A multifunctional sports field turf maintenance device and method

Abstract

The application belongs to the technical field of lawn maintenance, and particularly relates to a multifunctional sports field lawn maintenance device and method. The device comprises a ground walking mechanism and a ground sprinkling irrigation mechanism. The ground walking mechanism comprises a vehicle body, a soil loosening mechanism, a trimming mechanism, an image recognition mechanism, a double discharging mechanism and a microwave weed removal module. The ground sprinkling irrigation mechanism comprises a guide pipe, an ejection nozzle, a wire pipe and a humidity sensor. The ground walking mechanism and the ground sprinkling irrigation mechanism jointly collect soil humidity data in real time through a Bluetooth mesh positioning system, analyze the turf damage area in combination with image analysis, realize accurate seeding and fertilizing with a fixed width through the groove structure of the discharging roller, and adopt thermal imaging temperature difference positioning to trigger microwave directional weed removal. The soil loosening, trimming, weed removal, seeding, fertilizing and intelligent sprinkling irrigation processes are cooperatively controlled through a controller, so that the whole process automation of lawn maintenance is realized. The application has the characteristics of multi-process integration, high operation precision, environmental protection and no pesticide residue, and effectively improves the lawn maintenance efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lawn maintenance, in particular to a multifunctional sports field lawn maintenance device and method. BACKGROUND

[0002] At present, sports field lawn maintenance relies on manual work or single-function equipment, and traditional equipment usually only has a single function, so that multiple operations are required to complete comprehensive maintenance, resulting in high time cost and serious resource waste, and the coordinated operation of multiple devices is easy to cause lawn compaction damage. Soil moisture monitoring relies on manual sampling or fixed sensors, and the data collection coverage is limited, making it difficult to achieve accurate control of the entire field. The lawn seed and fertilizer spreading is mostly done by disc type unloading, which has problems such as repeated spreading in the boundary area and large fluctuation in the spreading amount, resulting in waste of lawn seeds and poor uniformity of the lawn. Traditional chemical herbicides may be left on the surface of the lawn, posing a threat to the health of athletes, and mechanical weeding is difficult to completely remove the weed roots.

[0003] In order to overcome the defects of the prior art, it is urgent to design a highly integrated, intelligent and controllable multifunctional lawn maintenance device, which realizes the full-process automation of soil loosening, pruning, fertilization, sprinkling irrigation and weeding through structure optimization and algorithm cooperation, while improving the maintenance accuracy and safety and reducing the need for manual intervention. The present application significantly improves the efficiency, accuracy and safety of lawn maintenance, solves the problems of dispersed functions, insufficient intelligence and resource waste of traditional equipment, and provides an efficient and reliable solution for high-standard maintenance of sports field lawns. SUMMARY

[0004] The present application is directed to the deficiencies of the prior art, and a multifunctional sports field lawn maintenance device and method is developed, which integrates pruning, irrigation, seeding and fertilization functions, uses microwave herbicide technology to achieve zero pollution, and is equipped with intelligent sensors to dynamically monitor soil data and achieve quantitative irrigation, meeting the needs of high-intensity use and ecological maintenance.

[0005] The technical solution of the present application is a multifunctional sports field lawn maintenance device, which comprises a ground walking mechanism and a ground sprinkling irrigation mechanism. The ground walking mechanism comprises a vehicle body, a soil loosening mechanism, a pruning mechanism, an identification mechanism and a unloading mechanism. The vehicle body is provided with a chain mechanism and an infrared obstacle avoidance sensor on the side close to the direction of travel. A controller is arranged inside the vehicle body. A solar power supply system is arranged on the vehicle body and electrically connected with the controller. The controller is electrically connected with the soil loosening mechanism, the pruning mechanism, the identification mechanism and the unloading mechanism for collaborative control of the operation process.

[0006] The soil loosening mechanism comprises a needle row, which is driven by a gas cylinder.

[0007] The trimming mechanism comprises a mowing assembly and a collection mechanism, the collection mechanism comprises a collection port and a collection box, the collection port is arranged on the vehicle body, a protective cover is arranged at the collection port, and the collection box is detachably connected with the protective cover; the vehicle body is provided with a box door at the collection mechanism;

[0008] The identification mechanism comprises an image sensor, which comprises an RGB camera and an image processing module, and is used for analyzing whether there is turf damage on the ground.

