Intelligent automatic watering robot system and automatic watering control method thereof

Abstract

The invention discloses an intelligent automatic watering robot system and an automatic water drying control method thereof, and aims to solve the problem of inconvenience in plant irrigation in existing family garden nursing. The system is composed of a watering robot and a base, wherein the watering robot comprises a machine body cabin, a water storage tank, an energy storage module and a control unit. A water drying module is arranged in the machine body cabin, various spraying modes can be switched according to different plant requirements, and uniform irrigation is ensured. In order to realize efficient path planning and obstacle avoidance, the sprinkling robot is equipped with a radar module, and sensors monitor the surrounding environment in real time and feed data back to the control unit. And obstacles are avoided while the whole garden area is covered. When the water amount in the water storage tank is lower than a preset threshold value, the control unit triggers low-water-level alarm and guides the watering robot to return to the base for water supplementing and charging.

Description

Technical Field

[0001] The present invention relates to the technical field of gardening equipment, and in particular to an intelligent automatic watering robot system and an automatic watering control method thereof. Background Art

[0002] In modern life, families with large gardens or yards face challenges in plant care and maintenance. Traditional watering methods include fixed nozzles, mobile sprinklers, and handheld water guns, which are inconvenient and affect the beauty of the yard. For example, traditional sprinkler systems usually require the pre-laying of a complex network of water pipes, which not only increases the installation cost, but is also difficult to adjust once the laying is completed; in addition, for some hard-to-reach corners or areas around obstacles, traditional methods often cannot achieve uniform irrigation, resulting in water waste or insufficient water supply for plants. At the same time, when family members are away, it is difficult to ensure that the garden can be managed in a timely and effective manner.

[0003] At present, there are smart sweepers, automatic lawn mowers and pool cleaning robots on the market, which have improved people's work efficiency to a certain extent. However, the existing sprinkler products still have the problem of low intelligence and cannot meet users' needs for efficient, convenient and environmentally friendly irrigation. Especially for those who travel frequently or have busy work, they hope to have a truly fully automated sprinkler solution to ensure that they can keep the garden in good condition even when they are not at home. Summary of the invention

[0004] In view of this, an object of the present invention is to provide an intelligent automatic sprinkler robot system and an automatic sprinkler control method thereof, which have highly automated and efficient garden irrigation capabilities.

[0005] The technical solution adopted by the present invention to solve the technical problem is:

[0006] An intelligent automatic watering robot system comprises a watering robot and a base, wherein the watering robot can be docked with the base;

[0007] The watering robot comprises a body cabin, a water storage tank and an energy storage module arranged in the body cabin, and a control unit is arranged in the body cabin, and the control unit can control the watering robot to complete the watering operation;

[0008] The base includes a base bottom, a charging contact body and a water supply socket arranged at the rear side of the base bottom. When the watering robot is docked with the base, the charging contact body can be docked with the corresponding charging interface on the watering robot to charge the energy storage module, and the water supply socket can be docked with the corresponding water inlet on the watering robot to add water to the water tank;

[0009] The watering robot is also provided with a watering module capable of spraying different water splashes, a driving module capable of driving the watering robot to move or turn, and a radar module for recording and scanning the watering trajectory or avoiding obstacles.

[0010] The body cabin comprises a front cabin body, the watering module is liftably arranged at the top end of the front cabin body, and the watering module comprises a lifting cover and a multifunctional nozzle group arranged at the front side of the lifting cover.

[0011] The multifunctional nozzle group is rotatably arranged between the lifting cover and the top of the front cabin body, and the multifunctional nozzle group includes a plurality of nozzles that can spray different water splashes or spray water flows with different intensities through rotation.

[0012] The driving module includes a front wheel on the front side and a rear wheel on the rear side of the body cabin respectively, a rear wheel positioning groove is provided on the rear side of the base, and a positioning sensor is provided on one side of the rear wheel positioning groove. When the rear wheel moves into the rear wheel positioning groove and the positioning sensor detects that the rear wheel is in a specified position, the charging interface and the water inlet are in a connected state.

