A greening maintenance machine control system and method

Abstract

This invention relates to the technical field of greening maintenance machine control, and discloses a greening maintenance machine control system and method, including a real-time location module for acquiring the real-time location of the greening maintenance machines, a greening information module for acquiring weather information and greening moisture information and compensating for the environment through the weather information, a patrol scheduling module for scheduling greening maintenance machines to fill gaps in the greening process, a path optimization module for acquiring the optimal path for scheduling greening maintenance machines, and a dynamic pointer information base station module for acquiring the real-time location of the greening maintenance machines, storing the greening stack of the greening paths already greened by the greening maintenance machines, and finding the ungreened locations of gaps in the greening machines. This system implements a multi-machine collaborative scheduling algorithm to reduce path overlap and a precision sprinkler system to improve water resource utilization.

Description

Technical Field

[0001] This invention relates to the technical field of greening maintenance machine control, and discloses a greening maintenance machine control system and method. Background Technology

[0002] Current green space maintenance relies on manual inspections and experience-based judgment, which has problems such as long response delays (e.g., the water shortage detection cycle can be as long as 48 hours) and serious waste of resources (excessive sprinkler irrigation leads to a water resource utilization rate of less than 60%). Globally, the annual water consumption for urban green space maintenance accounts for 23% of the total municipal water consumption, of which 40% is wasted due to inaccurate scheduling.

[0003] Most existing automatic irrigation systems rely solely on fixed threshold control and cannot dynamically compensate for sudden weather changes, such as continuing irrigation even after short-term heavy rain when the soil is too wet, or they fail to differentiate between plant physiological differences, such as the 300% difference in water requirements between trees and herbaceous plants. Traditional systems have an irrigation decision error rate as high as 37% in environments with humidity fluctuations of ±15%.

[0004] The existing machine path planning uses a static offline algorithm, which has an obstacle avoidance success rate of less than 85%. Furthermore, the existing scheduling system cannot handle machine failures or scheduling problems in real time, resulting in a task interruption rate as high as 25%. Individual machines operate independently, lacking global path optimization and task coordination mechanisms. When multiple machines cooperate, energy consumption increases by an average of 40%. Position tracking relies on GPS (accuracy <5m), and in dense green areas, the cumulative positioning error can reach 30m, leading to repetitive tasks. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] To solve the above-mentioned technical problems, the main objective of this invention is to provide a greening maintenance machine control system, comprising:

[0007] The greening information module is used to acquire weather information and greening water information, and to compensate the environment based on the weather information to determine the greening water requirements;

[0008] The inspection and dispatch module includes a water shortage dispatch unit for dispatching greening maintenance machines to fill gaps and continue greening, and an obstacle avoidance unit for dispatching machines that are working simultaneously.

[0009] The path optimization module is used to obtain the optimal path for scheduling greening and maintenance machines;

[0010] The information base station module includes a location unit for obtaining the real-time location of the greening maintenance machine, a greening stack for storing the greening paths already greened by the greening maintenance machine, and a dynamic pointer for finding vacant machine locations that have not been greened.

[0011] As a preferred embodiment of the greening maintenance machine control system of the present invention, wherein:

[0012] The location unit includes multiple sub-base stations, which are arranged side by side in the greening maintenance area. The real-time location of the greening maintenance machine is obtained by transmitting the greening location in real time through the greening maintenance machine.

[0013] The plurality of sub-base stations include a main base station, which is used to receive the location information of the greening maintenance machine that has been greened, and to store the greening path of the greening maintenance machine through the greening stack;

[0014] The greening maintenance machine has stored the greening path in the stack using computer addresses.

[0015] As a preferred embodiment of the greening maintenance machine control system of the present invention, wherein:

[0016] The weather information includes air humidity obtained through a humidity sensor, and the greening level is set based on the air humidity. The greening level is used to control the greening machine to spray water on the greening maintenance area.

[0017] If the air humidity parameter reaches the first preset threshold at time tag T, switch to sunny mode, set the environmental factor compensation level to α, and set α according to the air humidity parameter at different time tags.

[0018] If the air humidity parameter reaches the second preset threshold at time tag T, switch to rain mode, set the environmental factor compensation level to β, and set β according to the air humidity parameter at different time tags;

[0019] If the air humidity parameter reaches the third preset threshold at time tag T, switch to high wind mode, set the environmental factor compensation level to γ, and set γ according to the air humidity parameter at different time tags.

[0020] If the air humidity parameter reaches the fourth preset threshold at time tag T, switch to low temperature mode, set the environmental factor compensation level to δ, and set δ according to the air humidity parameter at different time tags.

