Lawn maintenance system

Abstract

The invention discloses a lawn maintenance system, and relates to the technical field of lawn nursing, and the lawn maintenance system comprises a parameter collection module which is used for dynamically collecting the current parameters of a lawn; the ground walking module is used for moving the lawn maintenance system to a target position of the lawn, and the target position is a lawn area needing maintenance; the temperature and humidity control module is used for regulating and controlling the temperature and / or humidity of the lawn according to the current parameters acquired by the parameter acquisition module; and the oxygenation stress resistance module is used for providing oxygen and / or stress resistance factors for the lawn according to the current parameters acquired by the parameter acquisition module. According to the application, the regulation and control of multiple environmental factors of the lawn are realized through the synergistic effect of the modules, and the stress resistance of the lawn is enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lawn care, and particularly relates to a lawn maintenance system. BACKGROUND

[0002] In urban greening, sports grounds and ecological landscapes, lawns can beautify the environment, purify the air and reduce noise. However, under the conditions of high temperature and high humidity in summer, lawns are prone to early decline or yellowing. At present, the lawn maintenance work usually adopts a "single dimension intervention strategy", for example, in the case of high temperature of lawns in summer, the temperature of the lawn can be reduced by spraying water, but this will increase the humidity of the lawn, resulting in yellowing of the lawn. It can be seen that the conventional lawn maintenance method has limited effect on the regulation of the lawn maintenance environment. SUMMARY

[0003] The main purpose of the present application is to provide a lawn maintenance system, which realizes the regulation of multiple environmental factors of the lawn through the synergistic effect of each module, and enhances the stress resistance of the lawn.

[0004] To achieve the above-mentioned purpose, the present application provides a lawn maintenance system, comprising the following modules: a parameter acquisition module for dynamically acquiring current parameters of the lawn;

[0005] a ground walking module for moving the lawn maintenance system to a target position of the lawn, the target position being a lawn area that needs to be maintained;

[0006] a temperature and humidity control module for regulating the temperature and / or humidity of the lawn according to the current parameters acquired by the parameter acquisition module;

[0007] an oxygen-increasing and stress-resistance module for providing oxygen and / or stress-resistance factors for the lawn according to the current parameters acquired by the parameter acquisition module.

[0008] In a feasible embodiment, the current parameters include the current temperature of the lawn, and the temperature and humidity control module comprises:

[0009] a spraying unit for spraying phase change microcapsule suspension to the lawn to reduce the current temperature when the current temperature is greater than a preset temperature threshold.

[0010] In a feasible embodiment, the phase change microcapsule suspension comprises octadecanoic acid and palmitic acid;

[0011] The mass fraction of octadecanoic acid:palmitic acid is (71-75 wt. %):(25-29 wt. %).

[0012] In a feasible embodiment, the current parameters include the current humidity of the lawn, and the temperature and humidity control module comprises:

[0013] an air flow unit configured to control an output air flow to reduce the current humidity when the current humidity is greater than a preset humidity threshold.

[0014] In an example embodiment, the current parameter comprises a current oxygen diffusion rate of a root soil of the lawn, and the oxygenation stress resistance module comprises:

[0015] an electrochemical unit comprising a diffusion head insertable into the root soil of the lawn, configured to generate oxygen by electrolyzing water when the current oxygen diffusion rate is less than a preset oxygen diffusion rate threshold, the oxygen being delivered through the diffusion head, wherein a delivery rate of the oxygen is determined according to the current oxygen diffusion rate.

[0016] In an example embodiment, the oxygenation stress resistance module comprises:

[0017] a stress resistance factor unit configured to release a stress resistance factor into the root soil of the lawn when a H2O2 concentration in the root soil of the lawn is greater than or equal to a first preset threshold.

[0018] In an example embodiment, the stress resistance factor comprises a nano-particle suspension of melatonin and trehalose;

[0019] a particle size of the nano-particle is 80-120 nm.

[0020] In an example embodiment, a molar ratio of the melatonin:trehalose = 1:(4.8-5.5);

[0021] and / or, the trehalose is a shell layer of the nano-particle, and the melatonin is a core of the nano-particle.

[0022] In an example embodiment, the ground walking module comprises:

[0023] a navigation unit configured to plan a moving path of the ground walking module based on the target position.

[0024] In an example embodiment, the system further comprises:

[0025] a reinforcement module configured to determine a difference between a current maximum photochemical efficiency of the lawn maintenance system and a maximum photochemical efficiency before operation when a current operation time of the lawn maintenance system is greater than or equal to a preset time threshold, and increase a power of the temperature and humidity control module and / or the oxygenation stress resistance module when the difference is less than a preset photochemical efficiency difference.