[0009] The discharging mechanism is provided with two sets of first and second discharging mechanisms, the first set of discharging mechanisms is arranged on the side away from the traveling direction of the vehicle body, and the second set of discharging mechanisms is arranged on the side away from the traveling direction of the vehicle body.

[0010] The ground sprinkling mechanism comprises a guide pipe, a wire pipe and a jetting nozzle, the jetting nozzle is connected to the guide pipe, the top of the jetting nozzle is covered with an openable turf-like protective cover, and the guide pipe and the wire pipe are pre-buried.

[0011] Preferably, the discharging mechanism comprises a storage box, a discharging cylinder and a discharging roller, the discharging cylinder is arranged at the bottom of the vehicle body, the storage box is connected with the discharging cylinder, the discharging roller is rotatably connected in the discharging cylinder, the bottom of the vehicle body is provided with a discharging plate, and the top of the vehicle body is provided with a feeding port.

[0012] Preferably, the identification mechanism further comprises a humidity sensor buried in the soil and a Bluetooth receiving module arranged on the vehicle body, the humidity sensor is provided with a Bluetooth transmitting module, the Bluetooth transmitting module is encoded according to grid coordinates, the signal coverage radius is less than 1 / 2 of the grid spacing, the signal interference between adjacent grids is avoided, and a fill light is arranged at the image sensor.

[0013] Preferably, the tilling mechanism is arranged in an inclined manner, the angle between the tilling needle and the horizontal plane is 45°-60°, and the inclination direction is opposite to the traveling direction of the vehicle body.

[0014] Preferably, in the trimming mechanism, the mowing assembly is driven by a first motor, an interface is arranged on the collection box, a negative pressure machine is arranged on the vehicle body close to the collection box, and the negative pressure machine is detachably connected with the interface through a guide pipe.

[0015] Preferably, the outer diameter of the discharging roller in the discharging mechanism is matched with the inner diameter of the discharging cylinder, grooves are arranged on the surface of the discharging roller in a circumferential array, the grooves are arranged along the length direction of the discharging roller, and the discharging roller is driven by a second motor.

[0016] Preferably, a microwave weeding machine is further arranged on the vehicle body, the microwave weeding machine is arranged on the side of the discharging mechanism close to the traveling direction of the vehicle body, and a thermal imager is arranged correspondingly at the microwave weeding machine.

[0017] A multifunctional sports field lawn maintenance method, specifically comprising the following steps:

[0018] Step 1: inputting lawn area and location information in the controller, and the ground walking mechanism starts work according to the area calculation travel trajectory;

[0019] Step 2: loosening the soil by the reciprocating motion of the air cylinder during the travel process;

[0020] Step 3: trimming the lawn by the trimming mechanism, and collecting the grass by the negative pressure machine;

[0021] Step 4: weed removal by the microwave weed remover;

[0022] Step 5: the first set of discharging mechanism is provided with grass seeds, and the grass seed density is checked before starting work to determine the unit area seeding amount, and the quantitative seeding is performed by controlling the discharging roller in the first set of discharging mechanism;

[0023] Step 6: the second set of discharging mechanism is provided with fertilizer, and the quantitative fertilization is performed by controlling the discharging roller in the second set of discharging mechanism;

[0024] Step 7: the image sensor in the recognition mechanism analyzes the ground color and sets the damage threshold in the controller, checks whether there is turf damage, and records the position information according to the travel distance, and the Bluetooth receiving module records the soil moisture of the position when passing through the Bluetooth transmitting module during the travel process;

[0025] Step 8: the ground walking mechanism returns and records the soil moisture information of the Bluetooth transmitting module, and the electromagnetic valve of the ejection nozzle of each position is controlled to accurately and quantitatively irrigate each area.

[0026] The rotation speed calculation formula of the discharging roller in the first set of discharging mechanism in step 5 is: n= (a*m1) / m2*γ, wherein:

[0027] n is the rotation speed of the discharging roller in the first set of discharging mechanism, unit: circle / s;

[0028] a is the target sowing amount, unit: particle / square meter;

[0029] m1 is the dry weight of the grass seed, unit: g / 1000 particles;

[0030] m2 is the discharging amount of the discharging roller per rotation, unit g / circle;

[0031] γ is the correction coefficient, γ=vehicle travel speed*discharging roller width;

[0032] Wherein: the vehicle body advancing speed unit: meter / second; the downcomer roller width unit: meter.