[0013] The radar module includes a matrix radar scanning group arranged on the front side of the fuselage cabin, and the matrix radar scanning group includes a plurality of linear beam laser mines distributed in an array.

[0014] The radar module also includes a plurality of millimeter wave radars arranged around the fuselage cabin.

[0015] The watering robot is provided with an image acquisition module connected to the control unit, and the image acquisition module includes a camera arranged on the body cabin.

[0016] The watering robot is provided with a wireless transmission module capable of exchanging data with the control unit and the image acquisition module. The wireless transmission module can connect to the cloud server via wireless communication and synchronize the working data or device status of the watering robot in the control unit to the cloud server. The cloud server is connected to a terminal interactive device capable of real-time monitoring or controlling the watering robot.

[0017] The base is provided with an indicator light for displaying the charging or watering status of the sprinkler robot, and the base is also provided with an interactive screen.

[0018] An automatic watering control method for an intelligent automatic watering robot system includes the intelligent automatic watering robot system, and the automatic watering step includes:

[0019] S1: The watering robot starts self-checking. The control unit synchronizes the latest map data and the watering plan set by the user. The matrix radar scanning group and the surrounding millimeter-wave radar begin to scan the surrounding environment to build a high-precision garden topographic map. The image acquisition module assists in identifying specific targets and sends the information to the control unit.

[0020] S2: The control unit plans the optimal watering path based on the environmental data provided by the matrix radar scanning group and the preset algorithm to ensure that the entire garden area is covered and obstacles are avoided;

[0021] S3: The control unit sends instructions to the drive module, which starts moving along the planned path. The radar module continuously monitors the situation ahead. If there are new obstacles, the control unit dynamically adjusts the path to bypass them. The multi-function nozzle group in the sprinkler module switches to the appropriate nozzle according to the needs of different plants.

[0022] S4: When the water volume in the water storage tank is lower than the preset threshold, the control unit triggers a low water level alarm, and the control unit uses the matrix radar scanning group and the image acquisition module to accurately record the current coordinate position as a breakpoint, and stores the position information in a non-volatile memory;

[0023] S5: The driving module guides the watering robot to return to the base safely according to the preset base position or through GPS positioning. After reaching the base, the rear wheels enter the rear wheel positioning grooves, the positioning sensor confirms that the docking is successful, and the charging contact body and the water supply socket are connected to the corresponding interfaces respectively;

[0024] S6: After charging and water replenishment are completed, the control unit reads the previously saved breakpoint position information and reactivates the unfinished task. The drive module accurately navigates back to the original work location based on the breakpoint position data and continues to perform the remaining watering operations;

[0025] S7: When all the predetermined areas have been watered, the control unit stops the watering module and instructs the driving module to return to the base to stand by;

[0026] S8: The control unit generates operation records and environmental data, and synchronizes them to the cloud server through the wireless transmission module. Users can view detailed operation reports through the terminal interactive device, including watering statistics and path coverage information;

[0027] S9: The watering robot also includes a data analysis unit connected to the control unit, and the data analysis unit can generate watering plans for different soils and different vegetation based on operation records and environmental data, so as to prepare for iterative optimization during the next operation.

[0028] The beneficial effects of the present invention are:

[0029] 1. Continuous and efficient automated irrigation: The system realizes fully automated operation. The sprinkler robot can automatically return to the base for charging and watering, ensuring the robot's continuous working ability. This design avoids manual intervention and makes the entire irrigation process more coherent and efficient. Users only need to set the watering plan, and the sprinkler robot can automatically complete the irrigation task according to the preset path and real-time environmental data. Even if the user is not at home, it can ensure that the garden is managed in a timely and effective manner; through the matrix radar scanning group and image acquisition module, the system can perceive environmental changes in real time, and automatically generate the optimal path to avoid obstacles and achieve comprehensive coverage of complex terrain.

[0030] 2. The multifunctional nozzle group can adjust the water volume and spraying method according to the needs of different plants, ensuring that each plant can obtain appropriate water supply, improving irrigation efficiency and reducing water waste; with the help of wireless transmission module to connect to the cloud server, users can view the operation status and remotely control it anytime and anywhere through the terminal interactive device, which enhances user convenience and flexibility.

