope.

[0206] Optionally, the self-propelled gardening robot 100 is equipped with multiple capacity detection devices 524. In one embodiment, the self-propelled gardening robot 100 has two capacity detection devices 524, which are arranged at intervals along the axis of the self-propelled gardening robot 100's walking direction. When the self-propelled gardening robot 100 walks on a slope, the control module 30 receives the results detected by the two capacity detection devices 524 respectively, and sums and averages the two detection results to calculate the remaining material capacity in the material chamber 52. In this embodiment, the two capacity detection devices 524 are arranged at intervals along the axis of the self-propelled robot 100's walking direction. When the self-propelled gardening robot 100 is on a slope, the two capacity detection devices 524 detect the capacity value at their respective positions. By summing and averaging the two capacity values, the influence of material tilt on the detection results is eliminated or reduced.

[0207] Continue to refer to Figure 5 In this embodiment, the material cavity 52 is generally rectangular in shape and concave at the motor 80 to match the position of the motor 80. Of course, the shape of the material cavity 52 can also be other forms, such as a cube, a cone, or an irregular shape. Preferably, the specific outline of the material cavity 52 is adapted to the spatial shape within the housing 10, making the most of the space and effectively increasing the storage capacity of the material cavity 52.

[0208] Figure 6 illustrates different shape configurations of the material cavity. In this embodiment, the contour surface of the material cavity 52 is convex, and the bottom area of ​​the material cavity 52 is smaller than the top area. As shown in Figure 6(a), the material cavity 52 is conical. As shown in Figure 6(b), the material cavity 52 is semi-conical. Continuing to refer to Figures 6(a) and 6(b), the material opening 523 is located at the bottom of the material cavity 52, and the capacity detection sensor 524 is located at the top of the material cavity 52, with the capacity detection sensor 524 directly facing the material opening 523.

[0209] In this embodiment, there is one material chamber 52, which can store different materials at different times. Optionally, there can be multiple material chambers 52, each used to store different materials or to store multiple portions of materials.

[0210] Referring to Figure 6(c), there are two material chambers 52, namely a first material chamber 52a and a second material chamber 52b. Each material chamber 52 has the shape shown in Figure 6(b). The first material chamber 52a has a first volume detection sensor 524a at the top and a first material opening 523a at the bottom, with the first volume detection sensor 524a directly opposite the first material opening 523a. The second material chamber 52b has a second volume detection sensor 524b at the top and a second material opening 523b at the bottom, with the second volume detection sensor 524b directly opposite the second material opening 523b. The first material chamber 52a and the second material chamber 52b store different materials to achieve different functions. For example, the first material chamber 52a stores seeds to achieve a sowing function; the second material chamber 52b stores water to achieve a watering function.

[0211] Figure 7(a) shows that a partition 511 is installed inside the material chamber 52. In this embodiment, three partitions 511 are installed inside the material chamber 52, thereby dividing the material chamber 52 into four chambers. In this embodiment, a valve 513 is also installed at the connection between the partition 511 and the chamber, and the control module 30 controls the opening and closing of the partition valve 513. When the material in the material chamber 52 needs to circulate in each chamber, such as when injecting material into the material chamber 52 or when sprinkling the material in the material chamber 52 onto the working surface, the control module 30 controls the partition valve 513 to open; when the material in the material chamber 52 needs to be fixed in its respective chamber, such as when the self-moving gardening robot 100 is climbing a slope, the control module 30 controls the partition valve 513 to close. The specific location of the valve 513 can also be set on the partition 511 or other locations that can realize the function of isolating and connecting adjacent chambers. The number of partitions 511 can be determined according to the size of the material chamber 52 or the needs of the scene, and is not limited here. When the self-propelled gardening robot 100 travels on a slope, the partition 511 divides the material chamber 52 into multiple small chambers, preventing the material in the material chamber 52 from tilting to the bottom of the slope under the action of gravity, which would cause the center of gravity of the self-propelled gardening robot 100 to tilt too far back or forward, thus avoiding danger during the climbing or descending of the slope.

[0212] Figure 7(b) shows that the material chamber 52 has a stepped shape. The material chamber 52 has a plurality of chambers, and the bottom of each chamber has a predetermined height difference with the bottom of its adjacent chamber, so that the bottom of the material chamber 52 is stepped in shape. The stepped shape of the bottom of the material chamber 52 helps to maintain the stability of the center of gravity of the self-moving gardening robot 100. Even when the self-moving gardening robot 100 is climbing or going downhill, the material in the material chamber 52 will not tilt too much, causing the center of gravity of the self-moving gardening robot 100 to tilt too far backward or forward, thus avoiding danger during climbing or going downhill. In another embodiment, the bottom of the material chamber 52 can also be configured in other shapes. Figure 7(c) shows that the bottom of the material chamber 52 is configured as a slope with a predetermined inclination. In the two embodiments of Figures 7(b) and 7(c), the partition 511 and valve 513 may not be provided in the material chamber 52.

[0213] In another embodiment, the self-propelled gardening robot 100 has a counterweight at the front end of the housing 10. By setting the counterweight at the front end of the housing 10, the center of gravity of the whole machine can be effectively balanced when the self-propelled gardening robot 100 tilts the material in the material chamber during the climbing process.

[0214] In another embodiment, the material chamber 52 also has a self-cleaning function. A cleaning device is provided inside the material chamber 52, which can automatically and periodically clean the material chamber, or the cleaning of the material chamber can be initiated by the user.

[0215] In another embodiment, the self-moving gardening robot 100 can also use a trailer for material storage. For example... Figure 8 As shown, a trailer 700 is attached to the accessory interface 12 of the self-propelled gardening robot 100. The trailer 700 has a connection interface 710 that mates with the accessory interface 12 and a housing 720. Preferably, a connector 730 of a certain length is provided between the connection interface 710 and the housing 720. The connector 730 can be a connecting rod or a connecting cable. The housing 720 serves as a storage space for materials, and a walking module is provided at the bottom of the housing 720. When the self-propelled gardening robot 100 moves, it drives the trailer 700 to move in the same direction. The housing 720 is provided with a material inlet and a material outlet. When the material stored in the housing 720 is mainly a liquid, the material outlet can be a sprinkler device 725. In this embodiment, the sprinkler device 725 is located at the top of the housing 720. In another embodiment, as shown... Figure 9 As shown, the sprinkler irrigation device 725 is located at the bottom of the housing. Of course, in other alternative embodiments, the material outlet can also be a drip irrigation device.

[0216] Figure 10The self-propelled gardening robot 100 is also equipped with a nutrient chamber 51. The nutrient chamber 51 is used to store liquids such as nutrient solutions and pesticides. A liquid passage and a control valve 53 connect the nutrient chamber 51 and the material chamber 52. The control valve 53 controls whether the liquid in the nutrient chamber 51 flows to the material chamber 52, and the total flow rate and / or flow velocity to the material chamber 52. When the self-propelled robot 100 performs the watering function, the specific coordination between the nutrient chamber 51 and the material chamber 52 is described as follows: First, the appropriate nutrient solution or pesticide is injected into the nutrient chamber 51; then, the control module 30 controls the control valve 53 to open for a period of time and then close, allowing an appropriate amount of liquid to flow from the nutrient chamber 41 into the material chamber 52; finally, water is injected into the material chamber 52. The control module 30 controls the concentration ratio of the solution in the material chamber by controlling the opening time of the control valve 53. This coordination helps to dilute the nutrient solution or pesticide evenly.

[0217] In one embodiment, the material chamber 52 is positioned within a predetermined space of the self-propelled gardening robot 100. Around the material chamber 52 are arranged components that are prone to generating heat during operation, such as the energy module 60 and the control module 30. When water is stored in the material chamber 52, the water cools the surrounding area, thereby cooling the energy module 60 and the control module 30. Preferably, the cavity of the material chamber 52 is at least partially made of a thermally conductive material.

[0218] The volumetric capacity of the material chamber 52 is a crucial parameter in the design of the self-propelled gardening robot 100. The size of the material chamber 52 affects the robot's working efficiency and whether it will damage the lawn during operation. Specific factors to consider when designing the volumetric capacity of the material chamber 52 include the working area of ​​the self-propelled gardening robot 100, its walking speed, the total working time per unit area, vegetation transpiration related to the local climate, precipitation related to the local climate, the rate at which water is injected into the material chamber 52 each time, and the watering rate of the self-propelled gardening robot 100. Among these influencing factors, the volumetric capacity of the material chamber 52 is directly proportional to the working area and vegetation transpiration. That is, the larger the working area and vegetation transpiration, the larger the volumetric capacity of the material chamber 52 needs to be. Conversely, the volumetric capacity of the material chamber 52 is inversely proportional to walking speed, working time, precipitation, water injection rate, and watering rate. The greater the walking speed of the self-moving gardening robot 100, the total working time per unit area of ​​the self-moving gardening robot 100, the amount of precipitation, the speed at which water is injected into the material chamber 52 each time, and the watering speed of the self-moving gardening robot 100, the smaller the volume of the material chamber 52 needs to be designed.

[0219] In a preferred embodiment, when the self-propelled gardening robot 100 performs functions such as sowing, fertilizing, watering, and spraying pesticides, the rotation of the cutting module 56 can be used to achieve the purpose of preventing material accumulation and dispersing it evenly. When performing functions such as sowing, fertilizing, watering, and spraying pesticides, the control module 30 controls the cutting module 56 to rotate at a low speed. After the seeds, fertilizer, water, pesticides, and other materials flow out from the material outlet, they first fall onto the upper surface of the cutting module 56, and under the rotation of the cutting module 56, are scattered onto the lawn.