[0026] The embodiment of the present application provides a lawn maintenance system, which comprises a parameter acquisition module, which is used for dynamically acquiring current parameters of a lawn, and provides data basis for operation of other modules of the lawn maintenance system. A ground walking module is used for moving the lawn maintenance system to a target position of the lawn, and the target position is a lawn area needing maintenance. Moving to the target position facilitates corresponding operations of a temperature and humidity control module and an oxygen-increasing and stress-resistance module for regulating the lawn. The temperature and humidity control module is used for regulating temperature and / or humidity of the lawn according to the current parameters acquired by the parameter acquisition module. Whether the current growth environment of the lawn needs to regulate the temperature and / or humidity of the lawn is judged according to the current parameters. After regulation, the lawn can grow in a suitable temperature and humidity environment. The oxygen-increasing and stress-resistance module is used for providing oxygen and / or stress-resistance factors for the lawn according to the current parameters acquired by the parameter acquisition module. Whether the current growth environment of the lawn needs to improve oxygen supply and apply stress-resistance factors is judged according to the current parameters. After regulation, the stress-resistance ability of the lawn can be enhanced. Through the synergistic effect among the modules, the oxygen and stress-resistance factors can be controlled while regulating the temperature and humidity of the lawn, the regulation of multiple environmental factors of the lawn is realized, and the stress-resistance ability of the lawn is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 A schematic diagram of a framework of the lawn maintenance system related to the embodiment of the present application.

[0028] Explanation of reference signs:

[0029] 10, parameter acquisition module; 20, ground walking module;

[0030] 30, temperature and humidity control module; 40, oxygen-increasing and stress-resistance module.

[0031] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the embodiment of the present application more clear, the technical scheme in the embodiment of the present application will be clearly and completely described below. If the specific conditions are not indicated in the embodiment, the conventional conditions or the conditions suggested by the manufacturer are adopted. If the reagents or instruments are not indicated by the manufacturer, they are all conventional products which can be purchased in the market.

[0033] Hereinafter, specific embodiments of the lawn maintenance system of the present application will be described in detail with appropriate reference to the accompanying drawings. However, unnecessary detailed description will be omitted at appropriate portions. For example, detailed description of matters known well, repeated description of substantially identical structures will be omitted. This is to avoid the following description from becoming unnecessarily lengthy and to facilitate understanding by those skilled in the art. In addition, the accompanying drawings and the following description are provided to enable those skilled in the art to sufficiently understand the present application, and are not intended to limit the subject matter recited in the claims.

[0034] The ranges disclosed herein are defined by their lower and upper limits. Ranges can be comprised of any combination of the maximum and minimum defining the range. Unless otherwise stated, the ranges include both endpoints and all the partial ranges within the ranges. For example, a range of 60-120 and 80-110 is understood to include 60-110 and 80-120. In addition, a range of 1-2 and a range of 3-5 are understood to include the ranges of 1-3, 1-4, 1-5, 2-3, 2-4, and 2-5. In the present application, unless otherwise stated, a numerical range "a-b" indicates a shorthand way of describing all the real combinations of the numbers between a and b, wherein a and b are both real numbers. For example, the numerical range "0-5" indicates that all the real numbers between 0 and 5 have been listed herein, and "0-5" is just a shorthand way of describing these numerical combinations. In addition, when a parameter is stated to be an integer ≥ 2, it is equivalent to disclose that the parameter is, for example, integer 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, etc.

[0035] Unless otherwise specified, all embodiments and optional embodiments of the present application can be combined with each other to form new technical solutions.

[0036] Unless otherwise specified, all steps of the present application can be performed in sequence or randomly, and preferably in sequence. For example, a method includes steps (a) and (b), which means that the method can include steps (a) and (b) performed in sequence, or steps (b) and (a) performed in sequence. For example, it is mentioned that the method can further include step (c), which means that step (c) can be added to the method in any order. For example, the method can include steps (a), (b) and (c), or steps (a), (c) and (b), or steps (c), (a) and (b), etc.

[0037] In order to make the above objectives, characteristics and advantages of the present application more apparent, further explanations will be given below in conjunction with the accompanying drawings and embodiments. However, the present application is not limited to the listed embodiments, and any known changes within the scope of the present application are also included.

[0038] In order to better understand the technical solutions of the present application, specific embodiments will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0039] In conventional technology, lawn maintenance work usually adopts a "single dimension intervention strategy" strategy, which only controls a single factor such as temperature, humidity, oxygen or nutrients, and the control effect on the lawn maintenance environment is limited or even has a negative impact.