[0031] 3. Compared with the traditional fixed sprinkler, which requires the laying of a complex water pipe network, the present invention only needs to place the base to work, which reduces the initial investment cost and the difficulty of later maintenance; precise water volume control and uniform irrigation distribution effectively prevent the problem of excessive or insufficient irrigation, promote the rational use of water resources, and conform to the energy-saving and environmental protection concept advocated by modern society.

[0032] 4. The use of advanced radar technology and non-volatile memory to record breakpoint positions ensures that the sprinkler robot can accurately return to the original work location to continue the unfinished task after adding water midway, thereby improving the stability and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the appearance and structure of the sprinkler robot system;

[0034] Figure 2 It is a schematic diagram of the structure of the sprinkler robot;

[0035] Figure 3 It is a schematic diagram of the structure of the base;

[0036] Figure 4 It is a structural diagram of each module of the sprinkler robot. DETAILED DESCRIPTION

[0037] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the present invention are further described below in conjunction with the accompanying drawings and through specific implementation methods. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the accompanying drawings, not all.

[0038] Reference Figure 1-3 , the present invention proposes an intelligent automatic watering robot system, comprising a watering robot 1 and a base 2, the watering robot 1 can be docked with the base 2;

[0039] The watering robot 1 comprises a body cabin 10, a water storage tank 15 and an energy storage module 16 arranged in the body cabin 10, and a control unit 3 is arranged in the body cabin 10, and the control unit 3 can control the watering robot 1 to complete the watering operation;

[0040] The base 2 includes a base bottom 20, a charging contact body 21 and a water supply socket 22 arranged at the rear side of the base bottom 20. When the watering robot 1 is docked with the base 2, the charging contact body 21 can be docked with the corresponding charging interface on the watering robot 1 to charge the energy storage module 16, and the water supply socket 22 can be docked with the corresponding water inlet on the watering robot 1 to add water to the water storage tank 15;

[0041] Furthermore, the watering robot 1 can return to the base 2 for automatic charging and water replenishment operations, thereby ensuring the robot's continuous working ability. This design avoids manual intervention and makes the entire irrigation process more consistent and efficient.

[0042] The watering robot 1 is also provided with a watering module 12 capable of spraying different water splashes, a driving module 17 capable of driving the watering robot 1 to move or turn, and a radar module 18 for recording and scanning a watering track or avoiding obstacles.

[0043] The body cabin 10 includes a front cabin 100, and the watering module 12 can be lifted and arranged at the top of the front cabin 100. The watering module 12 includes a lifting cover 120 and a multifunctional nozzle group 121 arranged on the front side of the lifting cover 120. Preferably, the body cabin 10 includes a front cabin 100 and a rear cabin 101, and the watering module 12, the main radar module 18 and its steering front wheel 140 are all arranged in the front cabin 100; the energy storage module 16 and the driving rear wheel 141 are arranged in the rear cabin 101. Further, the watering module 12 can be lifted and lowered in the vertical direction, so that the watering robot 1 can flexibly switch the spraying angle between plants at different heights to meet the diversified irrigation needs, and when the spraying operation is not performed, the lifting cover 120 can be lowered to a position flush with the upper surface of the front cabin 100 to prevent dust and debris from entering, which is not only beautiful, but also can protect the precise multifunctional nozzle group 121.

[0044] The multifunctional nozzle group 121 can be rotatably arranged between the lifting cover 120 and the top of the front cabin 100. The multifunctional nozzle group 121 includes a plurality of nozzles that can rotate to spray different water splashes or can spray water streams of different strengths. Furthermore, the nozzle can switch a variety of spraying modes such as umbrella-shaped spray, fan-shaped spray or fine stream to adapt to different types of plants and soil conditions. The working state of the multifunctional nozzle group 121 is uniformly managed by the control unit 3, and the most suitable spraying method is automatically selected according to the real-time environmental data and the watering plan set by the user. For example, wide-width spraying can be selected for densely planted areas, while fixed-point watering is used for single plants.