[0220] Preferably, the control module 30 includes a rotation speed control unit. When the self-propelled gardening robot 100 performs different functions such as mowing, watering, sowing, spraying pesticides, and fertilizing, the rotation speed control unit controls the cutting module 56 to rotate at different speeds. When the self-propelled gardening robot 100 is performing the mowing function, the rotation speed control unit controls the cutting module 56 to rotate at a high speed, with a rotation speed range greater than 2000 r / min, preferably 2100 r / min or 2800 r / min. When the self-propelled gardening robot 100 is performing material functions such as watering, sowing, spraying pesticides, and fertilizing, the rotation speed control unit controls the cutting module 56 to rotate at a low speed, with a rotation speed range less than 1000 r / min. Preferably, when performing different material functions, the rotation speed control unit can also control the rotation speed of the cutting module 56 to be different accordingly. Specifically, the rotation speed of the cutting module 56 can be controlled differently based on factors such as the weight / volume of the material required per square meter, the walking speed of the self-propelled gardening robot 100, and the machine's area. As those skilled in the art will know, the control module 30 here includes not only program control methods such as microprocessors, but also control circuit methods of electronic circuit design.

[0221] In a preferred embodiment, the self-propelled gardening robot 100 has a drip irrigation device at the bottom of the material chamber 52. The drip irrigation device is connected to the material chamber 52. Figure 11 A self-moving gardening robot 100 equipped with a drip irrigation device is disclosed. The drip irrigation devices 528a and 528b are two thin tubes. These tubes connect to a material chamber 52 and extend from the bottom of the material chamber to the bottom of the housing 10. When the self-moving gardening robot 100 performs functions such as spraying liquid materials (specifically, watering, spraying nutrient solution, or spraying liquid pesticides), the liquid material is dripped into the lawn via the drip irrigation devices. The drip irrigation device makes the liquid material more accessible to the roots of the grass, facilitates absorption by the grass, and improves the utilization rate of the liquid material. Specifically, the drip irrigation device includes a drip opening (equivalent to a drip hole), which is no higher than the bottom of the self-moving gardening robot's housing, or the distance between the drip opening and the lawn is no more than 15 cm.

[0222] Figure 12 and Figure 13Another self-propelled gardening robot 100 equipped with a drip irrigation device is disclosed. In this embodiment, one end of the material chamber 52 extends to the tail end of the self-propelled gardening robot 100, and multiple material outlets 523 are provided in the chamber portion at the tail end. The material outlets 523 are located at the tail end of the body to ensure that the moving module 20 of the self-propelled gardening robot 100 will not crush the watered area while the robot is moving forward and watering. In this embodiment, a drip irrigation device 529 is provided at the material outlets 523, and the specific structure of the drip irrigation device 529 is as follows. Figure 13 As shown. The drip irrigation device 529 has a connecting part 5291 that connects to the material outlet 523 of the material chamber 52. The specific structure of the connecting part 5291 is a material channel. The other end of the connecting part 5291 is provided with a drip irrigation attachment 5293. The lateral width of the drip irrigation attachment 5293 is greater than or equal to the body width of the self-moving gardening robot 100, so that the working area along the path traversed by the self-moving gardening robot 100 can be drip-irrigated. The drip irrigation attachment 5293 is provided with a plurality of drip holes 5292. The liquid in the material chamber enters the drip irrigation attachment 5293 through the connecting part 5291, and then drips into the lawn from the drip holes 5292 in the drip irrigation attachment 5293. Preferably, the drip holes 5292 of the drip irrigation attachment 5293 have different shapes or different drip cross-sectional areas. Specifically, the cross-sectional area of ​​the drip hole 5292 is proportional to the distance from the connecting part of the material outlet 523.

[0223] In a preferred embodiment, the self-propelled gardening robot 100 has a spraying device at the bottom or top of the material chamber 52. The spraying device is connected to the material chamber 52. Figure 14 A self-propelled gardening robot 100 equipped with a spraying device is disclosed. The spraying device 526 includes a nozzle and a pump. A control module 30 controls the pump to generate hydraulic pressure, and the liquid material in the material chamber 52 is sprayed onto the work area through the nozzle under the action of hydraulic pressure. Preferably, the control module 30 controls the magnitude of the hydraulic pressure generated by the pump, thereby changing the range of the liquid material and forming different ranges of work areas. When the self-propelled gardening robot 100 performs the function of spraying liquid material (specifically, watering, spraying nutrient solution, spraying liquid pesticide), the liquid material is sprayed onto the lawn or flower beds within the lawn through the spraying device.

[0224] In other embodiments, the self-moving gardening robot 100 includes a material bin interface. This material bin interface is used to connect an external material bin accessory. The material bin accessory is used to store materials such as seeds, fertilizer, water, and pesticides.

[0225] Continue to refer to Figure 5In this embodiment, the self-moving gardening robot 100 also includes a multi-functional accessory interface 12. The multi-functional accessory interface 12 is located at a predetermined position on the housing 10 and is used to connect accessories such as soil loosening, weed removal, or leaf collection. When the self-moving gardening robot 100 moves automatically, it drives the accessories forward in the same direction, and the working parts on the accessories operate to perform functions such as soil loosening, weed removal, leaf collection, and leaf sweeping.

[0226] Continue to refer to Figure 5 In this embodiment, the multi-functional accessory interface 12 is attached to a first soil loosening accessory 54a. The first soil loosening accessory 54a includes a roller portion 541 and a soil loosening portion 545. The roller portion 541 is specifically cylindrical and rolls on the working surface as it moves with the self-propelled gardening robot 100. The soil loosening portion 545 specifically consists of several rigid tendrils attached to the roller portion 541. When the roller portion 541 rolls on the working surface, the soil loosening portion 545 inserts into the working surface and agitates the soil, thereby achieving the soil loosening function.

[0227] Figure 15 A structural schematic diagram of another attachment for achieving soil loosening function is shown. The second soil loosening attachment 54b includes a mating part 542 for engaging with the multi-functional attachment interface 12 of the self-moving gardening robot 100. In this embodiment, the mating part 542 specifically comprises a left mating part 542a and a right mating part 542b. The left mating part 542a and the right mating part 542b are connected by a rigid shaft 544. The rigid shaft 544 specifically includes a horizontal shaft and two side shaft arms, the ends of which are connected to the left mating part 542a and the right mating part 542b, respectively. A rolling part 548 is provided on the horizontal shaft of the rigid shaft 544. A plurality of protrusions 546 are provided circumferentially on the rolling part 548.

[0228] When performing the soil loosening function, the second soil loosening attachment 54b mating part 542 is mated to the multi-functional attachment interface 12 of the self-moving gardening robot 100. The self-moving gardening robot 100 moves automatically within the working area, driving the roller 548 to move on the working surface. During the movement of the roller 548, the protrusion 546 partially inserts into the working surface, causing the soil on the working surface to turn over, thereby achieving the soil loosening function.

[0229] The working principle of the self-propelled gardening robot's weeding function is similar to that of its soil-loosening function. Therefore, the mechanical structure of the weeding attachment can be referenced from that of the soil-loosening attachment. This article will not elaborate further on the weeding attachment.

[0230] Figure 16A schematic diagram of a leaf-collecting attachment 54c is shown. The leaf-collecting attachment 54c includes a coupling part 542 for engaging with a multi-functional attachment interface 12 of a self-propelled gardening robot 100. The leaf-collecting attachment 54c also includes a leaf-collecting device 543 connected to the coupling part 542. The leaf-collecting device 543 includes a leaf storage section 5431 for storing fallen leaves, which can be in the form of a collection bag, collection box, etc. Preferably, the leaf storage section 5431 is also equipped with a full detection device to detect whether there is still storage space in the leaf storage section 5431. The leaf-collecting device 543 also includes a leaf-collecting section 5433 for collecting fallen leaves from the working surface into the leaf storage section. The leaf-collecting section 5433 has a specific structure similar to the leaf-collecting structure in a blower / vacuum cleaner, including a motor, a fan, and a suction tube. The motor drives the fan to rotate, generating airflow; the fallen leaves on the working surface are drawn through the suction of the airflow into the leaf storage section 5431.

[0231] When performing the leaf collection function, the leaf suction attachment 54c coupling part 542 is coupled to the multi-functional attachment interface 12 of the self-moving gardening robot 100. The self-moving gardening robot 100 moves automatically within its working area, and the leaf collection unit 5433 starts simultaneously. The leaf collection unit 5433 collects the leaves along the path traversed by the self-moving gardening robot 100 into the leaf storage unit 5431. When the full detection device indicates that the leaf storage unit 5431 is full, the leaf collection unit 5433 stops working. The self-moving gardening robot 100 remembers the breakpoint position and proceeds to the preset leaf storage point to unload the leaves. Preferably, the self-moving gardening robot 100 is equipped with a path planning unit, so that the self-moving gardening robot 100 moves according to the optimal path when collecting leaves or returning to the breakpoint position.

[0232] In this embodiment, the path planning unit stores preset path patterns, and the control module controls the self-moving gardening robot to move according to the preset path patterns based on the positioning information. The preset path pattern can be an algorithm. The self-moving gardening robot includes an environment detection module that detects the environment of the work area. The control module generates a preset movement path or a preset target position based on the preset path pattern and at least based on environmental information and / or positioning information. The control module controls the self-moving gardening robot to move along the preset movement path or to the preset target position. The environment detection module includes cameras, collision detection sensors, etc. Specifically, the control module generates a specific movement path or target position based on the preset path pattern, the actual scene in the work area, and the position information of the self-moving gardening robot. For example, it generates a movement path around obstacles based on obstacles existing in the work area, generates a spraying position along the boundary of the current work area, or a position for storing fallen leaves, etc. It can also generate a target position by recording the location of the docking station. Of course, the location of the docking station can also be obtained through user input or instruction.

[0233] In this embodiment, the path planning unit stores at least two preset path patterns, and the control module controls the self-moving gardening robot to move according to the corresponding preset path patterns when performing at least two lawn care tasks.