[0021] As a preferred embodiment of the greening maintenance machine control system of the present invention, wherein:

[0022] By obtaining the water requirements of green vegetation in the current season through cloud data and combining it with the air humidity, the greening maintenance machine is automatically scheduled to spray water to maintain the green vegetation through the main base station.

[0023] The main base station stores all addresses of the green vegetation in the address storage stack. The addresses of green vegetation that do not require watering due to sufficient moisture cover the addresses of all green vegetation in the address storage stack and are marked as watered. The rest are not watered and are marked as blank addresses. The greening maintenance machine receives the entire address storage stack transmitted by the main base station and performs watering maintenance on the green vegetation according to the addresses.

[0024] As a preferred embodiment of the greening maintenance machine control system of the present invention, wherein:

[0025] If the greening maintenance machine runs out of water and cannot continue to spray water to maintain the green vegetation, the greening maintenance machine with the water shortage tag will return to the water intake tank and communicate the address of the greening maintenance to the main base station in real time.

[0026] If multiple greening maintenance machines are simultaneously scheduled to spray water on the green vegetation, the addresses of the green vegetation that have been maintained are communicated to the main base station in real time. The main base station will then aggregate all the addresses of the greening maintenance machines that have been sprayed with water and overwrite the address portion of the stack that has not been sprayed with water, and provide real-time feedback to each greening maintenance machine.

[0027] As a preferred embodiment of the greening maintenance machine control system of the present invention, wherein:

[0028] If the greening maintenance machine is short of water, the real-time location of each greening maintenance machine is retrieved, and the greening maintenance machine closest to the one with the water shortage tag is dispatched to fill the unfinished greening maintenance task.

[0029] By defining dynamic pointers for the greening maintenance machines, the direction in which the greening maintenance machines continue to work can be determined.

[0030] The dynamic pointer is randomly inserted into the address in the greening maintenance storage stack and slides towards the initial base address. If the first address in the initial base address direction is an address that has not been maintained, it continues to slide until it visits an address that has been maintained. The greening maintenance machine then continues to execute the water spraying maintenance task of the greening maintenance machine with the water shortage label.

[0031] If the dynamic pointer is randomly inserted into an address that has been greened and maintained, the access will proceed in the reverse direction of the initial base address until an address that has not been greened and maintained is reached. The greening and maintenance machine will then continue to perform the water spraying and maintenance task of the greening and maintenance machine with the water shortage label.

[0032] As a preferred embodiment of the greening maintenance machine control system of the present invention, wherein:

[0033] Each greening maintenance machine is equipped with a real-time communication unit, which uploads the greened and maintained areas with location tags in real time. The data is then processed by the main base station, covering all un-watered and unmaintained areas in the address storage stack, and fed back to each greening maintenance machine in real time via location tags.

[0034] As a preferred embodiment of the greening maintenance machine control system of the present invention, wherein:

[0035] The greening maintenance machines are allocated through the path optimization module, and the greening maintenance machines with the "not short of water" label are allocated to fill the gaps in the greening maintenance machines with the "short of water" label.

[0036] Each greening maintenance machine with a "no water shortage" label simulates a filling path through the path optimization module, and the filling path is simulated using a path flow graph.

[0037] As a preferred embodiment of the greening maintenance machine control system of the present invention, wherein:

[0038] The path flow graph includes a path transport operator, a first-order subsystem, and an integrator;

[0039] The path transmission operator outputs the path taken by the greening maintenance machine scheduling;

[0040] The first-order subsystem retrieves the greening maintenance storage stack of the main base station through the greening maintenance machine to plan the path for the greening maintenance robot to reach the greening maintenance point;

[0041] The integrator is used to control the movement of the greening maintenance machine to the location of the greening maintenance machine with the water shortage label;

[0042] A path transmission operator for greening maintenance machines is constructed using the first-order subsystem and integrator. The main base station selects the shortest distance and issues dispatch instructions to greening maintenance machines with "not short of water" tags.

[0043] A method for controlling a greening maintenance machine, characterized in that:

[0044] Acquire weather information and greening water information, compensate the environment with the weather information, determine the greening water demand, and divide the address storage stack including all addresses of greening vegetation into those that have been watered and those that have not been watered according to the water demand.

[0045] The main base station retrieves the greening maintenance machine to spray water on the addresses of the uncovered greening vegetation and uploads the addresses of the completed greening maintenance in real time, which are then stored in the greening maintenance storage stack by the main base station in real time.

