Environment maintenance system and weeding robot

Abstract

The invention discloses an environment maintenance system and a weeding robot. The weeding robot comprises a movable carrier and a cutter module installed on the movable carrier. The mobile vehicle comprises a control module and a map establishing module which are electrically coupled with each other. The map building module comprises an infrared light unit and a visual sensing unit, the infrared light unit is used for emitting and receiving infrared light within a preset range, and the visual sensing unit is used for obtaining image information in a non-contact mode. The mobile carrier is used for moving in a yard according to a preset schedule, so that the map building module can build a yard three-dimensional map corresponding to the yard through matching of the infrared light unit and the visual sensing unit. Therefore, the weeding robot can establish the three-dimensional map of the yard in a non-contact mode, and mows the turf part exceeding the preset height, so that objects in the yard are effectively prevented from being damaged or damaged.

Description

Technical Field

[0001] The invention relates to a weeding robot, and in particular to an environment maintenance system and a weeding robot capable of establishing a three-dimensional map of a yard in a non-contact manner. Background Art

[0002] When the existing weeder robot is trimming the lawn, it does not have the function of judging the object to be trimmed during its operation. Therefore, the existing weeder robot often mistakenly trims plants (such as seedlings in the process of planting), thereby causing unexpected results. Therefore, the inventor believes that the above defects can be improved, and has devoted himself to research and applied scientific principles, and finally proposed a reasonable design and effective improvement of the above defects. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide an environment maintenance system and a weeding robot, which can effectively improve the defects that may occur in the existing weeding robots.

[0004] The embodiment of the present invention discloses an environmental maintenance system, which is applied to a building and a yard around it. The environmental maintenance system includes: a charging station; a tool module, which is arranged at the charging station, and the tool module can supplement its own power through the charging station; and a mobile vehicle, which can load the tool module from the charging station and is collectively defined as a weeding robot, and the mobile vehicle includes: a control module, which is electrically coupled to the tool module; and a map building module, which is electrically coupled to the control module, and the map building module includes: an infrared light unit, which is used to emit an infrared light within a predetermined range and to receive the infrared light reflected back within the predetermined range; and The visual sensing unit is used to obtain image information in a non-contact manner; wherein the map building module can determine the environmental terrain and the height of the object within a predetermined range by combining the infrared light received by the infrared light unit with the image information of the visual sensing unit; wherein the mobile vehicle is used to move in the yard according to a preset schedule, so that the map building module can establish a three-dimensional map of the yard corresponding to the yard by combining the infrared light unit and the visual sensing unit; wherein, when the weeding robot performs a maintenance operation in the yard according to the preset schedule, the control module can drive the tool module to mow the grass part exceeding the preset height according to the three-dimensional map of the yard.

[0005] Optionally, the mobile vehicle includes a humidity sensor electrically coupled to the control module for detecting an ambient humidity of the yard; wherein, when the ambient humidity is greater than a first humidity representing that it is about to rain, the weeding robot stops performing maintenance operations.

[0006] Optionally, the environmental maintenance system further includes a sprinkler module arranged at a charging station, and the sprinkler module can replenish its own power through the charging station; wherein, when the ambient humidity is lower than a second humidity representing excessive dryness, the mobile vehicle can replace the tool module with the sprinkler module from the charging station and electrically couple it to the control module, thereby jointly defining a sprinkler robot, and the sprinkler robot performs a sprinkler operation on the grass in the yard through the sprinkler module.

[0007] Optionally, the environmental maintenance system further includes a cleaning module arranged at a charging station, and the cleaning module can replenish its own power through the charging station; the mobile vehicle can replace the tool module with the cleaning module from the charging station and be electrically coupled to the control module, thereby jointly defined as a sweeping robot, and the sweeping robot can be used to perform a cleaning operation in a building.

[0008] Optionally, the environmental maintenance system further includes a monitor for electrically coupling to a local area network of the building; wherein the mobile vehicle includes a wireless connection unit electrically coupled to the control module for electrically coupling to the local area network to receive the yard information obtained by the monitor.

[0009] Optionally, the mobile vehicle includes a wireless connection unit electrically coupled to the control module for electrically coupling to an external device so that the three-dimensional map of the yard can be edited through the external device.

[0010] Optionally, the environmental maintenance system further includes a plurality of lawn mowing robots, and the plurality of lawn mowing robots can be used to jointly mow the grass at locations exceeding a predetermined height in the three-dimensional map of the yard.