[0234] Figure 17 A schematic diagram of the structure of a self-moving gardening robot with a leaf-raking attachment 54d is disclosed. The leaf-raking attachment 54d includes a mating part 542 and a rake part 545. The mating part 542 is used to mate with the multi-functional attachment interface 12 of the self-moving gardening robot 100. The rake part 545 is used to comb and collect fallen leaves on the lawn, and its specific structural form can be various, such as comb-shaped or plate-shaped. In this embodiment, the rake part 545 is specifically comb-shaped, and there is a cavity between the rake part 545 and the rear end of the housing of the self-moving gardening robot 100. The leaf-raking attachment 54d has Figure 11 The solid line indicates the state of the rake blades and Figure 10 The dashed line indicates the non-raking state. The self-propelled gardening robot 100 is equipped with a motor that drives the raking attachment 54d to switch between the raking state and the non-raking state. When the raking attachment 54d is in the raking state, the end of the raking part 545 is less than or equal to 10 cm from the working surface, such as 6 cm, 3 cm, or 0 cm; when the raking attachment 54d is in the non-raking state, the end of the raking part 545 is more than 10 cm from the working surface, making it less likely for the end of the raking part 545 to come into contact with the fallen leaves on the working surface.

[0235] When implementing the leaf-sweeping function, the self-propelled gardening robot 100 enters the leaf-sweeping area in two modes: (1) user-defined mode; (2) self-learning mode. In user-defined mode, the self-propelled gardening robot 100 receives user instructions through the wireless communication module 90. The user device 200 displays the working map interface of the self-propelled gardening robot 100. The user can specify the leaf-sweeping area, the walking path of the self-propelled gardening robot 100 within the leaf-sweeping area, and the collection line or collection point location for the self-propelled gardening robot 100 to collect the leaves through the buttons or screen of the user device 200. After completing the above settings, the user sends the relevant instructions to the self-propelled gardening robot 100 through the user device 200. In self-learning mode, the self-propelled gardening robot 100 determines the location of the leaf-sweeping area and the location of the leaf collection line or collection point during the self-learning process of forming the working map. The control module 30 of the self-propelled gardening robot 100 has a preset algorithm for the walking path within the leaf-sweeping area. When the self-propelled gardening robot 100 is within the leaf-sweeping area, it walks and collects leaves according to the path of the preset algorithm. Preferably, within the area of ​​fallen leaves, the self-propelled gardening robot 100 moves back and forth along a preset path. Figure 18 This paper discloses the walking process of a self-moving gardening robot to achieve the function of sweeping fallen leaves. The self-moving gardening robot 100 moves back and forth along a straight path as shown in the figure, in two directions, A and B, within a fallen leaf area. When the self-moving gardening robot 100 moves along the straight path in direction A, the leaf-raking attachment 54d is not in a leaf-raking state; when the self-moving gardening robot 100 moves along the straight path in direction B, the leaf-raking attachment 54d is in a leaf-raking state. After the self-moving gardening robot 100 moves back and forth multiple times within the fallen leaf area, the fallen leaves on the working surface are all accumulated on the fallen leaf collection line shown in the figure by the sweeping of the leaf-raking attachment 54d. Of course, in other embodiments, the back-and-forth walking path of the leaf-raking attachment 54d can be non-linear, and the fallen leaves raked by the leaf-raking attachment 54d can also be accumulated into points.

[0236] The multi-functional accessory interface 12 can be a single interface used to connect to the corresponding connecting parts of different functional accessories. Alternatively, there can be multiple multi-functional accessory interfaces 12, each used to connect to the corresponding connecting parts of different functional accessories. In the above embodiment, since the connecting parts of different accessories are all used to connect to the multi-functional accessory interface 12 of the self-propelled gardening robot 100, this document uses only one reference numeral 542 to represent the connecting parts of different accessories, and does not limit the connecting parts of different accessories to having the same structure.

[0237] In a preferred embodiment, the control module 30 can control the walking speed of the moving module 20 to vary depending on the different functions performed by the self-moving gardening robot 100. When the self-moving gardening robot 100 is performing different material processing functions, the control module 30 controls the walking speed of the moving module 20 based on factors such as the amount of material required per square meter of lawn, the body area of ​​the self-moving gardening robot 100, and / or the rotation speed of the cutting module.

[0238] Continue to refer to Figure 4 In this embodiment, the self-propelled gardening robot 100 also includes a grass condition recognition sensor 40. The grass condition recognition sensor 40 is used to detect the growth status of the grass on the lawn, and can specifically be an image sensor, humidity sensor, or other sensors that detect grass growth status. In this embodiment, the grass condition recognition sensor 40 uses a capacitive sensor to determine the grass condition or health status by detecting the water content of the grass.

[0239] Figure 19 A signal processing circuit for a grass condition identification sensor 40 is disclosed. The signal processing circuit of the grass condition identification sensor 40 includes a Schmitt trigger 47, an input capacitor 43, and a resistor 45. The input terminal of the Schmitt trigger 47 is connected to the sensor probe 41, and the output terminal of the Schmitt trigger 47 (i.e., the output terminal of the signal processing circuit) is electrically connected to the control module 30.

[0240] The grass condition recognition sensor 40 is a capacitive sensor, which includes a detection electrode for sensing grass condition. The sensor also includes a reference electrode opposite the detection electrode. The detection electrode is close to the lawn, and the capacitance of the capacitive sensor changes when the grass condition changes. Specifically, the probe 41 serves as the detection electrode of the capacitive sensor, and the reference electrode is the circuit ground or earth ground of the signal processing circuit. When the grass condition under the probe 41 changes, the capacitance value of the capacitive sensor varies, and the parameter values ​​of the output signal of the signal processing circuit also change.

[0241] Please refer to Figure 19 , Figure 19 This diagram illustrates the signals output by the signal processing circuit under different grass conditions in this embodiment. As the mobile gardening robot 100 walks on the lawn, the output signal of the signal processing circuit changes depending on the grass condition sensed by the probe 41. Specifically, when the grass sensed by the probe 41 is normal grass, the grass has a high water content, resulting in a higher dielectric constant value for the corresponding capacitance sensor, and thus a lower frequency F0 for the signal output by the signal processing circuit. When the grass sensed by the probe 41 is dry grass, the grass has a low water content, resulting in a lower dielectric constant value for the corresponding capacitance sensor, and thus a higher frequency F1 for the signal output by the signal processing circuit. The control module 30 determines the current grass condition based on the output signal of the signal processing circuit.

[0242] Preferably, the control module 30 includes a matching table for the output signal frequency range and corresponding grass conditions. In this embodiment, the specific form of the grass condition matching table is shown in Table 1. Of course, when different signal processing circuits are used, the parameters related to this matching table will change adaptively.

[0243] Table 1. Grass Condition Matching Table

[0244] Grass condition indicator color water content of grass Signal processing circuit output frequency red <60％ >950KHz yellow 60％---70％ 800kHz---950kHz green >70％ <800KHz

[0245] In a preferred embodiment, the self-moving gardening robot 100 includes a plurality of grass condition recognition sensors 40, and the probes 41 of the plurality of grass condition recognition sensors 40 are at different heights. When the height difference between the probe 41 and the grass is different, the output signal of the signal output circuit of the capacitive sensor will also be different. The control module 30 determines the current height of the grass by recognizing the output signals of the signal output circuits of the plurality of capacitive sensors.

[0246] It should be noted that in other embodiments, the output signal of the signal processing circuit is not limited to this. When the probe 41 senses grass, the output signal of the signal processing circuit can also be other signals, such as a level signal, as long as it can indicate whether the probe 41 has sensed grass.

[0247] In another embodiment, the grass condition recognition sensor 40 is an image sensor, such as a camera or video camera. The image sensor captures images of the lawn within the walking area of ​​the mobile gardening robot 100. The control module 30 analyzes the image and uses corresponding image processing algorithms to determine the grass condition within the image area. Specifically, by statistically analyzing color and texture information in the image, the moisture content of the grass (green grass, withered grass) and the density of the grass (sparse grass condition, dense grass condition) are determined, thereby assessing the health status of the grass.

[0248] In another embodiment, the self-mobile gardening robot 100 is also equipped with environmental sensors for sensing the surrounding environment. The environmental sensors can be of various types and numbers, such as humidity sensors, temperature sensors, wind speed sensors, and rain sensors. The self-mobile gardening robot 100 senses environmental information through these sensors and transmits specific environmental information (such as humidity, temperature, wind speed, and rainfall) to the user device 200 via the wireless communication module 90. Specifically, the wireless communication module 90 can directly transmit the environmental information to the user device 200, or the wireless communication module 90 can first transmit the environmental information to the server 300, and then the server 300 can transmit it to the user device 200. In this embodiment, the self-mobile gardening robot 100 functions like a mobile weather station, remotely informing users of the weather information of its surrounding environment, achieving multiple functions in one device. Users can monitor the environmental information of the self-mobile gardening robot 100 through the user device 200, understanding the current humidity, temperature, wind speed, and whether it is raining. Preferably, users can modify the work plan of the mobile gardening robot 100 based on current environmental information (such as humidity, temperature, wind, and rainfall).

[0249] Continue to refer to Figure 2 In this embodiment, the energy module 60 provides electrical energy to maintain the walking and operation of the self-propelled gardening robot 100. Specifically, the energy module 60 is a rechargeable battery pack, such as a lithium battery pack. When the energy of the energy module 60 is lower than a preset threshold, the self-propelled gardening robot 100 walks to the docking station 400 to replenish its power.