[0040] The present application provides a lawn maintenance system, which comprises a parameter acquisition module for dynamically acquiring current parameters of the lawn, providing data basis for the operation of other modules of the lawn maintenance system. A ground walking module is used to move the lawn maintenance system to a target position of the lawn, and the target position is the lawn area that needs to be maintained. Moving to the target position facilitates the corresponding operation of the temperature and humidity control module and the oxygen-increasing and stress-resistant module for regulating the lawn. The temperature and humidity control module is used to regulate the temperature and / or humidity of the lawn according to the current parameters acquired by the parameter acquisition module; and to determine whether the current growth environment of the lawn needs to be regulated in terms of temperature and / or humidity, so that the lawn can grow in a suitable temperature and humidity environment after regulation. The oxygen-increasing and stress-resistant module is used to provide oxygen and / or stress-resistant factors for the lawn according to the current parameters acquired by the parameter acquisition module; and to determine whether the current growth environment of the lawn needs to be improved in terms of oxygen supply and stress-resistant factors, so that the stress-resistant ability of the lawn can be enhanced after regulation. Through the synergistic effect of each module, the oxygen and stress-resistant factors can be controlled while regulating the temperature and humidity of the lawn, realizing the regulation of multiple environmental factors of the lawn and enhancing the stress-resistant ability of the lawn.

[0041] In a feasible embodiment, with reference to Figure 1 , Figure 1 The present application relates to a lawn maintenance system structure framework. The lawn maintenance system comprises a parameter acquisition module 10, a ground walking module 20, a temperature and humidity control module 30, and an oxygen-increasing and stress-resistant module 40.

[0042] The parameter acquisition module 10 is used to dynamically acquire current parameters of the lawn.

[0043] In a feasible embodiment, the parameter acquisition module is provided with a multi-modal sensor array, wherein an infrared thermal imager is used to detect the temperature of the lawn canopy; a spectrum sensor is used to detect the humidity of the lawn; and a dielectric constant probe is used to detect the water content and oxygen diffusion rate of the soil of the lawn.

[0044] Optionally, the current parameter refers to a parameter related to the lawn obtained by dynamic measurement through a sensor (such as an infrared thermal imager, a spectral sensor, a dielectric constant probe, etc.), for example, the temperature, humidity, soil moisture content, etc. of the lawn. The current parameter reflects the actual current situation of the lawn.

[0045] Optionally, the resolution of the infrared thermal imager is 640x480, and the temperature measurement range can be 0-50℃, with an accuracy of ±0.3℃. The high resolution of 640x480 is used to scan a large area of the lawn to obtain a canopy surface temperature distribution map; the average temperature of all pixel points is taken as the overall temperature of the lawn. The infrared thermal imager can be installed at a center height of 1.2m of the front beam of the system rack.

[0046] Optionally, the spectral sensor evaluates the vegetation health status by detecting the air above the lawn in the near-infrared (800nm) and red light (680nm) reflectivity ratio NDVI (Normalized Difference Vegetation Index, Normalized Difference Vegetation Index), NDVI = (NIR+Red) / (NIR-Red), where NIR is the near-infrared band reflectivity, and Red is the red light band reflectivity. NDVI close to 1 indicates that the lawn has high water content.

[0047] Optionally, the dielectric constant probe is based on the fact that there is a certain relationship between the dielectric constant of the soil and the soil moisture content, and the soil moisture content is obtained indirectly by measuring the dielectric constant of the soil. The accuracy of measuring the soil moisture content can be ±1%. The dielectric constant probe can be installed on the system rack 150mm away from the last roller.

[0048] Optionally, ODR (Oxygen Diffusion Rate) represents the rate of oxygen diffusion from the soil to the roots per unit time and unit area. Combined with the porosity and moisture content of the soil, the ODR of the soil can be obtained. The resolution of ODR can be 0.01μg / (cm 2 ·min), which matches the accuracy of measuring the soil moisture content.

[0049] The ground walking module 20 is used to move the lawn maintenance system to the target position of the lawn, and the target position is the lawn area that needs to be maintained;

[0050] In a feasible embodiment, the ground walking module can move to the target position when the lawn area that needs to be maintained is detected, so that the subsequent functions of the temperature and humidity control module and the oxygenation and stress resistance module are executed.

[0051] Optionally, the target location is a specific place on the lawn where the maintenance operation needs to be performed. For example, a certain area of the lawn has a temperature that is too high, and this area is the target location.

[0052] The temperature and humidity control module 30 is configured to regulate the temperature and / or humidity of the lawn based on the current parameters collected by the parameter collection module.

[0053] In an exemplary embodiment, the temperature of the lawn is adjusted as needed. For example, when the temperature of the lawn is too high, the temperature and humidity control module initiates a temperature reduction.