[0033] The step 7 microwave weeding adopts a thermal imager to assist positioning, the thermal imager utilizes the characteristics that the leaf surface of the weed metabolism is vigorous and there is temperature difference with the lawn grass seed to assist positioning, the thermal imager triggers the microwave weeding machine directional radiation weeding after recognizing the weed according to the temperature difference, when the thermal imager detects that the local temperature difference is greater than or equal to 1.5 DEG C, the microwave weeding machine directional radiates the area for 2-5 seconds.

[0034] The effects provided in the summary are only the effects of the embodiments, not all the effects of the application, and the above technical solutions have the following advantages or beneficial effects:

[0035] 1. The present application integrates punching, grass repairing, fertilizing and watering functions in one, can realize continuous automatic maintenance according to the lawn condition, saves cost, improves the efficiency of maintenance work, and reduces the complexity of manual operation, the present application is also provided with a linkage mechanism, which can connect a tractor for operation when manual operation is required in complex conditions, and the operation mode is diversified;

[0036] 2. By tilting the soil loosening needle, the root of the grass seed can be penetrated, the ventilation amount can be improved, and the resistance during the vehicle body advancing can be reduced, and the occurrence of broken needle phenomenon can be reduced;

[0037] 3. By setting the detachable collecting mechanism, the weeds can be collected, the lawn cleanliness is improved, and the negative pressure machine is additionally arranged, so that the grass collecting efficiency after cutting is better and the effect is better;

[0038] 4. By setting the image sensor, the ground color can be analyzed, whether there is turf damage can be detected, the damage threshold value can be set, the signal can be transmitted to the controller for storage, and the controller can also record the position information according to the advancing distance, so that the turf damage repair in the later period is facilitated;

[0039] 5. Before advancing, the grass seed density is observed, the rotating speed of the downcomer roller in the first set of downcomer mechanism is set by the controller to realize quantitative seeding, the grass seed density can be controlled to better control the emergence rate and ensure the lawn quality, and the cost is also saved;

[0040] 6. The ground sprinkling mechanism is buried with a Bluetooth transmitting module and a humidity sensor, the vehicle body is provided with a Bluetooth receiving module, the Bluetooth transmitting module transmits the soil humidity information to the Bluetooth receiving module when the vehicle body passes, the soil humidity information of the entire site is collected when the vehicle body completes all maintenance work, the electromagnetic valve can be controlled to control the sprinkling time of a specific area, the entire site humidity can be accurately controlled to be uniform, overflooding is avoided, the signal range of the Bluetooth transmitting module is set through debugging, signal interference can be effectively avoided, and the data accuracy is improved;

[0041] 7. The special design of the discharging roller can ensure the quantitative discharging of the discharging roller in one rotation, which is beneficial to control the scattering amount of the grass seeds and the fertilizer, and meanwhile, the present discharging method realizes the fixed-width discharging, compared with the traditional wheel disc discharging method, the discharging area is accurate, the repeated discharging at the junction can be avoided, and the cost is reduced;

[0042] 8. The microwave weeding machine is arranged, the physical method is adopted to weed, the microwave weeding is carried out according to the characteristics that the weed metabolism is vigorous, and the temperature difference exists between the leaf surface of the weed and the leaf surface of the turfgrass, the harm of the chemical agent to the athletes is avoided, the microwave weeding machine is arranged on the side of the discharging mechanism close to the advancing direction of the vehicle body, the damage of the grass seeds caused by the microwave weeding after the discharging can be avoided, and the germination rate is affected. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 It is the front view of the ground walking mechanism of the present application;

[0044] Figure 2 It is the front view of the ground walking mechanism of the present application; Figure 1 It is the sectional view of A-A direction;

[0045] Figure 3 It is the left view of the ground walking mechanism of the present application;

[0046] Figure 4 It is the left view of the ground walking mechanism of the present application; Figure 3 It is the sectional view of A-A direction;

[0047] Figure 5 It is the bottom view of the ground walking mechanism of the present application;

[0048] Figure 6 It is the overall structure diagram of the ground walking mechanism of the present application;

[0049] Figure 7 It is the overall structure diagram of the discharging roller;

[0050] Figure 8 It is the overall structure diagram of the ground spraying irrigation mechanism;

[0051] Figure 9 It is the overall structure diagram of the ground spraying irrigation mechanism; Figure 8 It is the local enlarged view of A area.