[0011] Optionally, the environmental maintenance system includes a plurality of electronic tags disposed at intervals in the yard, and the plurality of electronic tags define a maintenance boundary, and the weeding robot does not touch the maintenance boundary.

[0012] Optionally, after the weeding robot performs maintenance work, the mobile vehicle then moves in the yard and updates the three-dimensional map of the yard.

[0013] Optionally, the mobile vehicle can be used to perform a patrol operation in the yard according to a preset schedule to update the three-dimensional map of the yard.

[0014] Optionally, the tool module includes a plurality of tools located at different heights, and the control module can select one of the tools to perform the maintenance operation according to a predetermined height.

[0015] The present invention also discloses a lawn mowing robot, which includes: a mobile vehicle, including: a control module; and a map building module, which is electrically coupled to the control module, and the map building module includes: an infrared light unit, which is used to emit an infrared light within a predetermined range and to receive the infrared light reflected back within the predetermined range; and a visual sensing unit, which is used to obtain image information in a non-contact manner; wherein the map building module can determine the environmental terrain and the height of the object within the predetermined range by combining the infrared light received by the infrared light unit with the image information of the visual sensing unit; wherein the mobile vehicle is used to move in a yard according to a preset schedule, so that the map building module can establish a three-dimensional map of the yard corresponding to the yard by combining the infrared light unit and the visual sensing unit; and a cutter module, which is installed on the mobile vehicle, and the cutter module is electrically coupled to the control module; wherein when the lawn mowing robot performs a maintenance operation in the yard according to the preset schedule, the control module can drive the cutter module to mow the grass part exceeding the preset height according to the three-dimensional map of the yard.

[0016] Optionally, after the weeding robot performs maintenance work, the mobile vehicle then moves in the yard and updates the three-dimensional map of the yard.

[0017] Optionally, the weeding robot can be used to perform a patrol operation in the yard according to a preset schedule to update the three-dimensional map of the yard.

[0018] Optionally, the tool module includes a plurality of tools located at different heights, and the control module can select one of the tools to perform the maintenance operation according to a predetermined height.

[0019] Optionally, the control module can adjust a mowing position of the cutter module according to a predetermined height.

[0020] Optionally, the infrared light unit is rotatably mounted on a mobile vehicle; when the map building module is detecting the terrain of the environment, the infrared light unit emits infrared light at a first angle; when the map building module is detecting the height of the object, the infrared light unit emits infrared light at a second angle different from the first angle.

[0021] Optionally, the visual sensing unit includes at least two of an image sensing mechanism, an immediate addressing and mapping mechanism, an image segmentation mechanism, a structured light sensing mechanism, a millimeter wave detection mechanism, an ultrasonic sensing mechanism, a driver monitoring system mechanism, a flight ranging mechanism and a stereoscopic vision sensing mechanism.

[0022] Optionally, the visual sensing unit includes one of an image sensing mechanism, an immediate addressing and mapping mechanism, an image segmentation mechanism and a structured light sensing mechanism, and the visual sensing unit includes one of a millimeter wave detection mechanism, an ultrasonic sensing mechanism and a driver monitoring system mechanism.

[0023] Optionally, the mobile vehicle includes a humidity sensor electrically coupled to the control module for detecting an ambient humidity of the yard; wherein, when the ambient humidity is greater than a first humidity representing that it is about to rain, the weeding robot stops performing maintenance operations.

[0024] In summary, the environmental maintenance system and the weeding robot disclosed in the embodiments of the present invention can establish a three-dimensional map of the yard in a non-contact manner (or optical manner) to effectively avoid destroying or damaging objects (such as plants) in the yard.

[0025] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, such description and drawings are only used to illustrate the present invention and are not intended to limit the protection scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional schematic diagram of the environment maintenance system according to the first embodiment of the present invention.

[0027] Figure 2 Schematic diagram of the functional blocks of the environment maintenance system according to the first embodiment of the present invention.

[0028] Figure 3 for Figure 1 A three-dimensional schematic diagram of the lawn mowing robot in operation.

[0029] Figure 4 for Figure 1 A schematic diagram of the terrain of the weeding robot in the test yard.

[0030] Figure 5 for Figure 1 A plan view of a weeding robot used to detect the height of objects in a yard.

[0031] Figure 6 for Figure 5 A plan view of a weeding robot using a cutter to weed.