[0054] In an exemplary embodiment, the current parameters include the current temperature of the lawn, and the temperature and humidity control module includes:

[0055] The spraying unit is configured to spray phase change microcapsule suspension onto the lawn to reduce the current temperature when the current temperature is greater than the preset temperature threshold.

[0056] In an exemplary embodiment, if the current temperature is greater than the preset temperature threshold, the spraying unit begins to spray phase change microcapsule suspension onto the lawn to regulate the current temperature.

[0057] Optionally, the spraying unit is a component of the temperature and humidity control module and is mainly used to spray specific substances onto the lawn.

[0058] Optionally, the phase change microcapsule suspension is a special liquid that contains phase change microcapsules. Phase change microcapsules are tiny particles with special functions that can absorb or release a large amount of heat when the ambient temperature changes, thereby regulating the temperature. For example, when the temperature rises, phase change microcapsules will absorb heat and undergo a phase change (such as from solid to liquid), causing the surrounding environment temperature to decrease.

[0059] Optionally, the current temperature refers to the actual temperature of the lawn at the current time, reflecting the thermal environment of the lawn at that time. It is detected by the sensors of the parameter collection module.

[0060] Optionally, the preset temperature threshold refers to the boundary value of the temperature range suitable for the growth of the lawn.

[0061] Optionally, the preset temperature threshold can be 32°C.

[0062] Optionally, the structure of the spraying unit comprises a liquid storage tank, a double-fluid nozzle and a delivery pipeline. The volume of the liquid storage tank can be 50L, and the tank contains a microcapsule suspension; the aperture of the double-fluid nozzle can be 0.3mm, the atomization gas pressure can be 0.4MPa, and the nozzle can generate mist droplets with a particle size of 10-50μm, and the installation height of the nozzle is 300±5mm above the grass canopy of the lawn; the material of the delivery pipeline can be SUS316 stainless steel pipe, and the inner diameter of the delivery pipeline can be 8mm, and a peristaltic pump is provided to adjust the flow rate of the spraying liquid droplets in the range of 30-100mL / min. When the microcapsule suspension contacts the leaves of the lawn, a solid-liquid phase transition occurs, causing the leaf surface temperature to drop rapidly.

[0063] In a feasible embodiment, the phase change microcapsule suspension comprises octadecanoic acid and palmitic acid;

[0064] The mass fraction of octadecanoic acid:palmitic acid is (71-75wt.%):(25-29wt.%).

[0065] In a feasible embodiment, the mixture of octadecanoic acid and palmitic acid is used as the phase change microcapsule suspension, and the mass fraction of octadecanoic acid:palmitic acid is (71-75wt.%):(25-29wt.%). The phase transition point of the phase change microcapsule suspension is 28-32℃, and the actual measured phase transition enthalpy is up to 216kJ / kg, which can cover the critical temperature threshold (32℃) of the heat shock protein expression of cold-season lawns (such as tall fescue).

[0066] Optionally, when the mass fraction of octadecanoic acid:palmitic acid is 73:27, the phase transition point is 30℃, and the recovery rate of the lawn can reach 98%. When the mass fraction of octadecanoic acid:palmitic acid is 68:32, the phase transition point is 28.5℃, and the recovery rate of the lawn is 85%. When the mass fraction of octadecanoic acid:palmitic acid is 75:25, the phase transition point is 31.0℃, and the recovery rate is 90%.

[0067] Optionally, the preparation process of the phase change microcapsule suspension is as follows: 73kg of octadecanoic acid and 27kg of palmitic acid are stirred to transparency in a water bath at 80℃, and the stirring speed of the water bath is 300rpm for 30min. Then, 30g of gelatin and 20g of gum arabic are added to 1L of deionized water to prepare a wall material solution at 50℃, and then the mixture of octadecanoic acid and palmitic acid is added dropwise to the wall material solution at a volume ratio of 1:1, and emulsified at a speed of 12000rpm for 10min in a homogenizer; then 10mL of 5% glutaraldehyde is added, and the microcapsules are collected by centrifugation after reaction at 40℃ for 2h (centrifugal speed 4000rpm, centrifugal time 15min); 200g of the microcapsules are added to 800mL of deionized water, and the mixture is stirred at a speed of 500rpm for 30min to prepare the phase change microcapsule suspension.

[0068] In an embodiment, the current parameter comprises a current humidity of the lawn, and the temperature and humidity control module comprises an air flow unit configured to control output of air flow to reduce the current humidity when the current humidity is greater than a preset humidity threshold.

[0069] Optionally, the air flow unit is another component of the temperature and humidity control module and is configured to generate and output the air flow. The air flow reduces the humidity of the lawn to prevent root rot or mold growth. When the current humidity is greater than the preset humidity threshold, the air flow unit controls the output of the air flow to reduce the current humidity.