[0046] If the greening maintenance machine is short of water, the greening maintenance machine with the water shortage tag will return to the water intake tank, communicate the address of the greening maintenance already completed to the main base station in real time, and retrieve the real-time location of each greening maintenance machine. The greening maintenance machine closest to the greening maintenance machine with the water shortage tag will be dispatched to fill the unfinished greening maintenance task.

[0047] If multiple greening maintenance machines are simultaneously scheduled to spray water on the green vegetation, the addresses of the green vegetation that have been maintained are communicated to the main base station in real time. The main base station will then aggregate all the addresses of the greening maintenance machines that have been sprayed with water and overwrite the address portion of the stack that has not been sprayed with water, and provide real-time feedback to each greening maintenance machine.

[0048] The beneficial effects of this invention are:

[0049] By deploying micro base stations with adjustable density, a real-time positioning system is built, dividing the green area into computer-addressable grid cells. Combined with tags, path tracking is achieved, the dynamic path planning module improves the machine's movement speed, and the multi-machine collaborative scheduling algorithm reduces path overlap. The precision sprinkler system improves water resource utilization, and the automatic control of greening maintenance machines greatly reduces labor costs. Attached Figure Description

[0050] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0051] Figure 1 This is a system composition diagram of a greening maintenance machine control system according to the present invention;

[0052] Figure 2 This is a flowchart illustrating the implementation of a greening maintenance machine control method according to the present invention;

[0053] Figure 3 This is a schematic diagram illustrating the real-time communication principle of the location of a greening maintenance machine in a greening maintenance machine control system according to the present invention.

[0054] Figure 4 This is a schematic diagram illustrating the principle of scheduling greening maintenance machines to fill water shortage tags in a greening maintenance machine control system according to the present invention.

[0055] Figure 5 This is a simulation diagram of the path transmission operator of a greening maintenance robot in a greening maintenance machine control system of the present invention.

[0056] Attached reference numerals: 1. Greening maintenance machine; 2. First sub-base station; 3. Main base station; 4. Second sub-base station; 5. Deployment of greening maintenance machine. Detailed Implementation

[0057] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0058] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0059] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0060] Example 1

[0061] like Figure 1 As shown, a greening maintenance machine control system includes:

[0062] The information base station module includes a location unit for obtaining the real-time location of the greening maintenance machine, a greening stack for storing the greening paths already greened by the greening maintenance machine, and a dynamic pointer for finding vacant machine locations that have not been greened.

[0063] The location unit includes multiple sub-base stations, which are arranged side by side in the greening maintenance area. The real-time location of the greening maintenance machine is obtained through real-time communication transmission of the greening location.

[0064] The multiple sub-base stations include a main base station, which is used to receive the location information of the greening maintenance machine that has been greened, and to store the greening path of the greening maintenance machine through the greening stack.

[0065] The greening maintenance machine has stored the greening path in the stack through the computer address.

[0066] A specific implementation method for a real-time location module and an information base station module includes:

[0067] The green area is divided into several square grids (e.g., 0.5m × 0.5m), with a sub-base station deployed at each corner of the grid, forming a cellular network. The spacing between the sub-base stations is dynamically adjusted according to the terrain complexity (50-100m on flat ground, 30-80m on slopes). LoRaWAN wide area network technology is used (transmission distance 5km, extremely low power consumption). The sub-base stations broadcast the machine's location to the main base station every 10 minutes. The machine is equipped with a Bluetooth 5.3 module, which automatically synchronizes its location coordinates (accuracy ±2cm) when entering the signal range of a sub-base station.

[0068] When the machine is in an area where multiple sub-base stations overlap, the optimal location is calculated using a triangulation algorithm: Location = (Signal strength of base station A × coordinate A + Signal strength of base station B × coordinate B + Signal strength of base station C × coordinate C) / (Total signal strength).

[0069] The main base station receives location data from over 200 devices in real time and uses a Kalman filter algorithm to eliminate noise interference (such as location drift caused by momentary signal blockage). It processes over 5000 location update records per second and stores the historical trajectory of the most recent 30 minutes.

[0070] Setting a movement speed threshold (e.g., a speed <0.1m / s for 5 consecutive seconds is considered stationary) automatically marks faulty machines and triggers an alarm. Historical data comparison and analysis (e.g., a sudden 50% drop in machine density in a certain area) can identify network signal blind spots.

[0071] The hierarchical storage design includes an L1 cache that stores the greening paths (in JSON format) of the most recent 24 hours in memory, and uses a linked list structure to enable fast insertion / deletion.

[0072] For example: {"Address":"A3-05","Coverage Time":"2024-07-2014:30:00","Water Volume":"15ml"};

[0073] L2 cache includes historical data stored on disk (MySQL database), multi-dimensional indexes created by plant species, season, and weather conditions, and supports SQL-like queries (such as "find unirrigated areas of strawberry gardens in spring 2023").