[0032] Figure 7 for Figure 5 A plan view of a weeding robot weeding with another tool.

[0033] Figure 8 for Figure 1A plan view of a weeding robot using a tool module in another manner.

[0034] Fig. 9 It is a three-dimensional schematic diagram of the environment maintenance system of the second embodiment of the present invention.

[0035] Fig.10 Schematic diagram of the functional blocks of the environment maintenance system according to the third embodiment of the present invention.

[0036] Fig.11 Schematic diagram of the watering robot according to the third embodiment of the present invention.

[0037] Fig.12 This is a schematic diagram of a sweeping robot according to Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0038] The following is an explanation of the implementation methods of the "environmental maintenance system and weeding robot" disclosed in the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted in actual size. It is stated in advance. The following implementation methods will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0039] It should be understood that, although the terms "first", "second", "third", etc. may be used herein to describe various components or signals, these components or signals should not be limited by these terms. These terms are mainly used to distinguish one component from another component, or one signal from another signal. In addition, the term "or" used herein may include any one or more combinations of the associated listed items depending on the actual situation.

[0040] [Example 1]

[0041] See also Figures 1 to 8 As shown, it is the first embodiment of the present invention. Figures 1 to 3 As shown, this embodiment discloses an environment maintenance system 1000, which is applied to a building B and a court C around it, and the court C is described as a courtyard in this embodiment, but the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the court C can be a sports field or other environment with grass G.

[0042] The environmental maintenance system 1000 includes a charging station 200, a tool module 300 disposed at the charging station 200, a mobile vehicle 100, and a plurality of electronic tags 400 disposed at intervals in the yard C. The tool module 300 can replenish its own power through the charging station 200, and the mobile vehicle 100 can load the tool module 300 from the charging station 200 and are collectively defined as a weeder robot 300a. That is, the weeder robot 300a in this embodiment includes the mobile vehicle 100 and (alternatively) the tool module 300 installed on the mobile vehicle 100.

[0043] It should be noted that the mobile vehicle 100 and the tool module 300 may each have a built-in rechargeable battery in this embodiment, and the rechargeable battery of the tool module 300 may also support the operation of the mobile vehicle 100, but the present invention is not limited thereto. The charging station 200 may also be equipped with a rechargeable battery suitable for the mobile vehicle 100, so as to facilitate replacement when the mobile vehicle 100 is low on power.

[0044] Furthermore, the number of the tool modules 300 included in the environmental maintenance system 1000 in this embodiment can be multiple, so that when the lawn mower robot 300a is operating with one of the tool modules 300, the other tool modules 300 can be charged at the charging station 200, thereby facilitating the uninterrupted operation of the tool module 300 of the lawn mower robot 300a by replacing the tool module 300 at the charging station 200 when the power is insufficient.

[0045] In addition, the lawn mower robot 300a is described in this embodiment as being used in conjunction with the charging station 200, but the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the lawn mower robot 300a can also be used alone (e.g., sold) or used in conjunction with other components; or, the tool module 300 of the lawn mower robot 300a is irreplaceably installed on the mobile vehicle 100.

[0046] In this embodiment, the plurality of electronic tags 400 can be set at any position of the yard C according to the use requirements, so that the plurality of electronic tags 400 jointly define a maintenance boundary 401 (or electronic fence), and the weeding robot 300a (or the mobile vehicle 100) does not touch the maintenance boundary 401. In other words, the moving range of the weeding robot 300a (or the mobile vehicle 100) does not cross the maintenance boundary 401 defined by the plurality of electronic tags 400.

[0047] Furthermore, any of the electronic tags 400 provided in this embodiment can also be worn on an animal D (such as a pet) that needs to avoid the lawn mower robot 300a (or the mobile vehicle 100), thereby effectively preventing the animal D from being harmed by the lawn mower robot 300a (or the mobile vehicle 100).

[0048] In addition, when the lawn mowing robot 300a (or the mobile vehicle 100) is adjacent to at least one of the multiple electronic tags 400, at least one of the electronic tags 400 adjacent to the lawn mowing robot 300a (or the mobile vehicle 100) can also be used to estimate the location of the lawn mowing robot 300a (or the mobile vehicle 100).

[0049] It should be noted that, although the environment maintenance system 1000 in this embodiment is described by using a plurality of electronic tags 400, the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the plurality of electronic tags 400 can be omitted or replaced by other components according to design requirements.