[0070] Optionally, the current humidity refers to the water content around the lawn at the current time, which is detected by a sensor of the parameter acquisition module.

[0071] Optionally, the preset humidity threshold refers to a boundary value of a suitable water content range around the lawn.

[0072] Optionally, the preset humidity threshold can be 80%.

[0073] Optionally, the structure of the air flow unit comprises a vortex tube cold source, a laminar air supply channel, and a centrifugal fan. The vortex tube cold source can compress the incoming air, and the inlet pressure of the compressed air can be 0.7 MPa, so that the outlet temperature of the cold air flow can be 5±1 ℃. The cross-sectional size of the laminar air supply channel can be 150 mm×50 mm, the outlet angle can be 22.5°, and the channel surface can be provided with flow guide fins (with a spacing of 10 mm). The power of the centrifugal fan can be 400 W, so that the wind speed can be 0.5-1.2 m / s. Under the action of the air flow unit, the cold air flow forms a laminar flow field with a Reynolds number Re=1800±200, covering the area above the grass canopy, so that the relative humidity of the lawn is reduced.

[0074] Optionally, the height of the air flow output by the air flow unit to cover the area above the lawn is 20-30 mm.

[0075] Optionally, the blades of the lawn grass are the main parts for photosynthesis and transpiration, and most important physiological activities are concentrated near the grass canopy. By setting the air flow coverage height to 20-30 mm, the area where the grass blades are located can be directly affected, and the growth environment of the lawn can be adjusted without damaging the grass blades. When the air flow coverage height is 20-30 mm, the air flow can flow relatively smoothly within this height range, uniformly covering the area above the grass canopy, avoiding local air flow instability and energy loss that may be caused by turbulence, and making the adjustment of environmental factors such as humidity and temperature above the lawn more uniform and effective.

[0076] Optionally, the flow rate of the phase change microcapsule suspension is determined according to the current temperature and the current root system humidity. The flow rate Q of the phase change microcapsule suspension is determined according to the following formula: p According to the following formula, the flow rate Q of the phase change microcapsule suspension can be obtained:

[0077]

[0078] wherein T C is the current temperature greater than a preset temperature threshold, and RH is the current humidity greater than a preset humidity threshold.

[0079] an oxygen-increasing stress-resistance module 40 configured to provide oxygen and / or stress-resistance factors to the lawn according to the current parameters collected by the parameter collection module;

[0080] In an embodiment, the oxygen-increasing stress-resistance module is configured to provide oxygen and stress-resistance factors to the root system of the lawn.

[0081] Optionally, the stress-resistance factors are substances that can help the lawn resist stress (such as drought, pests and diseases, etc.), for example, some plant growth regulators, beneficial microorganisms, etc.

[0082] In an embodiment, the current parameters include a current oxygen diffusion rate of the root system soil of the lawn, and the oxygen-increasing stress-resistance module includes:

[0083] an electrochemical unit including a diffusion head that can be inserted into the root system soil of the lawn, configured to generate oxygen by electrolyzing water when the current oxygen diffusion rate is less than a preset oxygen diffusion rate threshold, and the oxygen is delivered through the diffusion head, wherein the delivery rate of the oxygen is determined according to the current oxygen diffusion rate.

[0084] In an embodiment, the electrochemical unit generates oxygen by electrolyzing water, directly supplementing the oxygen-deficient area of the root system.

[0085] Optionally, the current oxygen diffusion rate refers to the rate of oxygen migration from the soil to the root system per unit time, reflecting the available oxygen amount for root respiration.

[0086] Optionally, the preset oxygen diffusion rate threshold is a critical value of soil oxygen deficiency, below which the oxygen-increasing mechanism needs to be started.

[0087] Optionally, the preset oxygen diffusion rate threshold can be 0.25 μg / (cm 2 ·min).

[0088] Optionally, the electrochemical unit includes an electrolytic cell, a porous ceramic diffusion head, and an oxygen delivery pipe. When it is detected that the current oxygen diffusion rate is less than the preset oxygen diffusion rate threshold, an anodic reaction of 2H2O→O2+4H + +4e -The oxygen is input into the soil through the diffusion head. The size of the electrolytic tank can be 200 mm*100 mm*50 mm, the proton exchange membrane can be Nafion 212, and the thickness of the proton exchange membrane can be 50 pm; the diameter of the porous ceramic diffusion head can be 15 mm, the porosity can be 70+5%, the insertion depth of the soil can be 60+5 mm, and the ceramic diffusion head can realize non-invasive oxygen supply; and the material of the oxygen delivery pipe can be PTFE, and the inner diameter of the oxygen delivery pipe can be 6 mm.