[0250] Figure 20A schematic diagram of a docking station structure is shown. In this embodiment, a material replenishment device 500 is provided at the docking station 400. The material replenishment device 500 stores material and injects it into the material chamber 52 of the self-propelled gardening robot 100 or a material storage box accessory through a material pipe 503. The material replenishment device 500 includes an automatic valve 501. When the self-propelled gardening robot 100 needs to replenish material, the control module 30 controls the self-propelled gardening robot 100 to move to a preset position at the docking station 400 and controls the opening cover (a type of switch) of the material opening 521 to open. Alternatively, the material pipe 503 is an elastic pipe with a certain contractile performance, and the material opening 521 includes an opening cover driven by an elastic element. When the self-propelled gardening robot 100 moves to the preset position at the docking station 400, the elastic material pipe 503 collides with the opening cover of the material opening 521. Under the action of the collision force, the opening cover of the material opening 521 opens, and part of the material pipe 503 extends into the material chamber 52. The material replenishment device 500 injects relevant materials into the self-propelled gardening robot 100. When the capacity detection device 524 detects that the material capacity in the receiving cavity 52 or the material storage box accessory has reached the maximum preset value, the control module 30 controls the self-propelled gardening robot 100 to send a signal to the docking station 400. Specifically, communication can be achieved wirelessly. The control device in the docking station 400 controls the automatic valve 501 to close.

[0251] In another embodiment, the material replenishment device 500 may be configured to maintain a fixed opening time for the automatic valve 501. The opening time of the automatic valve 501 is determined based on the known volume of the material chamber 52 and the preset flow rate of the material pipe 503.

[0252] The automatic valve 501 can be a normally closed solenoid valve. When the self-propelled gardening robot 100 fails to dock with the docking station 400, the solenoid valve remains closed, and materials cannot flow out; when the self-propelled gardening robot 100 successfully docks with the docking station 400, the docking station 400 energizes the solenoid valve, and materials flow out.

[0253] In this embodiment, since the material replenishment device 500 is located at the docking station 400, the charging docking module between the self-propelled gardening robot 100 and the docking station 400 can be used to determine whether the self-propelled gardening robot 100 has moved to the preset position. When the charging docking module successfully docks, it is considered that the self-propelled gardening robot 100 has moved to the preset position. The control module inside the docking station 400 controls the automatic valve 501 to open. Preferably, a ring of magnets is provided at the end 505 or attachment of the material pipe 503, and a Hall sensor 527 is provided near the opening of the material chamber 52. The automatic valve 501 of the material replenishment device 500 will only open when the Hall sensor 527 senses the magnet signal.

[0254] The docking determination method for the charging docking module can be either wired contact methods such as current, voltage, or communication protocols, or wireless non-contact methods such as infrared, ultrasonic, Hall effect sensing, or UWB.

[0255] Preferably, the docking station 400 distinguishes between different functions of the self-moving gardening robot 100 by using docking judgment signals.

[0256] The materials can be water, pesticides, seeds, fertilizers, etc. The material replenishment device 500 can be a single unit, which stores different materials at different times to provide different materials to the self-propelled gardening robot 100.

[0257] When the material is specifically water, the material replenishment device 500 is specifically a water supply replenishment device. In one embodiment, the water source is connected to a household faucet and the material replenishment device 500 via a water pipe. The power supply to the docking station 400 is connected to a household power outlet and the docking station 400 via a cable. To control costs and maintain water pressure, the location of the docking station 400 is chosen to be as close as possible to a household faucet to reduce the length of the water pipe.

[0258] Preferably, the water passage and electrical passage of the docking station 400 are separated, and a waterproof layer and an insulation layer are provided between the water passage and the electrical passage.

[0259] Preferably, in order to prevent water from overflowing the material chamber 54 during the water filling process of the self-moving gardening robot 100 and causing an electrical short circuit in the self-moving gardening robot, such as a short circuit due to water ingress into the electrical buttons on the housing, or a short circuit due to water ingress into the control board or electronic circuit around the material chamber 54, the material chamber 52 of the self-moving gardening robot 100 is provided with an overflow prevention structure. Figure 21 A schematic diagram of the overflow prevention structure of the material chamber 52 is shown. The material chamber 52 includes a main chamber 522 and an overflow chamber 524. An overflow port 525, connecting to the overflow chamber 524, is located at a predetermined height H of the main chamber 522. A drain port 527 is located at the bottom of the overflow chamber 524. The main chamber 522 is used to store water and includes a material inlet 521 for water intake and a material outlet 523 for spraying water onto the grass or flower bed. When the water level entering the main chamber 522 through the material inlet 521 is greater than or equal to the predetermined height H, the water in the main chamber 522 will enter the overflow chamber 524 through the overflow port 525 and then drip into the grass or flower bed through the drain port 527. This overflow prevention structure effectively prevents water from overflowing the material chamber during the water injection process.

[0260] Preferably, the docking station 400 is also equipped with a nutrient solution tank and a flow valve to control the flow rate of the nutrient solution. When the self-propelled gardening robot 100 adds water, the flow valve opens, allowing the nutrient solution to mix with the water and flow into the material chamber 52.

[0261] There can be multiple material replenishment devices 500, each storing different materials. When the self-propelled gardening robot 100 needs a certain type of material, it automatically selects the corresponding material replenishment device 500. Of course, the material replenishment device 500 may not share the docking station 400 with the charging device. Preferably, the charging device of the self-propelled gardening robot 100 can use wireless charging. In a preferred embodiment, an accessory transfer device can also be provided at the docking station 400. The accessory device is equipped with accessories that perform different functions. When the self-propelled gardening robot needs to change the function of an accessory, it travels to the predetermined accessory transfer device, and the accessory transfer device automatically replaces the accessory carried by the self-propelled gardening robot or automatically connects the accessory 54 with the corresponding function to the accessory interface 12 of the self-propelled gardening robot.

[0262] In a preferred embodiment, the docking station 400 has multiple docking directions, and the self-moving gardening robot 100 can enter the docking station from different directions each time it returns.

[0263] In a preferred embodiment, the stop 400 is located on a harder surface rather than on a soft lawn.

[0264] In another embodiment, to prevent the self-moving gardening robot 100 from damaging the lawn, the movement module 20 employs inflatable wheels, and the cross-sectional area of ​​the inflatable wheels satisfies the condition of not damaging the grass. The size of the cross-sectional area of ​​the inflatable wheels is related to the weight of the self-moving gardening robot 100, as well as the compressive strength of the surface being worked on and the grass.

[0265] The following content details the working process of a self-propelled gardening robot for multifunctional lawn maintenance.

[0266] The self-propelled gardening robot 100 has a function selection module, which executes the functional tasks specified by the received instructions. In one embodiment, the housing 10 of the self-propelled gardening robot 100 is provided with function buttons (or other user input modules) corresponding to different functions, and the user triggers the function selection module through the function buttons. In another embodiment, the self-propelled gardening robot 100 has a wireless communication module 90, and the user inputs or selects the corresponding function options through the corresponding app client on the user device 200. The wireless communication module 90 receives the corresponding function instructions and transmits the instructions to the function selection module. Of course, the self-propelled gardening robot 100 may also have both function buttons and a wireless communication module.

[0267] In a preferred embodiment, the self-propelled gardening robot 100 also has a fully automatic maintenance module that automatically performs multi-functional tasks in sequence. The user activates the fully automatic maintenance module by sending commands via buttons on the casing or a remote client, thus putting the self-propelled gardening robot 100 into a fully automatic lawn maintenance mode. In a specific embodiment, in the fully automatic lawn maintenance mode, the self-propelled gardening robot 100 first initiates the soil loosening function, then performs the sowing function, then the watering function, then the fertilizing function, then the mowing function, and finally the weed removal function. The specific order of execution of each function, the time interval between each function, and the number of times different functions are repeated are not limited here. The distributor or manufacturer of the self-propelled gardening robot 100 can embed the above parameter values ​​into the fully automatic maintenance module based on big data statistics of lawn maintenance. Preferably, the fully automatic maintenance module reserves a variable interface for the above parameters, allowing the user to adjust the parameters as needed. In fully automatic lawn maintenance mode, the self-mobile gardening robot 100 can perform routine maintenance tasks such as sowing, fertilizing, watering, spraying pesticides, and weeding without user intervention or function switching.

[0268] Of course, users can also input specific work schedule information through the buttons on the casing or through a remote client.

[0269] In a preferred embodiment, functional tasks can be categorized into high-frequency and low-frequency tasks based on their execution frequency. For example, mowing, watering, and leaf collection can be set as high-frequency tasks; loosening soil, sowing, and weeding can be set as low-frequency tasks. When the self-propelled gardening robot 100 performs high-frequency tasks, the grass condition sensor 40 collects and / or updates the grass condition information of the entire work area. Based on the grass condition information, the control module 30 determines the work areas where low-frequency tasks need to be performed. The control module 30 controls the self-propelled gardening robot 100 to automatically enter the corresponding low-frequency tasks in the work areas, or reminds the user which low-frequency task needs to be performed in the work areas, allowing the user to switch between tasks.

[0270] The self-propelled gardening robot 100 can complete all garden maintenance tasks by switching between different functional tasks. Specifically, the self-propelled gardening robot 100 can automatically perform high-frequency functional tasks, such as mowing or watering, according to a schedule. This embodiment uses the self-propelled gardening robot 100 performing a mowing task as an example. During the mowing process, the grass condition sensor 40 identifies the health status of the lawn within the work area and transmits this information to the user device 200 via the wireless communication module 90. After the self-propelled gardening robot 100 has traversed the entire work area, the grass condition sensor 40 identifies the overall grass condition. Based on the grass condition and according to a preset algorithm, the user device 200 or the server 300 issues a function switching prompt to the user, or the self-propelled gardening robot 100 automatically switches and performs other functional tasks. Specifically, when the grass condition shows a large area of ​​withered grass, the user device 200 prompts for related functional tasks such as weeding, loosening the soil, and sowing. Following the prompts, the user sequentially switches between the self-propelled gardening robot 100's task functions. Specifically, when the lawn moisture indicator shows that the lawn is too low, the self-propelled gardening robot 100 will automatically start the watering task after completing the mowing task. Of course, the automatic and manual switching of functions and tasks here is just an example of a specific scenario, and changes in the scenario do not constitute a limitation on automatic and manual switching.