[0050] The mobile vehicle 100 includes a control module 1 electrically coupled to the tool module 300 installed thereon, a map building module 2 electrically coupled to the control module 1, and a storage unit 3 electrically coupled to the control module 1. The storage unit 3 can be used to store built-in data and data generated by the map building module 2. The map building module 2 includes an infrared light unit 21 and a visual sensing unit 22 matched with the infrared light unit 21.

[0051] Specifically, the infrared light unit 21 is used to emit an infrared light within the predetermined range 211 and to receive the infrared light reflected back within the predetermined range 211, and the visual sensing unit 22 is used to obtain image information in a non-contact manner. Furthermore, the map building module 2 can determine the environmental terrain (e.g., Figure 4 ) and the object height (eg: Figure 5 ).

[0052] As described above, the mobile vehicle 100 is used to move in the yard C according to a preset schedule, so that the map building module 2 can build a three-dimensional yard map corresponding to the yard C through the combination of the infrared light unit 21 and the visual sensing unit 22. Accordingly, the mobile vehicle 100 (or the weeding robot 300a) in this embodiment can build the three-dimensional yard map in a non-contact manner (or optical manner) to effectively avoid destroying or damaging the protected objects (such as plants P) in the yard C.

[0053] In more detail, Figures 1 to 5 As shown, the infrared light unit 21 is preferably rotatably mounted on the mobile vehicle 100, so that the infrared light unit 21 can be detected at a suitable angle to meet different detection requirements (such as: detection of the environmental terrain or detection of the object height).

[0054] More specifically, when the map building module 2 detects the environmental terrain, the infrared light unit 21 emits the infrared light at a first angle. For example, the infrared light emitted by the infrared light unit 21 may be horizontal or at an angle of depression to detect the terrain on the moving path of the mobile vehicle 100, thereby effectively preventing the mobile vehicle 100 (or the weeding robot 300a) from falling into the depression L (or low-lying area) of the yard C.

[0055] Furthermore, when the map building module 2 detects the height of the object, the infrared light unit 21 emits the infrared light at a second angle different from the first angle. For example, the infrared light emitted by the infrared light unit 21 can be horizontal or at an angle of elevation to detect the height and width of each object on the moving path of the mobile vehicle 100, and then distinguish the type of object (such as: grass G to be trimmed, plants P that cannot be cut, or railings F that cannot be cut), so as to effectively avoid the plants P from being damaged and avoid the weeding robot 300a from being damaged by cutting the railings F.

[0056] In the present embodiment, the visual sensing unit 22 preferably includes at least two of an image sensing mechanism, a simultaneous localization and mapping (SLAM) mechanism, an image segmentation mechanism, a structural light sensing mechanism, a millimeter wave (mmWave) detection mechanism, an ultrasonic sensing mechanism, a driver monitoring system (DMS) mechanism, a time of flight (TOF) mechanism, and a stereo vision sensing mechanism, so that the different sensing characteristics of the at least two selected mechanisms complement each other, so that the visual sensing unit 22 can obtain more accurate image information.

[0057] For example, the visual sensing unit 22 may have one of the image sensing mechanism, the immediate addressing and map building mechanism, the image segmentation mechanism and the structured light sensing mechanism, and the visual sensing unit 22 may also have one of the millimeter wave detection mechanism, the ultrasonic sensing mechanism and the driver monitoring system mechanism, but the present invention is not limited thereto.

[0058] As described above, when the weeding robot 300a performs a maintenance operation in the yard C according to the preset schedule, the control module 1 can drive the cutter module 300 to mow the grass G that exceeds the predetermined height according to the three-dimensional map of the yard. Furthermore, after the weeding robot 300a performs the maintenance operation, the mobile vehicle 100 (or the weeding robot 300a) then moves in the yard C and updates the three-dimensional map of the yard. Alternatively, the weeding robot 300a can be used to perform a patrol operation in the yard C according to the preset schedule to update the three-dimensional map of the yard.

[0059] Furthermore, each time the mobile vehicle 100 moves within the yard C, it can create or update the three-dimensional map of the yard, and record the objects (such as the plants P and the railings F) and terrain (such as the depressions L) that need to be avoided during the maintenance operation, so as to facilitate the subsequent maintenance of the weeding robot 300a, and can also synchronously record the growth status of the plants P.