[0052] Wherein: 1, the vehicle body; 101, interlocking mechanism; 102, box door; 103, filling port; 104, infrared obstacle avoidance sensor; 2, solar power supply system; 3, controller; 4, row needle; 41, air cylinder; 5, grass cutting assembly; 51, first motor; 6, collection port; 61, shield; 7, collection box; 71, interface; 8, negative pressure machine; 9, image sensor; 91, light supplement lamp; 10, Bluetooth receiving module; 11, storage tank; 12, discharging cylinder; 13, discharging roller; 131, groove; 132, second motor; 14, discharging plate; 15, microwave weeding machine; 151, thermal imager; 16, conduit; 161, ejection nozzle; 162, electromagnetic valve; 17, wire pipe; 18, humidity sensor; 19, Bluetooth emission. DETAILED DESCRIPTION

[0053] In order to clearly illustrate the technical features of the scheme, the present application will be described in detail below, combined with its drawings.

[0054] Example 1

[0055] Reference Figures 1 to 9 A multifunctional sports field lawn maintenance device, comprising a ground walking mechanism and a ground sprinkling mechanism, the ground walking mechanism comprises a vehicle body 1, a soil loosening mechanism, a trimming mechanism, an identification mechanism and a discharging mechanism, the vehicle body 1 is provided with an interlocking mechanism 101 and an infrared obstacle avoidance sensor 104 on the side close to the direction of travel, and a controller 3 is arranged in the vehicle body 1, the controller 3 is electrically connected with the soil loosening mechanism, the trimming mechanism, the identification mechanism and the discharging mechanism, and is used for cooperatively controlling the operation process.

[0056] The soil loosening mechanism comprises a row needle 4, and the row needle 4 is driven by an air cylinder 41.

[0057] The trimming mechanism comprises a grass cutting assembly 5 and a collection mechanism, the collection mechanism comprises a collection port 6 and a collection box 7, the collection port 6 is arranged on the vehicle body 1, the collection port 6 is provided with a shield 61, the collection box 7 is detachably connected with the shield 61, and the vehicle body 1 is provided with a box door 102 at the collection mechanism.

[0058] The identification mechanism comprises an image sensor 9, the image sensor 9 comprises an RGB camera and an image processing module, and is used for analyzing whether there is turf defect on the ground surface.

[0059] The first set of discharging mechanism is arranged on one side of the trimming mechanism away from the traveling direction of the vehicle body, and the second set of discharging mechanism is arranged on one side of the first set of discharging mechanism away from the traveling direction of the vehicle body.

[0060] The ground sprinkling mechanism comprises a pipe 16, a wire pipe 17 and a launching nozzle 161, the launching nozzle 161 is connected to the pipe 16, the top of the launching nozzle 161 is covered with an openable turf-like protective cover, the pipe 16 and the wire pipe 17 are pre-buried, and the ground sprinkling system array is arranged to form a sprinkling pipe network.

[0061] As shown in Figure 1 , Figure 4 and Figure 5 , the vehicle body 1 is provided with a solar power supply system 2, and the solar power supply system 2 is electrically connected with the controller 3.

[0062] As shown in Figure 5 and Figure 9 , the identification mechanism further comprises a humidity sensor 18 buried in the soil and a Bluetooth receiving module 10 arranged on the vehicle body 1, the humidity sensor 18 is provided with a Bluetooth transmitting module 19, the Bluetooth transmitting module 19 is encoded according to grid coordinates, the signal coverage radius is less than 1 / 2 of the grid spacing, and the signal interference of adjacent grids is avoided, and the image sensor 9 is provided with a fill light 91.

[0063] As shown in Figure 1 and Figure 4 , the row of needles 4 of the soil loosening mechanism is arranged obliquely, the included angle between the row of needles 4 and the horizontal plane is 45°-60°, and the oblique direction is opposite to the traveling direction of the vehicle body 1.

[0064] As shown in Figure 2 and Figure 4 , in the trimming mechanism, the grass cutting assembly 5 is driven by the first motor 51, the collecting box 7 is provided with an interface 71, the vehicle body 1 is provided with a negative pressure machine 8 near the collecting box 7, and the negative pressure machine 8 is detachably connected with the interface 71 through the pipe 16.