[0089] In an embodiment, the oxygen delivery rate of the electrochemical unit is determined according to the current oxygen diffusion rate.

[0090] Optionally, the oxygen delivery rate V O is determined by the following formula:

[0091] V O = 2.8*[(0.30-ODR) / 0.05] 0.7 L / min

[0092] wherein ODR is the current oxygen diffusion rate when the oxygen diffusion rate is less than the preset oxygen diffusion rate.

[0093] In an embodiment, the oxygen-increasing stress resistance module comprises: a stress resistance factor unit configured to release a stress resistance factor into the root soil of the lawn when the H2O2 concentration in the root soil of the lawn is greater than or equal to a first preset threshold.

[0094] In an embodiment, the stress resistance factor unit releases the stress resistance factor when the soil H2O2 concentration is too high, thereby alleviating the damage of oxidative stress to the plant.

[0095] Optionally, the stress resistance factor is various substances with protective and regulatory effects, which can remove excessive active oxygen in the plant body, regulate the physiological metabolic process of the plant, and improve the adaptability of the plant to adversity.

[0096] Optionally, H2O2 is an active oxygen substance, and under normal circumstances, a small amount of H2O2 is produced in the plant body to participate in some physiological processes, but when the plant is subjected to adversity stress, the content of H2O2 can increase significantly, causing oxidative damage to the plant cells.

[0097] Optionally, the first preset threshold refers to a critical value of the H2O2 concentration in the root soil. When the H2O2 concentration in the soil is greater than or equal to this threshold, it indicates that the lawn may be subjected to oxidative stress, and at this time, the stress resistance factor unit is started to release the stress resistance factor to help the lawn resist adversity.

[0098] Optionally, the first preset threshold can be 50 pm.

[0099] Optionally, the stress resistance factor delivery unit comprises a liquid storage tank and a micro-permeation needle, and when the soil H2O2 concentration is greater than or equal to a first preset threshold, the stress resistance factor in the liquid storage tank is released through the micro-permeation needle. The volume of the liquid storage tank can be 10 L; the material of the micro-permeation needle can be a 304 stainless steel needle body, the outer diameter of the micro-permeation needle can be 1.5 mm, and the needle tip is provided with radial micropores (the pore size of the micropores is 0.1 mm, and the spacing is 2 mm). The self-healing time of the hole after the micro-permeation needle is inserted is less than 24 hours.

[0100] Optionally, the depth of the micro-permeation needle inserted into the soil is 59-61 mm.

[0101] In a feasible implementation, the stress resistance factor comprises a nanometer particle suspension of melatonin and trehalose;

[0102] The particle size of the nanometer particle is 80-120 nm.

[0103] In a feasible implementation, the molar ratio of melatonin: trehalose is 1:(4.8-5.5);

[0104] And / or, the trehalose is the shell of the nanometer particle, and the melatonin is the core of the nanometer particle.

[0105] Optionally, the melatonin is a bioactive molecule with multiple physiological functions. It can regulate the growth and development of plants, improve the stress resistance of plants, such as enhancing the resistance of plants to drought, salinity, high temperature, low temperature and other stress conditions. It can remove excess active oxygen in the plant body, inhibit the growth of fungal hyphae, reduce the damage of oxidative stress to plant cells, and also regulate the hormone balance in the plant body, promote the growth and development of plants. Trehalose is a natural disaccharide with good moisturizing and stability. It can form a protective film on the surface of plant cells to prevent water loss in cells and protect biological macromolecules (such as proteins, nucleic acids, etc.) from damage by adverse environmental factors such as dehydration, high temperature, freezing, etc. In addition, trehalose can also regulate the osmotic pressure in plant cells and improve the stress resistance of plants. Melatonin-trehalose is co-assembled by hydrogen bond-π stacking to form a stable structure, and is prepared into a nanometer particle suspension, which can improve their dispersibility and stability in soil, so that they can be more evenly distributed around the roots of the lawn and improve their bioavailability. The small size of the nanometer particle can also increase its contact area with plant cells, which is conducive to the better absorption and utilization of melatonin and trehalose by plants.

[0106] Optionally, 0.23 g of melatonin and 1.14 g of trehalose are dissolved in 100 mL of PBS (Phosphate-Buffered Saline) with a pH of 7.4, and then a chitosan solution (0.2% chitosan added to 1% acetic acid) is added dropwise to prepare a mixed solution, which is magnetically stirred at a speed of 500 rpm. When the Zeta potential is +30 mV, 0.1% sodium tripolyphosphate is added for cross-linking reaction. After the reaction is complete, centrifugation is performed at a speed of 10,000 rpm for 10 min. The obtained precipitate is washed with deionized water for 3 times and then dispersed in PBS (the final concentration of melatonin is 10 μM).