[0060] In other words, the mobile vehicle 100 includes a wireless connection unit 4 electrically coupled to the control module 1, for electrically coupling to an external device 500 (such as a mobile phone), so that the 3D map of the yard can be edited through the external device 500. In other words, the user can edit and modify the 3D map of the yard after it is created, so as to further confirm the objects and terrains in the yard C that need to be avoided.

[0061] The predetermined height set by the lawn mowing robot 300a when performing the maintenance operation determines the touch feeling provided by the grass G. Therefore, in order to provide users with different touch feeling requirements for the grass G, the tool module 300 preferably includes a plurality of tools 301 located at different heights, and the control module 1 can select one of the tools 301 to perform the maintenance operation according to the predetermined height (e.g., Figures 5 to 7 ).

[0062] Furthermore, the control module 1 can also adjust a mowing position of the cutter module 300 according to the predetermined height (e.g., adjust the height and angle of at least one cutter 301) to adapt to different predetermined heights. Figures 5 to 7 Although the tool module 300 includes a plurality of the tools 301, the tool module 300 may also include only one tool 301 according to design requirements (e.g., Figure 8 ).

[0063] In addition, the mobile vehicle 100 includes a humidity sensor 5 electrically coupled to the control module 1. The humidity sensor 5 is used to detect an ambient humidity of the yard C, and when the ambient humidity is greater than a first humidity indicating that it is about to rain, the weeding robot 300a performs the maintenance operation, but the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the humidity sensor 5 can be omitted or replaced by other components according to design requirements.

[0064] Furthermore, the environmental maintenance system 1000 may also include a monitor 600 for electrically coupling to a local area network B1 of the building B. The mobile vehicle 100 may be electrically coupled to the local area network B1 through the wireless connection unit 4 to receive information about the yard C obtained by the monitor 600, or weather information obtained from the Internet, as a basis for the lawn mower robot 300a to perform the maintenance operation. In addition, the lawn mower robot 300a may also report its pending maintenance items (e.g., the blade 301 is worn and needs to be replaced) through the local area network B1 or the charging station 200.

[0065] [Example 2]

[0066] See also Fig. 9 As shown, this is the second embodiment of the present invention. Since this embodiment is similar to the above-mentioned first embodiment, the similarities between the two embodiments will not be described in detail, and the differences between this embodiment and the above-mentioned first embodiment are roughly described as follows:

[0067] In this embodiment, the environmental maintenance system 1000 may further include a plurality of the mowing robots 300a. The plurality of the mowing robots 300a can allocate the mowing areas in the three-dimensional map of the yard according to their respective real-time power levels (that is, the mowing robots 300a with higher power levels are planned to be responsible for mowing areas with larger areas), and the plurality of the mowing robots 300a can be used to mow the parts of the grass G that exceed the predetermined height in the plurality of mowing areas in the three-dimensional map of the yard, respectively, so as to effectively improve the maintenance efficiency of the yard C.

[0068] Furthermore, any of the mowing robots 300a can also perform the patrol operation according to the needs, and cooperate with the monitor 600 and / or other equipment to perform home safety protection. For example, the environmental maintenance system 1000 can further include a drone 700, and the ground surveillance of any of the mowing robots 300a can be combined with the monitor 600 for fixed-point monitoring and the drone 700 for aerial monitoring to achieve comprehensive home safety protection.

[0069] [Example 3]

[0070] See also Figures 10 to 12 As shown, it is the third embodiment of the present invention. Since this embodiment is similar to the above-mentioned embodiments 1 and 2, the similarities between the two embodiments will not be repeated, and the differences between this embodiment and the above-mentioned embodiments 1 and 2 are roughly described as follows:

[0071] In this embodiment, the environmental maintenance system 1000 further includes a watering module 800 and a cleaning module 900 disposed in the charging station 200, and the watering module 800 and the cleaning module 900 can each supplement their own power through the charging station 200, but the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the watering module 800 or the cleaning module 900 can also be omitted or replaced by other modules according to design requirements.

[0072] In more detail, when the ambient humidity of the yard C obtained by the mobile vehicle 100 is lower than a second humidity representing excessive dryness, the mobile vehicle 100 can replace the tool module 300 with the sprinkler module 800 from the charging station 200, and electrically couple the sprinkler module 800 to the control module 1, thereby defining the mobile vehicle 100 and the sprinkler module 800 together as a sprinkler robot 800a, and the sprinkler robot 800a performs a sprinkler operation on the lawn G in the yard C through the sprinkler module 800.