[0065] As shown in Figure 2 , Figure 4 and Figure 7 , the outer diameter of the discharging roller 13 in the discharging mechanism is matched with the inner diameter of the discharging cylinder 12, the surface of the discharging roller 13 is arranged with grooves 131 in a circular array, the grooves 131 are arranged along the length direction of the discharging roller 13, and the discharging roller 13 is driven by the second motor 132.

[0066] As Figure 5 shown, the vehicle body 1 is also provided with a microwave weeding machine 15, which is arranged on the side of the unloading mechanism close to the traveling direction of the vehicle body 1, and a thermal imager 151 is arranged at the microwave weeding machine 15.

[0067] A multifunctional sports field lawn maintenance method, specifically comprising the following steps:

[0068] Step 1: input the lawn area and position information in the controller 3, and the ground walking mechanism calculates the travel trajectory according to the area and starts work;

[0069] Step 2: the soil loosening mechanism loosens the soil through the reciprocating motion of the air cylinder 41 during the travel;

[0070] Step 3: the trimming mechanism trims the lawn, and the collection mechanism efficiently collects the grass with the assistance of the negative pressure machine 8;

[0071] Step 4: the microwave weeding machine 15 weeds;

[0072] Step 5: the first set of unloading mechanism is loaded with grass seeds, and before starting work, the grass seed density is checked to determine the unit area seeding amount, and the first set of unloading mechanism is controlled to quantitatively seed through the unloading roller 13;

[0073] Step 6: the second set of unloading mechanism is loaded with fertilizer, and the second set of unloading mechanism is controlled to quantitatively fertilize through the unloading roller 13;

[0074] Step 7: the image sensor 9 in the identification mechanism analyzes the ground color and sets the damage threshold in the controller 3, checks whether there is turf damage and records the position information according to the travel distance, and when the Bluetooth receiving module 10 passes through the Bluetooth transmitting 19 module during the travel, the Bluetooth transmitting 19 module sends the soil moisture information to the Bluetooth receiving module 10, and the Bluetooth receiving module 10 records the soil moisture at that position;

[0075] Step 8: after the ground walking mechanism returns, according to the collected soil moisture information of the Bluetooth transmitting 19 module, the electromagnetic valve 162 of each position ejection nozzle 161 is controlled to accurately quantitatively spray irrigation for each area.

[0076] The rotation speed calculation formula of the unloading roller 13 in the first set of unloading mechanism in step 5 is: n= (a*m1) / m2*γ, wherein:

[0077] n is the rotation speed of the unloading roller 13 in the first set of unloading mechanism, unit: turns / s;

[0078] a is the target sowing amount, unit: grains / square meter;

[0079] m1 is the dry weight of the seed, unit: g / 1000 seeds;

[0080] m2 is the unloading amount of the unloading roller 13 rotating one circle, unit: g / circle;

[0081] γ is the correction coefficient, γ = vehicle body 1 travel speed * unloading roller 13 width;

[0082] Wherein: the vehicle body travel speed unit: m / s; the unloading roller 13 width unit: m.

[0083] The microwave weeding in step 7 adopts a thermal imager 151 to assist positioning, and the thermal imager 151 uses the characteristics that there is a temperature difference between the leaf surface of the weed with vigorous metabolism and the turfgrass seed to assist positioning, and triggers the microwave weeder 15 to direct radiation weeding after the thermal imager 151 recognizes the weed according to the temperature difference. When the thermal imager 151 detects that the local temperature difference is ≥1.5℃, the microwave weeder 15 directs the radiation of the area for 2-5 seconds.

[0084] Working principle

[0085] The ground walking mechanism cooperates with the controller 3 to control each function module. The interlocking mechanism 101 provided on the vehicle body 1 can connect the tractor under complex conditions to provide diversified operation modes. The infrared obstacle avoidance sensor 104 can monitor the front obstacles in real time to ensure the safety of operation. The solar power supply system 2 provides clean energy for the device to reduce energy consumption.

[0086] The row pin 4 is driven by the air cylinder 41, and is obliquely arranged at an angle of 45°-60° with the horizontal plane, and the oblique direction is opposite to the travel direction of the vehicle body 1. This design enables the row pin 4 to penetrate into the seed roots. During the soil loosening process, on the one hand, it improves the soil ventilation amount, which is beneficial to the growth of the seed; on the other hand, it reduces the resistance when the vehicle body 1 travels, and reduces the risk of broken needle.