[0271] In a preferred embodiment, the control module of the self-propelled gardening robot 100 includes a scheduling module. The scheduling module allocates time slots for the self-propelled gardening robot 100 to perform different functions and / or to perform the same function based on date or seasonal information. In a specific embodiment, the scheduling module stores a schedule of time slots for the self-propelled gardening robot 100 to perform different functions based on the annual growth patterns of grass in various regions of the world; these patterns can be determined through meteorological statistics.

[0272] In another embodiment, the scheduling module can also be configured by the user to set the working frequency of the self-propelled gardening robot 100 when performing different functions. For example, when the self-propelled gardening robot 100 performs the watering function, the working frequency can be set to once every three days, with a predetermined working time each time; or, it can be set to work only on Tuesdays and Saturdays within a week, with a predetermined working time each time. Preferably, the self-propelled gardening robot 100 can intelligently adjust the watering frequency according to weather conditions. When the weather forecast predicts rain, the watering frequency is intelligently reduced to avoid rainy days. Preferably, the self-propelled gardening robot 100 can intelligently compare the user-set watering frequency and the total amount of water sprayed each time with the weekly irrigation amount recommended by the local climate and grass conditions, and automatically increase or decrease the watering frequency and the total amount of water sprayed each time.

[0273] The self-propelled gardening robot 100 can be a single-function watering robot, performing watering and flower-watering functions. In this embodiment, the self-propelled gardening robot 100 does not need to share a body with the aforementioned functions such as mowing and fertilizing, nor does it need external accessories to achieve functions such as loosening soil, removing dead grass, and sweeping fallen leaves. Accordingly, the hardware of the self-propelled gardening robot 100 can be simplified or slightly modified, such as the working module 50 no longer needing to have a cutting module 56, and the housing 10 no longer needing to have a multi-functional accessory interface 12, etc. The following content takes the self-propelled gardening robot 100 performing the watering function as an example to introduce the entire process of the self-propelled gardening robot 100 completing the watering task in the working area.

[0274] After the mobile gardening robot 100 receives a watering task instruction, the capacity detection device 524 detects the remaining water level in the material chamber 52. If the remaining water level is insufficient, the control module 30 controls the mobile gardening robot 100 to return to the material replenishment device 500 to replenish the water. If the remaining water level is sufficient, the control module 30 controls the mobile gardening robot 100 to move from its starting point within the work area and begin watering.

[0275] During watering, the self-propelled gardening robot 100 controls the material opening 523 to open, allowing water to fall from the opening. When the self-propelled gardening robot 100 shares a body with the lawn mowing function, the control module 30 activates the rotation speed control unit, controlling the cutting module 56 to rotate at a low speed. The rotation of the cutting module 56 carries the falling water, evenly spraying it onto the lawn.

[0276] Of course, the watering process described above can also be accomplished using a drip irrigation system or a spray system. During the automatic movement of the self-propelled gardening robot 100, the drip irrigation system is activated, and water drips from the material chamber onto the path of the self-propelled gardening robot 100. When a spray system is used for watering, the process is similar to that of drip irrigation.

[0277] The self-propelled gardening robot 100 has a precision watering mode and a normal watering mode. In the normal watering mode, the material outlet remains open while the robot is moving, watering the work area it passes through. In this mode, the self-propelled gardening robot 100 does not rely on the grass condition detection sensor 40 for watering control.

[0278] In the precision watering mode, the grass condition recognition sensor 40 detects the grass condition in the area where the mobile gardening robot 100 is located and transmits the grass condition signal to the control module 30. The control module 30 controls the opening and closing of the opening cover on the material opening 523 based on the grass condition signal. When the grass condition recognition sensor 40 identifies the grass condition in the area of ​​the mobile gardening robot 100 as good, the control module 30 determines that watering is not needed and thus controls the material opening 523 to close. When the grass condition recognition sensor 40 identifies the grass condition in the area of ​​the mobile gardening robot 100 as poor, the control module 30 determines that watering is needed and thus controls the opening cover on the material opening 523 to open. In the precision watering mode, the mobile gardening robot 100 only waters the lawn areas that need watering, thereby saving water and preventing overwatering from affecting the overall lawn growth.

[0279] Preferably, the precise watering locations can be transmitted to the corresponding application on the user device 200 via the wireless communication module 90. The user can view the locations where precise watering has been performed and the total number of these locations through the application interface. In another implementation, the user can also specify the locations requiring precise watering through the application interface, and the application wirelessly transmits this instruction to the self-propelled gardening robot 100. The self-propelled gardening robot 100 enters the specified location, performs watering, and after completing a preset location, transmits the completion information to the application. The user can view the completion status of the self-propelled gardening robot 100 regarding the precise watering locations through the application interface.

[0280] In a preferred embodiment, the self-propelled gardening robot 100 is equipped with a positioning module 70. The self-propelled gardening robot 100 moves along a planned path within its work area. The positioning module 70 locates the position of the self-propelled gardening robot 100 and transmits this location information to the control module 30. The control module 30 compares this location information with the planned path data and controls the direction of movement of the self-propelled gardening robot 100. Preferably, with the assistance of the positioning module 70, the self-propelled gardening robot 100 automatically traverses the entire work area in one direction. The control module 30 prevents the self-propelled gardening robot 100 from walking into areas of lawn that have already been watered, thereby avoiding damage to the lawn, leaving wet tire tracks, and repeatedly watering the same area. After traversing the entire work area, the self-propelled gardening robot 100 stops watering.

[0281] In this embodiment, the self-moving gardening robot 100 can use the positioning module 70 to perform self-learning, thereby determining a working map of the work area. Specifically, the user controls the self-moving gardening robot 100 or removes the positioning module 70 to walk around the boundary of the work area, and the self-moving gardening robot 100 records the walking trajectory and defines the trajectory as the boundary of the work area; or walks around obstacle points within the work area, and the self-moving gardening robot 100 records the trajectory and defines the trajectory as an obstacle area; or walks around flower beds or flower gardens, and the self-moving gardening robot 100 records the trajectory and defines the trajectory as a garden area; or walks around a predetermined radius of trees, and the self-moving gardening robot 100 records the trajectory and defines the trajectory as a fallen leaf area; or walks around areas unsuitable for the self-moving gardening robot 100 to enter, such as ponds or steep slopes, and the self-moving gardening robot 100 records the trajectory and defines the trajectory as a danger zone. The control module 30 of the self-moving gardening robot 100 determines different watering strategies according to the formed map and the markings in the map, following a preset algorithm.

[0282] In this embodiment, the storage unit of the self-moving gardening robot 100 stores a map of the work area 3. Once the self-moving gardening robot 100 is located, it can identify its position on the map. Preferably, the map information of the work area 3 stored in the storage unit can be updated according to each time the self-moving robot 100 traverses the work area.

[0283] Preferably, the map of the self-moving gardening robot 100 has an automatic update function. When the self-moving gardening robot 100 encounters an obstacle in the working area, the self-moving gardening robot walks around the obstacle to create an island, and updates the map information of the island to the map in the storage unit.

[0284] Preferably, when the condition of the grass in the work area changes, the self-mobile gardening robot 100 receives the change and marks the changed area on the map, thereby changing the watering strategy for that area. Specifically, if a sub-area within the work area is reseeded, the sowing machine transmits the map information of that sub-area to the self-mobile gardening robot 100 during sowing. The self-mobile gardening robot 100 marks the newly sown area on the existing map, and the control module 30 automatically changes the watering strategy for the newly sown area based on the water requirements of the grass seed's growth cycle, such as reducing the watering frequency or the amount of water sprayed each time. Of course, if the sowing machine does not have a map coordinate marking function, the map information of the newly sown area can also be manually updated by the user and transmitted to the self-mobile gardening robot 100.

[0285] Preferably, after the working area map of the self-mobile gardening robot 100 is formed, the self-mobile gardening robot 100 can automatically divide the working area into zones, thereby executing a zoned watering strategy. Figure 22 This diagram illustrates the automatic zoning of the work area by the self-mobile gardening robot 100. In this embodiment, the self-mobile gardening robot 100 divides the work area into five sub-work areas: A, B, C, D, and E. The self-mobile gardening robot 100 waters only one sub-work area each day according to a set frequency. In one specific implementation, the self-mobile gardening robot 100 may water sub-work area A on Monday, sub-work area B on Tuesday, sub-work area C on Wednesday, sub-work area D on Thursday, and sub-work area E on Friday. Sub-work area A may be watered again on Saturday or the following Monday, and each sub-work area may be watered periodically in rotation according to a set frequency. Preferably, the watering time for each sub-zone can be automatically adjusted according to the weather. In one specific implementation, for example, if the self-mobile gardening robot 100 completes watering sub-work area A on Monday, and it rains on Tuesday. The self-propelled gardening robot 100 will not water sub-work area B on Tuesdays, but will instead water it on Wednesday. Correspondingly, the watering dates for sub-work areas C, D, and E will also be postponed by one day. In this embodiment, the number of sub-work areas in work area 3 is not limited; the specific number can be determined based on the total area of ​​the work area, the water capacity of the self-propelled gardening robot's material chamber, and its battery life. In this embodiment, the watering frequency and cycle of the sub-work areas, as well as the postponement time based on weather changes, are not limited and can be adaptively varied according to specific application scenarios. In this embodiment, dividing work area 3 into zones for irrigation can effectively reduce the load on the self-propelled gardening robot 100, specifically by reducing the water capacity of its material chamber and the requirements for its battery life. In this embodiment, the irrigation time for each zone can be automatically adjusted according to weather conditions, effectively utilizing rainfall to irrigate the grass and conserving water.