[0073] The mobile vehicle 100 can replace the tool module 300 with the cleaning module 900 from the charging station 200 and electrically couple the cleaning module 900 to the control module 1, thereby defining the mobile vehicle 100 and the cleaning module 900 together as a robot vacuum cleaner 900a, and the robot vacuum cleaner 900a can be used to perform a cleaning operation in the building B.

[0074] As described above, in this embodiment, the environmental maintenance system 1000 can share the mobile vehicle 100 through the lawn mowing robot 300a, the sprinkler robot 800a and the sweeping robot 900a, so that when one of the tool module 300, the sprinkler module 800 and the cleaning module 900 is charged at the charging station 200, the mobile vehicle 100 can be operated in conjunction with another one of the tool module 300, the sprinkler module 800 and the cleaning module 900 without being idle, thereby effectively planning and arranging the overall maintenance of the indoor and outdoor courtyard C of the building B.

[0075] [Technical Effects of Embodiments of the Invention]

[0076] In summary, the environmental maintenance system and the weeding robot disclosed in the embodiments of the present invention can establish a three-dimensional map of the yard in a non-contact manner (or optical manner) to effectively avoid destroying or damaging objects (such as plants) in the yard.

[0077] Furthermore, the lawn mowing robot disclosed in the embodiment of the present invention can also perform the patrol operation according to needs, and can be used in conjunction with the monitor and / or other equipment (such as a drone) to perform home safety protection.

[0078] In addition, the environmental maintenance system disclosed in the embodiment of the present invention can share the mobile vehicle through the lawn mowing robot, the sprinkler robot and the sweeping robot, so that the mobile vehicle can selectively operate with the tool module, the sprinkler module and the cleaning module without being idle, thereby effectively planning and arranging the overall maintenance of the indoor and outdoor yards of the building.

[0079] The contents disclosed above are only preferred feasible embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention description and drawings are included in the patent scope of the present invention.

Claims

1. An environmental maintenance system, characterized in that: The environmental maintenance system is applied to a building and a yard around it, and the environmental maintenance system comprises: A charging station; a tool module, which is disposed at the charging station and can be powered by the charging station; and A mobile vehicle capable of loading the tool module from the charging station and collectively defined as a weeding robot, and the mobile vehicle comprises: a control module electrically coupled to the tool module; and A map building module is electrically coupled to the control module, and the map building module includes: an infrared light unit, used to emit an infrared light within a predetermined range, and to receive the infrared light reflected back within the predetermined range; and a visual sensing unit for obtaining image information in a non-contact manner; wherein the map building module can determine the environmental terrain and the height of the object within the predetermined range by combining the infrared light received by the infrared light unit with the image information of the visual sensing unit; The mobile vehicle is used to move in the yard according to a preset schedule, so that the map building module can build a three-dimensional yard map corresponding to the yard through the combination of the infrared light unit and the visual sensing unit; When the lawn mowing robot performs a maintenance operation in the yard according to the preset schedule, the control module can drive the tool module to mow the grass parts exceeding the predetermined height according to the three-dimensional map of the yard.

2. The environmental maintenance system according to claim 1, characterized in that: The mobile vehicle includes a humidity sensor electrically coupled to the control module for detecting an ambient humidity of the yard; wherein, when the ambient humidity is greater than a first humidity representing that it is about to rain, the weeding robot stops performing the maintenance operation.

3. The environmental maintenance system according to claim 2, characterized in that: The environmental maintenance system further includes a sprinkler module arranged at the charging station, and the sprinkler module can replenish its own power through the charging station; wherein, when the ambient humidity is lower than a second humidity representing excessive dryness, the mobile vehicle can replace the tool module with the sprinkler module from the charging station and electrically couple it to the control module, thereby jointly defining a sprinkler robot, and the sprinkler robot performs a sprinkler operation on the grass in the yard through the sprinkler module.

4. The environmental maintenance system according to claim 1, characterized in that: The environmental maintenance system further includes a cleaning module arranged at the charging station, and the cleaning module can replenish its own power through the charging station; the mobile vehicle can replace the tool module with the cleaning module at the charging station and be electrically coupled to the control module, thereby jointly defining a sweeping robot, and the sweeping robot can be used to perform a cleaning operation in the building.