[0087] The mower assembly 5 is driven by the first motor 51 to trim the lawn. The collection mechanism includes a collection port 6 and a collection box 7, and a protective cover 61 is arranged at the collection port 6 to ensure safety. The collection box 7 is detachably connected with the protective cover 61. A negative pressure machine 8 is arranged on the vehicle body 1 near the collection box 7, and the negative pressure machine 8 is detachably connected with the collection box 7 through a conduit 16 and an interface 71 of the collection box 7. The negative pressure principle is used to efficiently collect the trimmed grass and improve the neatness of the lawn.

[0088] The image sensor 9 includes an RGB camera and an image processing module, detects whether the turf is damaged by analyzing the color of the ground surface, sets a damage threshold, transmits a signal to the controller 3 for storage, and records position information according to the distance traveled. The humidity sensor 18 buried in the soil transmits soil humidity information to the Bluetooth receiving module 10 on the vehicle body 1 through the Bluetooth transmission 19 module in grid coordinates. The Bluetooth receiving module 10 transmits the signal to the controller 3 for storage. Since the signal coverage radius of the Bluetooth transmission 19 module is less than 1 / 2 of the grid spacing, signal interference between adjacent grids can be effectively avoided to ensure data accuracy. The light supplement lamp 91 provided at the image sensor 9 provides illumination for detection work in low light conditions.

[0089] The discharging mechanism is provided with two sets, each including a storage box 11, a discharging cylinder 12 and a discharging roller 13. The outer diameter of the discharging roller 13 is in close contact with the inner diameter of the discharging cylinder 12, and the surface is circumferentially arrayed with grooves 131 along the length direction. The discharging roller 13 is driven by the second motor 132, and when it rotates one revolution, the grooves 131 quantitatively contain the grass seeds or fertilizers, realizing fixed-width discharging, accurately controlling the amount of scattering, avoiding repeated discharging at the junction, and reducing costs.

[0090] The ground sprinkling mechanism includes a conduit 16, a wire pipe 17 and a catapulting spray head 161 to form a sprinkling pipe network, and the top of the catapulting spray head 161 is covered with an openable turf-like protective cover. The Bluetooth transmission 19 module and the humidity sensor 18 buried in the soil cooperate with the Bluetooth receiving module 10 on the vehicle body 1. When the vehicle body 1 completes the maintenance work and collects the soil humidity information of the entire site, the electromagnetic valve 162 of each position catapulting spray head 161 is controlled to accurately and quantitatively sprinkle each region, ensuring uniform humidity of the entire site and avoiding excessive flooding.

[0091] The microwave weeding machine 15 is arranged on the side of the discharging mechanism close to the traveling direction of the vehicle body 1, and utilizes the characteristics that weeds have a strong metabolism and there is a temperature difference between the leaf surface and the turf grass seeds. The microwave weeding machine 15 is assisted in positioning by the thermal imager 151. When the thermal imager 151 detects that the local temperature difference is ≥1.5℃, the microwave weeding machine 15 triggers directional radiation of the area for 2-5 seconds, adopts a physical method to remove weeds, avoids harm to athletes caused by chemical agents, and prevents damage to grass seeds caused by microwave weeding after discharging.

[0092] Specific operation process

[0093] The turf area and position information are input into the controller 3, the controller 3 calculates the travel trajectory and controls the vehicle body 1 to walk, and the controller 3 controls the travel distance of the vehicle body 1 by controlling the travel speed of the vehicle body 1, so as to perform full coverage walking on the turf site.

[0094] Check the grass seed density and determine the unit area seeding amount. Calculate the first set of discharge roller 13 speed according to the formula n = (a * m1) / m2 * γ. At the same time, check the fertilizer reserve in the second set of discharge mechanism.

[0095] Soil loosening operation: the ground traveling mechanism starts operation according to the calculated travel trajectory of the lawn area. During the travel, the cylinder 41 of the soil loosening mechanism reciprocates, driving the needle row 4 to loosen the soil, improving the air permeability of the grass seed roots and reducing the travel resistance of the vehicle body 1.

[0096] Pruning operation: the grass cutting assembly 5 of the pruning mechanism is driven by the first motor 51 to prune the lawn. At the same time, the negative pressure machine 8 of the collection mechanism is started, connected to the interface 71 of the collection box 7 through the conduit 16, and the cut grass is efficiently collected into the collection box 7 by negative pressure, improving the neatness of the lawn.