[0045] The driving module 17 includes a front wheel 140 and a rear wheel 141 respectively arranged on the front side of the body cabin 10, a rear wheel positioning groove 200 is arranged on the rear side, and a positioning sensor 202 is arranged on one side of the rear wheel positioning groove 200. When the rear wheel 141 moves into the rear wheel positioning groove 200 and the positioning sensor 202 detects that the rear wheel 141 is in the specified position, the charging interface and the water inlet are in a connected state.

[0046] The radar module 18 includes a matrix radar scanning group 13 arranged on the front side of the body cabin 10, and the matrix radar scanning group 13 includes a plurality of linear laser radars distributed in an array. The radar module 18 also includes a plurality of millimeter wave radars arranged on the periphery of the body cabin 10. Furthermore, the laser radar can provide high-resolution distance information, forming a three-dimensional point cloud map covering a wide area in front, helping the sprinkler robot 1 to build an accurate terrain model, and ensuring that the sprinkler robot 1 always has the latest environmental data. These data are quickly transmitted to the control unit 3 for dynamic adjustment of the path and spraying method.

[0047] The sprinkler robot 1 is provided with an image acquisition module 5 connected to the control unit 3, and the image acquisition module 5 includes a camera arranged on the body cabin 10. Furthermore, a soil moisture sensor is also arranged at the bottom of the sprinkler robot 1, and the radar module 18 is combined with the image acquisition module 5 and the soil moisture sensor to generate a more accurate environmental model through a fusion algorithm. This helps the sprinkler robot 1 to make more intelligent decisions, such as selecting the most appropriate spraying mode.

[0048] The watering robot 1 is provided with a wireless transmission module 4 capable of exchanging data with the control unit 3 and the image acquisition module 5. The wireless transmission module 4 can connect to the cloud server 6 through wireless communication, and synchronize the working data or device status of the watering robot 1 in the control unit 3 to the cloud server 6. The cloud server 6 is connected to a terminal interaction device 8 capable of real-time monitoring or control of the watering robot 1. With the wireless transmission module 4 connected to the cloud server 6, the user can check the operation status and perform remote control anytime and anywhere through the terminal interaction device 8, which enhances the convenience and flexibility of the user.

[0049] The base 2 is provided with an indicator light 24 for displaying the charging or watering status of the watering robot 1, and the base 2 is also provided with an interactive screen 23. The interactive screen 23 can also display the charging status, watering status, and watering records, and the data is synchronized with the terminal interactive device 8.

[0050] An automatic watering control method of an intelligent automatic watering robot system includes an intelligent automatic watering robot system, and the automatic watering steps include:

[0051] S1: The watering robot 1 performs a self-check to ensure that all modules are working properly. The control unit 3 synchronizes the latest map data and the watering plan set by the user. The matrix radar scanning group 13 and the peripheral millimeter-wave radar begin to scan the surrounding environment to build a high-precision garden topographic map. The image acquisition module 5 assists in identifying specific targets such as fixed objects, plant species, etc., and sends the information to the control unit 3;

[0052] S2: The control unit 3 plans the optimal watering path based on the environmental data provided by the matrix radar scanning group 13 in combination with a preset algorithm, such as an A* search algorithm or a Dijkstra algorithm or a Bellman-Ford algorithm. Preferably, the Bellman-Ford algorithm can be selected to ensure coverage of the entire garden area and avoid obstacles. Furthermore, the user can adjust the path or set special areas, such as avoidance rules for children's play areas, through the terminal interaction device 8.

[0053] S3: The control unit 3 sends a command to the driving module 17 to start moving along the planned path and start the watering module 12 at the same time to adjust the watering amount according to the data fed back by the soil moisture sensor; the radar module 18 continuously monitors the situation ahead, and if there are new obstacles, the control unit 3 will dynamically adjust the path to bypass the obstacles, and the multi-function nozzle group 121 in the watering module 12 will switch to the appropriate nozzle according to the needs of different plants, such as umbrella-shaped spray, three-pronged spray, etc., to ensure uniform irrigation.