[0286] Preferably, the self-moving gardening robot 100 can further divide the sub-work areas when watering each sub-work area. Figure 23This is a schematic diagram illustrating watering sub-work area A. The self-propelled gardening robot 100 divides sub-work area A into 10 smaller zones, A1 to A10, forming a grid-like layout. The number and area of ​​the smaller zones are determined by the water capacity and battery life of the self-propelled gardening robot 100. Specifically, the water volume in the material chamber of the self-propelled gardening robot 100 is sufficient to irrigate the area of ​​one smaller zone, and the battery life is sufficient for the self-propelled gardening robot 100 to travel to and from the docking station 400 to the smaller zone and for watering within the smaller zone.

[0287] The self-propelled gardening robot 100 can water small areas using either drip irrigation or sprinkler irrigation. In one embodiment, such as... Figure 24 As shown, the self-propelled gardening robot 100 uses a drip irrigation method to move back and forth within small zone A1 along a planned path. The planned path can specifically be multiple parallel paths. Preferably, the watering diameter of the self-propelled gardening robot 100 is greater than or equal to the lateral length of its body. When the self-propelled gardening robot 100 moves back and forth along the path, the drip irrigation device is activated, and the grass along the path is irrigated. Preferably, the planned path that the self-propelled gardening robot 100 enters within small zone A1 is different in different cycles. For example... Figure 24 As shown, the solid line represents the path taken by the self-moving gardening robot 100 on its first journey, and the dashed line represents its second journey. By ensuring that the preset paths within each small section are different, the self-moving gardening robot 100 can effectively reduce the problem of grass being trampled due to repeated paths during watering, and effectively distribute the overall watering amount within small section A1. In one embodiment, as... Figure 25 As shown, the self-propelled gardening robot 100 uses a sprinkler irrigation method to water small section A1. At a certain point within section A1, the control module 30 controls the orientation and spray intensity of the sprinkler device, thereby irrigating the entire section A1. Preferably, the sprinkler location of the self-propelled gardening robot 100 within section A1 is different at different times. For example... Figure 25 As shown in (a), the first irrigation point of the self-moving gardening robot 100 within sub-zone A1 is the center of sub-zone A1, and the irrigation method is to spray water in all directions around the area of ​​A1; as Figure 25 As shown in (b), the self-moving gardening robot 100 sprays water at the boundary of sub-district A1 for the second time within the sub-district, and sprays water in a fan shape within the A1 area. By changing the spraying point within the sub-district each time, the self-moving gardening robot 100 effectively distributes the overall water distribution within sub-district A1 and effectively avoids problems such as uneven water distribution at the junction of sub-district A1 and its adjacent sub-districts.

[0288] In a preferred embodiment, the division of the sub-work area by the self-mobile gardening robot 100 is dynamically changing. Specifically, the first division of the sub-work area A by the self-mobile gardening robot 100 into smaller sub-divisions is as follows: Figure 23 As shown, the second subdivision of the self-mobile gardening robot's work area A into smaller zones is as follows: Figure 26 As shown, by dynamically dividing the area into smaller zones, the irrigation distribution of grass in sub-work area A by the self-moving gardening robot 100 is more even, which helps to promote uniform grass growth throughout sub-work area A and makes the entire lawn more beautiful.

[0289] When the self-mobile gardening robot 100 irrigates each sub-work area, it uses the docking station 400 as a base point and irrigates each small section in a manner from far to near. For example... Figure 23 As shown, if the docking station 400 is located at the boundary corner of partition A9, the irrigation sequence of the self-mobilizing gardening robot 100 for the sub-partitions is A1->A2->A3->A4->A5->A6->A7->A8->A10->A9, or A2->A1->A4->A3->A6->A5->A8->A7->A10->A9, or other irrigation methods from far to near. When the self-mobilizing gardening robot 100 returns to the docking station 400 to refill water and / or recharge after irrigating the sub-partitions, the planned return path does not pass through the already irrigated areas. Preferably, the return path of the self-mobilizing gardening robot 100 is the calculated shortest path. Preferably, the return path of the self-mobilizing gardening robot 100 excludes dangerous areas marked during map construction. Preferably, the return path of the self-mobilizing gardening robot 100 dynamically changes each time, avoiding retracing the same return path.

[0290] In a preferred embodiment, the self-moving gardening robot 100 employs different irrigation strategies for sloping and non-sloping work areas. Specifically, since the irrigation requirements for grass on sunny and north-facing slopes differ from those for grass on flat surfaces, the self-moving gardening robot 100 adaptively increases the irrigation frequency and amount for grass on sunny slopes, while adaptively decreasing the irrigation frequency and amount for grass on north-facing slopes. Preferably, when the slope angle is too steep for the self-moving gardening robot 100 to navigate, the self-moving gardening robot 100 can select a sprinkler irrigation method in the area below or above the slope. Preferably, when constructing the work area map of the self-moving gardening robot 100, the user can mark sunny and north-facing slopes, and the self-moving gardening robot 100 can automatically determine the sunny and north-facing slopes based on the markings when navigating to a specific area.

[0291] In a preferred embodiment, the self-propelled gardening robot 100 is equipped with a positioning module 70. The storage unit of the control module 30 records the location information of the self-propelled gardening robot 100 when watering. Thus, the self-propelled gardening robot 100 can avoid repeatedly watering at the same location. The control module 30 first determines whether the location of the self-propelled gardening robot 100 belongs to a watering location recorded in the storage unit. If so, the control module 30 controls the watering module to not operate; otherwise, the control module 30 controls the watering module to operate.

[0292] In a preferred embodiment, the self-propelled gardening robot 100 is equipped with a positioning module 70. When the self-propelled gardening robot 100 needs to replenish water and interrupts watering, the storage unit of the control module 30 records the interruption location information and the current walking direction. It then moves to the docking station according to a preset movement path or preset target location to replenish the water source. After the self-propelled gardening robot 100 has replenished the water source, the control module 30 controls the self-propelled gardening robot 100 to walk back to the interruption location and continue walking in the original direction to perform the watering task.

[0293] In a preferred embodiment, the self-propelled gardening robot 100 is equipped with a positioning module 70, and the storage unit of the control module 30 records the position information of the self-propelled gardening robot 100 during its movement, as well as the grass condition information identified by the grass condition recognition sensor 40 under that position information. After the self-propelled gardening robot 100 has covered the entire lawn, the storage unit records the grass condition information of the entire lawn.

[0294] In a preferred embodiment, the self-propelled gardening robot 100 is equipped with a wireless communication module 90, allowing the user to monitor and control the robot via a user device 200. Specifically, the capacity detection device 524 detects the remaining material in the material chamber 52 and transmits this information to the server 300. The server 300 receives the remaining material data and determines whether additional material needs to be added, generating a reminder command. The server 300 then transmits the remaining material data and the reminder command to the corresponding app or application on the user device 200. The corresponding app or application on the user device 200 displays the remaining material data and the material addition reminder status on its interface.

[0295] The user device 200 has a control command input port on its corresponding app program, allowing users to remotely control the self-propelled gardening robot 100. Specific control commands include: setting the working schedule of the self-propelled gardening robot 100, selecting or switching functions, setting relevant parameters of the self-propelled gardening robot 100, starting the self-propelled gardening robot 100 to begin working, and commanding the self-propelled gardening robot 100 to return to the docking station 400, among other control commands.

[0296] Preferably, the self-propelled gardening robot 100 is also equipped with a grass condition recognition sensor 40. The user device 200's app or application interface can display the grass condition at the current location of the self-propelled gardening robot 100.

[0297] Preferably, the self-propelled gardening robot 100 is also equipped with a positioning module 70, and the user device app interface can display the grass condition of the entire lawn. The wireless communication module 90 transmits data on the location of each lawn and the grass condition at that location to the server 300. The server 300 compiles the information of the entire lawn, forming a lawn condition thumbnail or a grass condition data ratio corresponding to the lawn map. In a preferred embodiment, the user device app or application interface displays a lawn map, and the grass condition of each area of ​​the lawn map is marked with color. For example, areas with good grass condition are displayed in green, areas with average grass condition are displayed in yellow, and areas with poor grass condition are displayed in red. Through this interface, the user can clearly understand the grass condition of each area of ​​the entire lawn. In a preferred embodiment, based on the statistical grass condition information, the user device app interface can also display operation reminders. Specifically, when the proportion of dead grass reaches 10% of the lawn area, the user device app interface displays a reminder to the user of which functions need to be performed: such as performing dead grass removal, replanting, watering, and fertilizing.

[0298] In one embodiment, by setting up a wireless transmission repeater or using a long-range wireless communication device, all points within the work area 3 are covered by a wireless network. The self-mobile gardening robot 100 can wirelessly connect to the server 300 from any point within the work area 3. The self-mobile gardening robot 100 interacts with the server in real time within the work area 3, transmitting data and receiving instructions. In other embodiments, such as when the self-mobile gardening robot 100 works in a very large work area, some areas of the work area are covered by a wireless network, while other areas are not. The self-mobile gardening robot 100 can only connect to the server 300 within the areas covered by the wireless network via its wireless communication module 90. In this embodiment, the self-mobile gardening robot 100 stores work data or grass condition data in the storage unit of the control module 30. When the self-mobile gardening robot 100 enters an area covered by the wireless network, the control module 30 transmits the data stored in the storage unit to the server 300 via the wireless transmission module 90.

[0299] In a preferred embodiment, the self-mobile gardening robot 100 obtains local weather forecast information via the wireless communication module 90. The control module 30 controls whether the self-mobile gardening robot 100 needs to perform a watering function based on the obtained weather forecast information. For example, according to a schedule or user instructions, the self-mobile gardening robot 100 needs to perform a watering task today. Before performing the watering task, the self-mobile gardening robot 100 first obtains the weather information for the next three days via the wireless communication module 90. If rain is forecast for the next three days, the wireless communication module 90 transmits this information to the control module 30. The control module 30 then controls the self-mobile gardening robot 100 to temporarily refrain from performing the watering function. In other embodiments, the acquisition of weather conditions and the generation of control commands can also be completed by the server 300.