[0107] Optionally, the particle size of the melatonin-trehalose nanoparticle suspension is 100±20 nm, which can be 80 nm, 90 nm, 100 nm, 110 nm, 120 nm, etc. The nanoparticles in this particle size range have good stability and dispersibility and are not prone to aggregation. They can more easily penetrate the plant cell wall and cell membrane, enter the interior of the plant cell, and thus better exert the effects of melatonin and trehalose. At the same time, they also have good mobility in the soil and can more effectively reach the surrounding of the turfgrass roots.

[0108] Optionally, the molar ratio of melatonin:trehalose is 1:(4.8-5.5), which can be 1:4.8, 1:4.9, 1:5.0, 1:5.1, 1:5.2, 1:5.3, 1:5.4, 1:5.5, etc. This ratio range can make melatonin and trehalose exert the best synergistic effect. The relatively high content of trehalose can provide better protection and carrier effect for melatonin, and also fully exert the stress resistance function of trehalose itself. Within this ratio range, melatonin and trehalose can cooperate with each other to improve the stress resistance of turfgrass.

[0109] Optionally, trehalose is used as the shell layer of the nanoparticles, and melatonin is used as the core, so as to form a core-shell structure. The trehalose shell layer can protect melatonin from the influence of external environmental factors (such as light and oxidation), and improve the stability of melatonin. At the same time, the trehalose shell layer can also control the release speed of melatonin, so that melatonin can continuously exert its effect within a certain period of time. The nanoparticles with core-shell structure can better achieve targeted delivery. The trehalose shell layer can interact with specific receptors on the surface of plant cells, guide the nanoparticles to more accurately reach the interior of plant cells, and deliver melatonin to the required site, thereby improving the effect.

[0110] In an implementable embodiment, the ground walking module comprises a navigation unit configured to plan a moving path of the ground walking module based on a target position.

[0111] In a feasible implementation, the navigation unit constructs a map of the surrounding environment based on the data collected by the parameter acquisition module and determines the current position of the device in the map. A common method of map construction is the SLAM (Simultaneous Localization and Mapping) technique, which can create a map and determine the position of the device in real time during movement. Based on the current position and target position of the system, combined with the environmental map and obstacle information, a target path is generated using a path planning algorithm. During planning, the algorithm considers various factors such as the location of obstacles, the length of the path, the safety of walking, etc., to generate an optimal or near-optimal target path. The ground walking module controls the movement mechanism (such as wheels, tracks, etc.) of the device according to the target path planned by the navigation unit, advances along the path, and continuously monitors the surrounding environment through sensors to adjust the walking state in real time, ensuring accurate arrival at the target position.

[0112] Optionally, the movement path refers to the route planned by the ground walking module for the lawn maintenance system to move to the target position.

[0113] In a feasible implementation, the system further comprises a reinforcement module configured to: determine a difference between the current maximum photochemical efficiency of the lawn and the maximum photochemical efficiency before operation of the lawn maintenance system when the current operation time of the lawn maintenance system is greater than or equal to a preset time threshold; and increase the power of the temperature and humidity control module and / or the oxygenation stress resistance module when the difference is less than a preset photochemical efficiency difference.

[0114] In a feasible embodiment, the function of the reinforcement module is to determine whether the growth of the lawn is good by comparing the maximum photochemical efficiency of the lawn before and after operation of the system after the lawn maintenance system has been operated for a period of time. If the change in photochemical efficiency of the lawn does not meet expectations, measures will be taken to increase the power of the temperature and humidity control module and / or the oxygenation stress resistance module to improve the growth environment of the lawn and promote healthy growth of the lawn.

[0115] Optionally, the current operation time refers to the length of time that the temperature and humidity control module and / or the oxygenation stress resistance module in the lawn maintenance system has been operating from the start of operation to the current time.

[0116] Optionally, the preset time threshold is a preset time at which the temperature and humidity control module and / or the oxygenation stress resistance module in the lawn maintenance system has been operating.

[0117] Optionally, the preset operation time can be 30 minutes.

[0118] Optionally, the current maximum photochemical efficiency refers to the maximum photosynthesis efficiency that the turfgrass leaf can reach under certain conditions when the turfgrass maintenance system is running to the current time. It reflects the ability of the turfgrass to utilize light energy for photosynthesis at this time.

[0119] Optionally, the maximum photochemical efficiency before operation refers to the maximum photosynthesis efficiency that the turfgrass leaf can reach under the same or similar measurement conditions before the operation of the temperature and humidity control module and / or the oxygenation and stress resistance module in the turfgrass maintenance system.