[0054] S4: When the amount of water in the water storage tank 15 is lower than a preset threshold, the control unit 3 triggers a low water level alarm, and the control unit 3 uses the matrix radar scanning group 13 and the image acquisition module 5 to accurately record the current coordinate position as a breakpoint, and stores the position information in a non-volatile memory;

[0055] S5: The driving module 17 guides the watering robot 1 to return safely to the base 2 according to the preset position of the base 2 or through GPS positioning. After reaching the base 2, the rear wheel 141 enters the rear wheel positioning groove 200, the positioning sensor 202 confirms that the docking is successful, and the charging contact body 21 and the water supply socket 22 are respectively connected to the corresponding interfaces;

[0056] S6: After charging and water replenishment are completed, the control unit 3 reads the previously saved breakpoint position information and reactivates the unfinished task. The driving module 17 accurately navigates back to the original work location based on the breakpoint position data and continues to perform the remaining watering operations.

[0057] Make sure the entire garden is evenly covered;

[0058] S7: When all the predetermined areas have been watered, the control unit 3 stops the watering module 12 from working and instructs the driving module 17 to return to the base 2 to stand by;

[0059] S8: The control unit 3 generates operation records and environmental data, and synchronizes them to the cloud server 6 through the wireless transmission module 4. The user can view detailed operation reports through the terminal interaction device 8, including watering statistics, path coverage and other information;

[0060] S9: The watering robot 1 also includes a data analysis unit connected to the control unit 3, and the data analysis unit can generate watering plans for different soils and different vegetation according to the operation records and environmental data, so as to prepare for iterative optimization during the next operation.

[0061] Through the above implementation steps, the intelligent automatic watering robot system can efficiently and intelligently complete the task of automatically planning the watering path, and accurately return to the marked point to continue the unfinished work after adding water midway. This design not only improves work efficiency, but also enhances user experience, allowing users to more conveniently manage the irrigation needs of large private gardens or courtyards.

Claims

1. An intelligent automatic watering robot system, characterized in that: It comprises a watering robot (1) and a base (2), wherein the watering robot (1) can be docked with the base (2); The watering robot (1) comprises a body cabin (10), a water storage tank (15) and an energy storage module (16) arranged in the body cabin (10), and a control unit (3) is arranged in the body cabin (10), and the control unit (3) can control the watering robot (1) to complete a watering operation; The base (2) comprises a base bottom (20), a charging contact body (21) and a water supply socket (22) arranged on the rear side of the base bottom (20); when the watering robot (1) is docked with the base (2), the charging contact body (21) can dock with the corresponding charging interface on the watering robot (1) to charge the energy storage module (16), and the water supply socket (22) can dock with the corresponding water inlet on the watering robot (1) to add water to the water storage tank (15); The watering robot (1) is also provided with a watering module (12) capable of spraying different water patterns, a driving module (17) capable of driving the watering robot (1) to move or turn, and a radar module (18) for recording and scanning a watering trajectory or avoiding obstacles.

2. The intelligent automatic sprinkler robot system according to claim 1, characterized in that: The body cabin (10) comprises a front cabin body (100), the watering module (12) is arranged at the top of the front cabin body (100) in a liftable manner, and the watering module (12) comprises a lifting cover (120) and a multifunctional spray head group (121) arranged at the front side of the lifting cover (120).

3. The intelligent automatic sprinkler robot system according to claim 2, characterized in that: The multifunctional spray head group (121) is rotatably arranged between the lifting cover (120) and the top of the front cabin (100), and the multifunctional spray head group (121) comprises a plurality of spray nozzles that can spray different water splashes or water streams with different strengths by rotating.

4. The intelligent automatic sprinkler robot system according to claim 1, characterized in that: The driving module (17) comprises a front wheel (140) and a rear wheel (141) respectively arranged on the front side of the body cabin (10), a rear wheel positioning groove (200) is arranged on the rear side of the base (2), and a positioning sensor (202) is arranged on one side of the rear wheel positioning groove (200); when the rear wheel (141) moves into the rear wheel positioning groove (200) and the positioning sensor (202) detects that the rear wheel (141) is at a specified position, the charging interface and the water inlet are in a connected state.