[0097] Weeding operation: the microwave weeding machine 15 is assisted by the thermal imager 151 to weed. The thermal imager 151 utilizes the temperature difference characteristics of weeds and lawn seeds, and when a local temperature difference ≥1.5℃ is detected, the microwave weeding machine 15 is triggered to irradiate the area for 2-5 seconds, accurately removing the weeds.

[0098] Seeding operation: the first set of discharge mechanism rotates the discharge roller 13 at the speed calculated by the controller 3, and the second motor 132 is controlled by the controller 3 to drive the discharge roller 13 to rotate, and the recess 131 quantitatively carries the grass seeds, which are then scattered from the discharge cylinder 12 through the discharge plate 14, realizing quantitative seeding, controlling the grass seed density, and ensuring the emergence rate and lawn quality.

[0099] Fertilizing operation: the second set of discharge mechanism also controls the speed of the discharge roller 13 through the controller 3 to quantitatively scatter the fertilizer from the storage box 11 through the discharge cylinder 12 and the discharge plate 14, providing nutrients for the lawn.

[0100] Identification operation: the identification mechanism works during travel. The image sensor 9 continuously analyzes the ground color, detects the turf damage, and transmits the signal to the controller 3 for storage, while recording the damage location information. The Bluetooth receiving module 10 receives the soil moisture information when passing through the Bluetooth emitting 19 module and records the moisture data of the corresponding position, and then transmits the information to the controller 3 for storage.

[0101] Irrigation stage: after the ground traveling mechanism completes all maintenance work and returns, according to the collected soil moisture information of the Bluetooth emitting 19 module, the electromagnetic valve 162 of the ejecting nozzle 161 is controlled to accurately and quantitatively irrigate different areas, making the moisture of the entire site uniform and meeting the growth needs of the lawn.

[0102] The above describes the specific embodiments of the present application in combination with the drawings, but is not a limitation on the protection scope of the present application, and various modifications or changes made by those skilled in the art on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

Claims

1. A multifunctional stadium lawn maintenance device, characterized in that: It includes a ground walking mechanism and a ground sprinkler mechanism. The ground walking mechanism includes a vehicle body (1), a soil loosening mechanism, a trimming mechanism, an identification mechanism and a material unloading mechanism. The vehicle body (1) is provided with an interlocking mechanism (101) and an infrared obstacle avoidance sensor (104) on the side near the direction of travel. The vehicle body (1) is provided with a solar power supply system (2). The soil loosening mechanism includes a row of needles (4), which is driven by a cylinder (41); The mowing mechanism includes a mowing component (5) and a collection mechanism. The collection mechanism includes a collection port (6) and a collection box (7). The collection port (6) is located on the vehicle body (1). A cover (61) is provided at the collection port (6). The collection box (7) is detachably connected to the cover (61). The vehicle body (1) is provided with a box door (102) at the collection mechanism. The recognition mechanism includes an image sensor (9), which includes an RGB camera and an image processing module; The feeding mechanism is provided in two sets. The first feeding mechanism is located on the side of the trimming mechanism away from the direction of vehicle travel, and the second feeding mechanism is located on the side of the first feeding mechanism away from the direction of vehicle travel. The ground sprinkler system includes a conduit (16), a conduit (17), and a catapult nozzle (161). The catapult nozzle (161) is connected to the conduit (16), and the top of the catapult nozzle (161) is covered with an openable turf-like protective cover. The conduit (16) and the conduit (17) are both pre-embedded. The ground sprinkler system is arranged in an array to form a sprinkler network. The soil loosening mechanism has a needle (4) that is set at an angle of 45°-60° with the horizontal plane, and the direction of the tilt is opposite to the direction of travel of the vehicle body (1).

2. The multifunctional stadium lawn maintenance device according to claim 1, characterized in that, The feeding mechanism includes a storage box (11), a feeding cylinder (12) and a feeding roller (13). The feeding cylinder (12) is located at the bottom of the vehicle body (1). The storage box (11) is connected to the feeding cylinder (12). The feeding roller (13) is rotatably connected in the feeding cylinder (12). A feeding plate (14) is provided at the bottom of the vehicle body (1). A feeding port (103) is provided at the top of the vehicle body (1).