[0120] Optionally, the preset photochemical efficiency difference refers to a preset photochemical efficiency difference standard, which represents the minimum degree of improvement in the maximum photochemical efficiency of the turfgrass expected after the operation of the temperature and humidity control module and / or the oxygenation and stress resistance module in the turfgrass maintenance system.

[0121] Optionally, the maximum photochemical efficiency is calculated by Fv / Fm, where Fv represents variable fluorescence and Fm represents maximum fluorescence. Fv / Fm reflects the potential activity of the plant photosystem, and the higher the value, the stronger the ability of the plant to utilize light energy for photosynthesis.

[0122] Optionally, the preset photochemical efficiency difference can be 0.15. If the Fv / Fm difference measured 30 minutes after the regulation is less than 0.15, it means that the previous regulation measures have not achieved the desired effect, and the photosynthesis efficiency of the turfgrass is not sufficient, and more powerful measures need to be taken to improve the growth conditions of the turfgrass.

[0123] Optionally, when the difference is less than the preset photochemical efficiency difference, the control will increase Q p and Vo by 20% respectively to strengthen the regulation of the turfgrass.

[0124] In a feasible embodiment, the turfgrass maintenance system comprises a control module, which is used to control the operation of at least one of the parameter acquisition module, the ground walking module, the temperature and humidity control module, and the oxygenation and stress resistance module.

[0125] The above is only part of the embodiments of the present application, and does not limit the patent scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the patent protection scope of the present application.

Claims

1. A lawn care system, characterized by The lawn maintenance system comprises: a parameter acquisition module, configured to dynamically acquire a current parameter of a lawn; a ground walking module, configured to move the lawn maintenance system to a target position of the lawn, the target position being a region of the lawn that needs to be maintained; a temperature and humidity control module, configured to regulate a temperature and / or humidity of the lawn according to the current parameter acquired by the parameter acquisition module; an oxygenation and stress resistance module, configured to provide oxygen and / or stress resistance factors for the lawn according to the current parameter acquired by the parameter acquisition module.

2. The lawn care system of claim 1, wherein, The current parameter comprises a current temperature of the lawn, and the temperature and humidity control module comprises: a spraying unit, configured to spray phase change microcapsule suspension to the lawn to reduce the current temperature when the current temperature is greater than a preset temperature threshold.

3. The lawn care system of claim 2, wherein, The phase change microcapsule suspension comprises octadecanoic acid and palmitic acid; The octadecanoic acid:palmitic acid is (71-75 wt. %):(25-29 wt. %) in terms of mass fraction.

4. The lawn care system of claim 1, wherein, The current parameter comprises a current humidity of the lawn, and the temperature and humidity control module comprises: an air flow unit, configured to control output air flow to reduce the current humidity when the current humidity is greater than a preset humidity threshold.

5. The lawn care system of claim 1, wherein, The current parameter comprises a current oxygen diffusion rate of root soil of the lawn, and the oxygenation and stress resistance module comprises: an electrochemical unit, comprising a diffusion head that can be inserted into the root soil of the lawn, configured to generate oxygen by electrolyzing water when the current oxygen diffusion rate is less than a preset oxygen diffusion rate threshold, the oxygen being delivered through the diffusion head, wherein a delivery rate of the oxygen is determined according to the current oxygen diffusion rate.

6. The lawn care system of claim 1, wherein, The oxygenation and stress resistance module comprises: a stress resistance factor unit, configured to release stress resistance factors into the root soil of the lawn when a H2O2 concentration in the root soil of the lawn is greater than or equal to a first preset threshold.

7. The lawn care system of claim 6, wherein, The stress resistance factors comprise a nanoparticle suspension of melatonin and trehalose; The nanoparticle has a particle size of 80-120 nm.

8. The lawn care system of claim 7, wherein, The melatonin:trehalose is 1:(4.8-5.5) in terms of molar ratio; And / or, the trehalose is a shell layer of the nanoparticle, and the melatonin is a core of the nanoparticle.

9. The lawn care system of claim 1, wherein, The ground walking module comprises: a navigation unit, configured to plan a moving path of the ground walking module based on the target position.

10. The lawn care system of claim 1, wherein, The system further comprises: a reinforcement module, configured to determine a difference between a current maximum photochemical efficiency of the lawn maintenance system and a maximum photochemical efficiency before operation when a current operation time of the lawn maintenance system is greater than or equal to a preset time threshold; and increase a power of the temperature and humidity control module and / or the oxygenation and stress resistance module when the difference is less than a preset photochemical efficiency difference.

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