5. The intelligent automatic sprinkler robot system according to claim 1, characterized in that: The radar module (18) comprises a matrix radar scanning group (13) arranged at the front side of the fuselage cabin (10), and the matrix radar scanning group (13) comprises a plurality of linear beam laser mines distributed in an array.

6. The intelligent automatic sprinkler robot system according to claim 5, characterized in that: The radar module (18) also includes a plurality of millimeter wave radars arranged on the periphery of the fuselage compartment (10).

7. The intelligent automatic sprinkler robot system according to claim 1, characterized in that: The watering robot (1) is provided with an image acquisition module (5) connected to the control unit (3), and the image acquisition module (5) comprises a camera arranged on the body cabin (10).

8. The intelligent automatic sprinkler robot system according to claim 7, characterized in that: The watering robot (1) is provided with a wireless transmission module (4) capable of exchanging data with a control unit (3) and an image acquisition module (5); the wireless transmission module (4) can be connected to a cloud server (6) via wireless communication, and synchronize the working data or device status of the watering robot (1) in the control unit (3) to the cloud server (6); the cloud server (6) is connected to a terminal interaction device (8) capable of real-time monitoring or control of the watering robot (1).

9. The intelligent automatic sprinkler robot system according to claim 1, characterized in that: The base (2) is provided with an indicator light (24) for displaying the charging or watering status of the watering robot (1), and the base (2) is also provided with an interactive screen (23).

10. An automatic watering control method of an intelligent automatic watering robot system, comprising the intelligent automatic watering robot system according to any one of claims 1 to 9, characterized in that: The automatic watering step comprises: S1: The watering robot (1) starts self-checking, the control unit (3) synchronizes the latest map data and the watering plan set by the user, the matrix radar scanning group (13) and the peripheral millimeter wave radar begin to scan the surrounding environment to build a high-precision garden topographic map, and the image acquisition module (5) assists in identifying specific targets and sends the information to the control unit (3); S2: The control unit (3) plans an optimal watering path based on the environmental data provided by the matrix radar scanning group (13) and in combination with a preset algorithm to ensure that the entire garden area is covered and obstacles are avoided; S3: The control unit (3) sends a command to the driving module (17) to start moving along the planned path. The radar module (18) continuously monitors the situation ahead. If there are new obstacles, the control unit (3) will dynamically adjust the path to bypass the obstacles. The multifunctional nozzle group (121) in the sprinkler module (12) switches the appropriate nozzle according to the needs of different plants. S4: When the amount of water in the water storage tank (15) is lower than a preset threshold, the control unit (3) triggers a low water level alarm, and the control unit (3) uses the matrix radar scanning group (13) and the image acquisition module (5) to accurately record the current coordinate position as a breakpoint, and stores the position information in a non-volatile memory; S5: The driving module (17) guides the watering robot (1) to return safely to the base (2) according to the preset position of the base (2) or through GPS positioning. After reaching the base (2), the rear wheel (141) enters the rear wheel positioning groove (200), the positioning sensor (202) confirms that the docking is successful, and the charging contact body (21) and the water supply socket (22) are respectively connected to the corresponding interfaces; S6: After charging and water replenishment are completed, the control unit (3) reads the previously saved breakpoint position information and reactivates the unfinished task. The driving module (17) accurately navigates back to the original working location based on the breakpoint position data and continues to perform the remaining watering operation. S7: When all the predetermined areas have been watered, the control unit (3) stops the operation of the watering module (12) and instructs the driving module (17) to return to the base (2) to stand by; S8: The control unit (3) generates operation records and environmental data, and synchronizes them to the cloud server (6) through the wireless transmission module (4). The user can view detailed operation reports, including watering statistics and path coverage information, through the terminal interaction device (8); S9: The watering robot (1) further comprises a data analysis unit connected to the control unit (3), and the data analysis unit can generate watering plans for different soils and different vegetations based on operation records and environmental data, so as to prepare for iterative optimization during the next operation.

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