3. The multifunctional stadium lawn maintenance device according to claim 2, characterized in that, The identification mechanism also includes a humidity sensor (18) buried in the soil and a Bluetooth receiver module (10) installed on the vehicle body (1). The humidity sensor (18) is equipped with a Bluetooth transmitter (19) module. The Bluetooth transmitter (19) module is encoded according to grid coordinates, and the signal coverage radius is less than 1 / 2 of the grid spacing to avoid interference between adjacent grid signals. A supplementary light (91) is installed at the image sensor (9).

4. A multifunctional stadium lawn maintenance device according to claim 3, characterized in that, In the trimming mechanism, the mowing component (5) is driven by the first motor (51), the collection box (7) is provided with an interface (71), and a negative pressure machine (8) is provided on the vehicle body (1) near the collection box (7). The negative pressure machine (8) is detachably connected to the interface (71) through a conduit (16).

5. A multifunctional stadium lawn maintenance device according to claim 4, characterized in that, The outer diameter of the feeding roller (13) in the feeding mechanism is in contact with the inner diameter of the feeding cylinder (12). The surface of the feeding roller (13) is provided with grooves (131) arranged in a circumferential array. The grooves (131) are arranged along the length direction of the feeding roller (13). The feeding roller (13) is driven by a second motor (132).

6. A multifunctional stadium lawn maintenance device according to claim 5, characterized in that, The vehicle body (1) is also equipped with a microwave weeding machine (15), which is located on the side of the feeding mechanism near the direction of travel of the vehicle body (1). A thermal imager (151) is also provided at the microwave weeding machine (15).

7. A multifunctional method for maintaining stadium turf, characterized in that: The lawn maintenance using the multifunctional stadium lawn maintenance device according to claim 6 specifically includes the following steps: Step 1: Input the lawn area and location information, and the ground walking mechanism will calculate the walking trajectory based on the area and begin operation; Step 2: During the journey, the soil loosening mechanism loosens the soil through the reciprocating motion of the cylinder (41); Step 3: The mowing mechanism mows the lawn, and the collection mechanism efficiently collects the grass with the assistance of the negative pressure machine (8); Step 4: Weeding is performed using a microwave weed cutter (15); Step 5: The first feeding mechanism is filled with grass seeds. Before starting the operation, check the grass seed density and determine the amount of seeds to be sown per unit area. The seeds are sown quantitatively by controlling the feeding roller (13) in the first feeding mechanism. Step 6: The second feeding mechanism is filled with fertilizer. The fertilizer is applied quantitatively by controlling the feeding roller (13) in the second feeding mechanism. Step 7: The image sensor (9) in the identification mechanism analyzes the surface color and sets the defect threshold, checks for turf defects and records the location information according to the travel distance. During the travel, when the Bluetooth receiving module (10) passes the Bluetooth transmitting module (19), the Bluetooth transmitting module (19) sends the soil moisture information to the Bluetooth receiving module (10), and the Bluetooth receiving module (10) records the soil moisture at that location. Step 8: After the ground walking mechanism returns, it uses the collected soil moisture information from the Bluetooth transmitter (19) module to control the solenoid valve (162) of each ejector nozzle (161) to perform precise quantitative irrigation on each area.

8. A multifunctional stadium turf maintenance method according to claim 7, characterized in that, The formula for calculating the rotational speed of the feeding roller (13) in the first feeding mechanism in step 5 is: n = (a*m1) / m2*γ, where: n is the rotational speed of the feeding roller (13) in the first feeding mechanism, in revolutions per second; 'a' represents the target application rate, in units of seeds per square meter. m1 is the dry weight of grass seeds, in g / thousand seeds; m2 is the amount of material fed in one revolution of the feeding roller (13), in g / revolution; γ is the correction coefficient, γ = vehicle body (1) travel speed * feed roller (13) width; Where: vehicle body (1) travel speed unit: m / s; feed roller (13) width unit: m.

9. A multifunctional stadium turf maintenance method according to claim 7, characterized in that, In step 7, microwave weeding uses a thermal imager (151) for assisted positioning. The thermal imager (151) uses the temperature difference between the leaf surface of weeds and the grass seed to assist positioning. After the thermal imager (151) identifies the weeds based on the temperature difference, it triggers the microwave weeder (15) to perform directional radiation weeding.

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