5. The environmental maintenance system according to claim 1, characterized in that: The environmental maintenance system further includes a monitor for electrically coupling to a local area network of the building; wherein the mobile vehicle includes a wireless connection unit electrically coupled to the control module, for electrically coupling to the local area network to receive information about the yard obtained by the monitor.

6. The environmental maintenance system according to claim 1, characterized in that: The mobile vehicle includes a wireless connection unit electrically coupled to the control module, which is used to electrically couple to an external device so that the three-dimensional map of the yard can be edited through the external device.

7. The environmental maintenance system according to claim 1, characterized in that: The environmental maintenance system further includes a plurality of the lawn mowing robots, and the plurality of lawn mowing robots can be used to jointly mow the portion of the lawn that exceeds the predetermined height in the three-dimensional map of the yard.

8. The environmental maintenance system according to claim 1, characterized in that: The environmental maintenance system includes a plurality of electronic tags arranged at intervals in the yard, and the plurality of electronic tags define a maintenance boundary, and the weeding robot does not touch the maintenance boundary.

9. The environmental maintenance system according to claim 1, characterized in that: After the weeding robot performs the maintenance operation, the mobile vehicle then moves within the yard and updates the three-dimensional map of the yard.

10. The environmental maintenance system according to claim 1, characterized in that: The mobile vehicle can be used to perform a patrol operation in the yard according to the preset schedule to update the three-dimensional map of the yard.

11. The environmental maintenance system according to claim 1, characterized in that: The tool module includes a plurality of tools located at different heights, and the control module can select one of the tools to perform the maintenance operation according to the predetermined height.

12. A weeding robot, characterized in that: The weeding robot comprises: A mobile vehicle, comprising: a control module; and A map building module is electrically coupled to the control module, and the map building module includes: an infrared light unit, used to emit an infrared light within a predetermined range, and to receive the infrared light reflected back within the predetermined range; and a visual sensing unit for obtaining image information in a non-contact manner; wherein the map building module can determine the environmental terrain and the height of the object within the predetermined range by combining the infrared light received by the infrared light unit with the image information of the visual sensing unit; The mobile vehicle is used to move within a yard according to a preset schedule, so that the map building module can build a three-dimensional yard map corresponding to the yard through the combination of the infrared light unit and the visual sensing unit; and a tool module mounted on the mobile carrier, and the tool module is electrically coupled to the control module; When the lawn mowing robot performs a maintenance operation in the yard according to the preset schedule, the control module can drive the tool module to mow the grass parts exceeding the predetermined height according to the three-dimensional map of the yard.

13. The weeding robot according to claim 12, characterized in that: After the weeding robot performs the maintenance operation, the mobile vehicle then moves within the yard and updates the three-dimensional map of the yard.

14. The weeding robot according to claim 12, characterized in that: The weeding robot can be used to perform a patrol operation in the yard according to the preset schedule to update the three-dimensional map of the yard.

15. The weeding robot according to claim 12, characterized in that: The tool module includes a plurality of tools located at different heights, and the control module can select one of the tools to perform the maintenance operation according to the predetermined height.

16. The weeding robot according to claim 12, characterized in that: The control module can adjust a mowing position of the cutter module according to the predetermined height.

17. The weeding robot according to claim 12, characterized in that: The infrared light unit is rotatably mounted on the mobile vehicle; when the map building module detects the environmental terrain, the infrared light unit emits the infrared light at a first angle; when the map building module detects the height of the object, the infrared light unit emits the infrared light at a second angle different from the first angle.

18. The weeding robot according to claim 12, characterized in that: The visual sensing unit includes at least two of an image sensing mechanism, an immediate addressing and mapping mechanism, an image segmentation mechanism, a structured light sensing mechanism, a millimeter wave detection mechanism, an ultrasonic sensing mechanism, a driver monitoring system mechanism, a flight ranging mechanism and a stereoscopic vision sensing mechanism.

19. The weeding robot according to claim 12, characterized in that: The visual sensing unit includes one of an image sensing mechanism, an immediate addressing and mapping mechanism, an image segmentation mechanism and a structured light sensing mechanism, and the visual sensing unit includes one of a millimeter wave detection mechanism, an ultrasonic sensing mechanism and a driver monitoring system mechanism.

20. The weeding robot according to claim 12, characterized in that: The mobile vehicle includes a humidity sensor electrically coupled to the control module for detecting an ambient humidity of the yard; wherein, when the ambient humidity is greater than a first humidity representing that it is about to rain, the weeding robot stops performing the maintenance operation.

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