[0300] When there are flowering plants in work area 3 besides the lawn, the self-propelled gardening robot 100 performs the watering process for the flowering plants as follows: Figure 1 As shown. In this embodiment, the self-moving gardening robot 100 is equipped with a spraying device 526. The self-moving gardening robot 100 has a spraying mode for watering lawns and a watering mode for watering flowers. In watering mode, the self-moving gardening robot 100 first locates the garden area stored by a self-learning process. Figure 1 As shown, the work area 3 contains multiple garden areas, namely area a, area b, area c, area d, and area e. When the mobile gardening robot 100 moves to a different garden area, the control device 30 turns on the spraying device 526 and controls the spraying range of the spraying device 526 to vary depending on the size of the garden area.

[0301] When the self-mobile gardening robot 100 performs other functions such as mowing, fertilizing, sowing, spraying pesticides, loosening soil, removing dead grass, and collecting fallen leaves, or when the self-mobile gardening robot 100 integrates multiple functions to perform the above-mentioned single functions, the working process is similar to the working process of performing the watering function, and will not be described again here.

[0302] Of course, the materials for the self-moving gardening robot 100 can also be added manually by the user. When the material in the material chamber 52 is lower than the preset threshold, the self-moving gardening robot 100 will remind the user to add more, such as by transmitting the reminder information to the corresponding application of the user device 200 through the wireless transmission module 90, or by the self-moving gardening robot 100 emitting sound, light, or other prompt signals.

[0303] Of course, when performing certain functions, the self-moving gardening robot 100 also moves randomly within its work area. The self-moving gardening robot 100 moves randomly multiple times within its work area to cover the entire work area.

[0304] The complete workflow for the self-propelled gardening robot to perform different functions is described in detail below.

[0305] Figure 27 This paper reveals a specific workflow of a self-propelled gardening robot 100 performing a sowing function.

[0306] Step S11: Monitor the health of the lawn and remind the user whether sowing is necessary based on the lawn condition. In this step, the lawn health condition can be obtained by the grass condition recognition sensor 40 as the self-moving gardening robot 100 performs other functional tasks (such as mowing) and traverses the work area. When there are dead grass areas or the cumulative area of ​​dead grass is large, the self-moving gardening robot 100 sends a sowing task reminder to the user device 200 through the wireless communication module 90.

[0307] Step S12: After receiving the sowing task reminder, the user injects the corresponding seeds into the material chamber 52 of the self-moving gardening robot 100 and switches the working mode of the self-moving gardening robot 100 to the sowing mode.

[0308] Step S13: In the sowing mode, the self-moving gardening robot 100 locates the withered area based on the grass condition recognition sensor 40, or based on the withered area location points stored during lawn health monitoring, or by receiving the withered area location points selected by the user. The self-moving gardening robot 100 enters the withered area and sows seeds. During the sowing process, the self-moving gardening robot 100 simultaneously monitors the remaining seed quantity in the material chamber 52. Specific monitoring measures can be implemented using the capacity detection device 524 described above. When the remaining seed quantity is less than the preset capacity, the self-moving gardening robot 100 sends a prompt message to the user device 200 via the wireless communication module 90 to add seeds.

[0309] Step S14: When the user receives the prompt message to add seeds, the user injects the corresponding seeds into the material chamber 52 of the self-moving gardening robot 100 again.

[0310] Step S15: After the self-moving gardening robot 100 completes the sowing task in all dry grass areas, the user or the self-moving gardening robot 100 can switch to another working mode, shut down, or return to docking station 400. In this step, the self-moving gardening robot 100 can confirm whether the sowing task in all dry grass areas has been completed by traversing the lawn, or by confirming whether the sowing task has been performed on all stored dry grass location points or user-specified dry grass location points.

[0311] If the area of ​​dead grass is large, steps S13 to S14 need to be repeated multiple times during the process of the self-moving gardening robot 100 completing the sowing task in all the dead grass areas.

[0312] In this specific implementation process, seeds are added manually by the user. As mentioned earlier, seeds can also be added automatically by the self-propelled gardening robot 100 returning to the docking station 400. The specific addition process will not be described in detail here.

[0313] If the self-moving gardening robot 100 runs out of power during the sowing process, it will automatically return to the docking station 400 to replenish its power.

[0314] The scenario and workflow of the self-mobile gardening robot 100 performing the fertilization function are similar to those of the self-mobile gardening robot 100 performing the sowing function. Therefore, the workflow of the self-mobile gardening robot 100 performing the fertilization function can also be referenced. Figure 27 .

[0315] Figure 28 This paper reveals a specific workflow for a self-propelled gardening robot 100 to perform lawn watering functions.

[0316] Step S21: The self-propelled gardening robot 100 receives the watering schedule and starts the watering mode. In this step, the watering schedule can be arranged in two ways. Method 1: The user manually sets the watering schedule for the self-propelled gardening robot 100. For specific setting methods and schedule arrangements, please refer to the description above of the self-propelled gardening robot's multi-functional lawn maintenance process. Method 2: The self-propelled gardening robot 100 obtains weather information from the wireless communication module 90 and automatically sets or modifies the user-set watering schedule based on the weather information, lawn humidity monitoring information, and the work schedule for tasks such as mowing.

[0317] Step S22: The self-propelled gardening robot 100 automatically waters the lawn and monitors the remaining water level in the material chamber 52 during the watering process. The specific watering process can be referred to the above description of the self-propelled gardening robot's multi-functional lawn maintenance process. Specific monitoring measures can be implemented using the volume detection device 524 described above.

[0318] Step S23: When the remaining water is less than the preset capacity, the self-propelled gardening robot 100 automatically returns to the docking station 400 to replenish the water.

[0319] Step S24: After water replenishment is complete, the self-moving gardening robot 100 returns to the work breakpoint and continues to perform the watering task. For the specific workflow of steps S23 and S24, please refer to the relevant content described above regarding the self-moving gardening robot's multi-functional lawn maintenance process.

[0320] Step S25: After the self-mobile gardening robot 100 completes the watering task, the user or the self-mobile gardening robot 100 can switch to another working mode, shut down, or return to docking station 400. In this step, the self-mobile gardening robot 100 determines that the watering task is complete after traversing all lawn areas.

[0321] If the area of ​​the lawn that needs watering is large, the self-propelled gardening robot 100 needs to repeat steps S22 to S24 multiple times during the watering task. Preferably, each time the self-propelled gardening robot 100 travels between the breakpoint and the docking station, it chooses a path that has not been watered.

[0322] If the self-propelled gardening robot 100 runs out of power while performing a watering task, it will automatically return to the docking station 400 to replenish its power.

[0323] Figure 29 This paper reveals a specific workflow for a self-propelled gardening robot 100 to perform the watering function.

[0324] Step S31: The self-moving gardening robot 100 acquires map information of the yard, location information of the flower beds, and shape information of the flower beds. For the specific process of acquiring map information, flower bed location, and shape information in this step, please refer to the relevant content described above regarding the self-moving gardening robot's multi-functional lawn maintenance process.

[0325] Step S32: The self-propelled gardening robot 100 receives the watering schedule and starts the watering mode. In this step, the watering schedule can be arranged in two ways: Method 1: The user manually sets the watering schedule for the self-propelled gardening robot 100. For specific setting methods and schedule arrangements, please refer to the relevant content described above regarding the self-propelled gardening robot's multi-functional lawn maintenance process. Method 2: The self-propelled gardening robot 100 obtains weather information from the wireless communication module 90 and automatically sets or modifies the user-set watering schedule based on the weather information, lawn humidity monitoring information, and the work schedule for tasks such as mowing.

[0326] Step S33: The self-propelled gardening robot 100 automatically waters the plants and monitors the remaining water level in the material chamber 52. The watering can be accomplished using the spraying device 526 described above. For the specific process of automatic watering, please refer to the relevant content described above regarding the self-propelled gardening robot's multi-functional lawn maintenance process. Specific monitoring measures can be implemented using the volume detection device 524 described above.

[0327] Step S34: When the remaining water is less than the preset capacity, the self-propelled gardening robot 100 automatically returns to the docking station 400 to replenish the water.

[0328] Step S35: After water replenishment is complete, the self-propelled gardening robot 100 returns to the flower bed point to continue watering. For the specific workflow of steps S34 and S35, please refer to the relevant content described above regarding the self-propelled gardening robot's multi-functional lawn maintenance process.

[0329] Step S36: After the self-moving gardening robot 100 completes the watering task, the user or the self-moving gardening robot 100 can switch to another working mode, shut down, or return to docking station 400. In this step, the self-moving gardening robot 100 determines that the watering task is complete after traversing all flower bed locations.

[0330] If the area of ​​the flower bed that needs watering is relatively large, the self-moving gardening robot 100 needs to repeat steps S33 to S35 multiple times during the process of completing the watering task.

[0331] If the self-propelled gardening robot 100 runs out of power while performing the watering task, it will automatically return to the docking station 400 to replenish its power.

[0332] Figure 29 This paper reveals a specific workflow for a self-propelled gardening robot 100 to perform the function of raking fallen leaves.

[0333] Step S41: The user installs the leaf rake attachment 54d onto the multi-functional attachment interface 12 of the self-moving gardening robot 100.

[0334] Step S42: The self-moving gardening robot 100 acquires map information of the yard, location information of the fallen leaf area, and shape information of the fallen leaf area. For the specific process of acquiring map information and the location and shape information of the fallen leaf area in this step, please refer to the relevant content described above regarding the self-moving gardening robot's multi-functional lawn maintenance process.

[0335] Step S43: The self-propelled gardening robot 100 starts the leaf-sweeping mode. There are two ways to start the leaf-sweeping mode in this step. Method 1: The user has set a schedule for leaf-sweeping; the self-propelled gardening robot 100 automatically starts the leaf-sweeping mode at the scheduled time according to this schedule. Method 2: The user manually starts the leaf-sweeping mode.

[0336] Step S44: The self-moving gardening robot 100 automatically performs the task of raking fallen leaves and monitors the process. For details on the automatic raking process, please refer to the relevant content described above regarding the self-moving gardening robot's multi-functional lawn maintenance process.

[0337] Step S45: After the self-moving gardening robot 100 completes the task of raking fallen leaves, the user or the self-moving gardening robot 100 can switch to another working mode, shut down, or return to docking station 400. In this step, the self-moving gardening robot 100 determines that the task of raking fallen leaves is complete after traversing all the locations of the fallen leaf areas.

[0338] If the self-propelled gardening robot 100 runs out of power while performing the task of sweeping fallen leaves, it will automatically return to the docking station 400 to replenish its power.

[0339] By attaching weed-removing or soil-loosening attachments, the scenario and workflow of the self-moving gardening robot 100 performing weed-removing or soil-loosening functions are similar to those of the self-moving gardening robot 100 performing leaf-sweeping functions. Therefore, the workflow of the self-moving gardening robot 100 performing weed-removing or soil-loosening functions can also be referenced. Figure 18 .

[0340] In one embodiment, the self-moving gardening robot 100 also has the function of distinguishing between normal grass and weeds. For example... Figure 30As shown, the self-propelled gardening robot 100 has an image sensor 60 on its housing 10, such as a camera or video camera. The image sensor 60 captures images of the area in front of the self-propelled gardening robot 100. In this embodiment, the field of view of the image sensor 60 is a fixed area, such as a fixed viewing angle range of 90 to 120 degrees. In other optional embodiments, the field of view can also be dynamic, and a certain angle range within the viewing angle range can be selected as the actual field of view, such as selecting a 90-degree range in the middle of the 120-degree viewing angle range as the actual field of view. The ground area in front of the self-propelled gardening robot 100 is the target area 70 where the self-propelled gardening robot 100 walks. When the working area 70 of the self-propelled gardening robot 100 is a lawn, weeds and normal grass may coexist in the target area 70. The control module 30 receives the image of the target area 70 acquired by the image sensor 60 and identifies the weeds and normal grass in the target area 70 through an image recognition algorithm. The self-propelled gardening robot 100 removes the weeds in the target area 70 according to the identification result of the control module 30.

[0341] The self-propelled gardening robot 100 removes weeds in several ways. Method 1: Mechanical weed removal. The self-propelled gardening robot 100 connects to a weeding attachment via its attachment interface. In the identified weedy area, the weeding attachment operates to pull out or cut the weeds. The specific mechanical structure of the weeding attachment can be similar to the soil-loosening attachment or the withered-weed-removing attachment described above, or it can be a separate weeding mechanism or a separate mowing mechanism. Method 2: Chemical weed removal. The self-propelled gardening robot 100's material chamber 52 stores weed-removing chemicals. In the identified weedy area, the material outlet 523 is opened to drip / spray / sprinkle the chemicals onto the weeds.

[0342] In this embodiment, the image recognition algorithm in the control module 30 for identifying weeds and normal grass has multiple methods. Figure 31 The flowchart for the first image recognition algorithm is as follows:

[0343] Step S51: The image sensor 60 acquires an image of the target area 70 and transmits the image to the control module 30.

[0344] Step S52: The control module 30 preprocesses the image. The image preprocessing steps include image enhancement, color model conversion, and other operations.

[0345] Step S53: Control module 30 performs texture extraction on the preprocessed image.

[0346] Step S53: The control module 30 performs image segmentation on the image from which the texture has been extracted.

[0347] Step S54: Control module 30 statistically analyzes the contour size and shape of the segmented image.

[0348] Step S55: The control module 30 compares the statistically obtained contour size and shape with the contour size and shape of normal grass stored in memory. If the difference in the comparison result is within the preset range, the grass corresponding to the image is judged to be normal grass; otherwise, it is judged to be weed.

[0349] Preferably, before step S52, the control module 30 first divides the acquired image into partitions, specifically as follows: Figure 19 As shown, the target area 70 is divided into multiple sub-regions, and subsequent steps are performed on each sub-region. This image partitioning operation helps the self-moving gardening robot 100 locate weeds.

[0350] Figure 32 The flowchart for the second image recognition algorithm is as follows:

[0351] Step S61: The image sensor 60 acquires an image of the target area 70 and transmits the image to the control module 30.

[0352] Step S62: The control module 30 preprocesses the image. The image preprocessing steps include image enhancement, color model conversion, and other operations.

[0353] Step S63: Control module 30 performs operator transformation on the preprocessed image. Specific operations of operator transformation include Haar operator transformation, Fourier transform, or other forms of wavelet transform.

[0354] Step S64: The control module 30 filters the transformed image. The filtering operator is set according to the actual situation of normal grass or weeds in the lawn.

[0355] Step S65: The control module 30 compares the filtered image with a preset image of normal grass. If the difference in the comparison result is within the preset range, the grass corresponding to the image is judged to be normal grass; otherwise, it is judged to be weeds.

[0356] Preferably, before step S62, the control module 30 first divides the acquired image into partitions, specifically as follows: Figure 19 As shown, the target area 70 is divided into multiple sub-regions, and subsequent steps are performed on each sub-region. This image partitioning operation helps the self-moving gardening robot 100 locate weeds.

[0357] In another embodiment, the self-propelled gardening robot 100's function of identifying normal grass and weeds can also be achieved through a spectral sensor. A spectral sensor is provided on the housing 10 of the self-propelled gardening robot 100. The spectral sensor acquires spectral data within the target area 70. The control module 30 receives the spectral data acquired by the spectral sensor and compares it with a preset spectral range for normal grass in memory. If the spectral data is within the normal grass spectral range, the area corresponding to the spectral data is determined to be normal grass; otherwise, it is determined to be weeds. Alternatively, a preset spectral range for weeds can be stored in memory. If the spectral data acquired by the spectral sensor is within the weed spectral range, the area corresponding to the spectral data is determined to be weeds, and the control module 30 controls the self-propelled gardening robot to enter the corresponding area to remove weeds.

[0358] This invention is not limited to the specific embodiments described herein; all structures based on the concept of this invention fall within the scope of protection of this invention.

Claims

1. A self-moving gardening robot, comprising: case; The mobile module drives the self-moving gardening robot to move; The work module performs the corresponding tasks; The power module drives the moving module and the working module; Energy module, providing power to the self-moving gardening robot; The control module controls the automatic movement and work execution of the self-propelled gardening robot; its features include: The self-moving gardening robot also includes a material chamber for storing materials; the material chamber includes a material opening located on the lower surface of the material chamber relative to the shell; the types of materials stored in the material chamber include water, nutrient solution, pesticides, fertilizers, or seeds. The working module includes an automatic switch, which is used to open or close the material opening; The control module controls the automatic switch to open the material opening to perform the material spreading operation; when performing different material functions, the control module controls the walking speed of the moving module according to the amount of material required per unit area of ​​lawn and / or the body area of ​​the self-moving gardening robot. The working module also includes a cutting module, which is driven to rotate by the drive module; the cutting module is located below the material opening. The cutting module rotates to perform the grass-cutting task; The rotation of the cutting module also performs the task of spreading materials. The control module controls the rotation speed of the cutting module. When the cutting module rotates at different speeds, it performs the tasks of mowing grass and spreading materials respectively.

2. The self-moving gardening robot according to claim 1, characterized in that: The material chamber is equipped with a capacity detection device to detect the remaining material capacity in the material chamber. The control module includes a capacity conversion unit, which converts the capacity detected by the capacity detection device according to the slope of the slope where the self-moving gardening robot is located and a preset algorithm.

3. The self-moving gardening robot according to claim 2, characterized in that: The capacity detection device includes at least two capacity detection sensors arranged along the moving direction of the self-moving gardening robot. The control module calculates the remaining material capacity in the material chamber based on the output of the at least two capacity detection sensors.

4. The self-moving gardening robot according to claim 1, characterized in that: The material chamber is used to store at least two types of materials, and the self-moving gardening robot performs corresponding lawn care work according to the type of materials stored in the material chamber.

5. The self-moving gardening robot according to claim 1, characterized in that: The control module controls the moving speed of the self-moving gardening robot or controls the size of the opening of the material in the material chamber according to the type of material stored in the material chamber.

6. The self-moving gardening robot according to claim 1, characterized in that: The material chamber includes at least two cavities; One of the cavities stores nutrient solution or pesticide, and the other stores water. A liquid passage and a passage switch are provided between the cavities. The passage switch is used to open or close the liquid passage. When the passage switch is open, the nutrient solution or pesticide flows into the water-storing cavity.

7. The self-moving gardening robot according to claim 1, characterized in that: The material chamber includes at least two cavities; The material chamber includes a partition, and the at least two cavities are formed by the partition; the material chamber includes a partition switch for opening or closing the partition, and when the partition switch opens the partition, the material flows through the at least two cavities.

8. The self-moving gardening robot according to claim 1, characterized in that: The housing is also provided with a drip irrigation device, which is connected to the material chamber. The drip irrigation device includes a drip irrigation opening, which is not higher than the bottom of the housing, or the distance between the drip irrigation opening and the working surface is not greater than 15cm. The width of the drip irrigation device is not less than the width of the housing.

9. The self-moving gardening robot according to claim 1, characterized in that: The shell is also equipped with a spraying device, which is connected to the material chamber; The spraying device includes a nozzle and a pump, and the control module controls the amount of hydraulic pressure generated by the pump to control the range of the spraying device.

10. A self-moving gardening robot system, comprising the self-moving gardening robot as described in any of the preceding claims, and a docking station.

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