[0074] Convert the green area into computer-addressable coordinates: Address = Park number (2 digits) + Area number (4 digits) + Grid coordinates (4 digits each for X and Y) + Plant type code (2 digits), for example: A1-0023-0405-02 (meaning Park A1, Area 0023, Grid (4,5), Tree type).

[0075] like Figure 3As shown, the greening maintenance machine 1 moves to the location of the greening maintenance vegetation and communicates its real-time location with the first sub-base station 2, the second sub-base station 4, and the main base station 3. The distances of the greening maintenance machine 1 from the first sub-base station 2, the second sub-base station 4, and the main base station 3 are obtained from the communication path. Since the distances between the first sub-base station 2, the second sub-base station 4, and the main base station 3 are known, the values ​​of X and N are obtained using the Pythagorean theorem, and the real-time position of the greening maintenance machine 1 is calculated. A 2 -X 2 =(YN) 2 B 2 -X 2 =N 2 .

[0076] A specific implementation method of dynamic pointers:

[0077] Every day at dawn, the main base station performs a full scan, extracts the addresses that have been covered that day from the L1 cache, and generates a bitmap mask (0 indicates that it is not covered, and 1 indicates that it is covered).

[0078] By comparing the plant growth cycle table in the L2 cache historical data, areas that require priority irrigation are marked (e.g., plants in the flowering period require 30% more water).

[0079] Starting from the east end of the park, the system traverses in ascending order of address, skipping already covered areas. If the machine malfunctions, the dynamic pointer records the current scanning position (address A3-07) and continues from that point next time. When an emergency area with soil moisture <30% is detected, the dynamic pointer immediately switches targets, similar to an interrupt handling mechanism.

[0080] This design implements a three-layer architecture of sub-base station network + intelligent data stack + dynamic pointer to achieve multiple verification mechanisms, ensuring that machine location information is accurate and reliable. The dynamic pointer algorithm compresses the task allocation response time, and the modular design supports that a single point of failure will not affect the overall operation.

[0081] The greening information module is used to acquire weather information and greening water information, and to compensate the environment based on the weather information to determine the greening water requirements;

[0082] The weather information includes air humidity obtained through a humidity sensor, and the greening level is set based on the air humidity. The greening level is used to control the greening machine to spray water on the greening maintenance area.

[0083] If the air humidity parameter reaches the first preset threshold at time tag T, switch to sunny mode, set the environmental factor compensation level to α, and set α according to the air humidity parameter at different time tags.

[0084] If the air humidity parameter reaches the second preset threshold at time tag T, switch to rain mode, set the environmental factor compensation level to β, and set β according to the air humidity parameter at different time tags;

[0085] If the air humidity parameter reaches the third preset threshold at time tag T, switch to high wind mode, set the environmental factor compensation level to γ, and set γ according to the air humidity parameter at different time tags.

[0086] If the air humidity parameter reaches the fourth preset threshold at time tag T, switch to low temperature mode, set the environmental factor compensation level to δ, and set δ according to the air humidity parameter at different time tags.

[0087] By obtaining the water requirements of green vegetation in the current season through cloud data and combining it with the air humidity, the greening maintenance machine is automatically scheduled to spray water to maintain the green vegetation through the main base station.

[0088] The main base station stores all addresses of the green vegetation in the address storage stack. The addresses of the green vegetation that are well-watered and do not require watering cover the addresses of all the green vegetation addresses in the address storage stack and are marked as watered. The rest are not watered and are marked as blank addresses. The greening maintenance machine receives the entire address storage stack transmitted by the main base station and performs watering maintenance on the green vegetation according to the addresses.

[0089] A specific implementation method for data acquisition includes:

[0090] Deploy mini weather stations in green areas:

[0091] The air humidity sensor uses the capacitive principle, with a measurement range of 0-100%RH and an accuracy of ±3%RH. The temperature and humidity composite sensor integrates temperature detection (-20℃~50℃, accuracy ±0.5℃).

[0092] The water content at a depth of 30 cm was detected using a time-domain reflectometer (TDR) with a resolution of 0.1% volumetric water content. A multi-probe array was then deployed according to the distribution of plant roots (e.g., a 5m×5m grid in the tree area and a 2m×2m grid in the shrub area). The greening moisture information was calculated by combining air humidity and soil moisture (WI = 0.7 × soil moisture + 0.3 × air humidity).

[0093] Environmental data (air humidity, soil moisture, wind speed, and light intensity) is collected once per minute and uploaded to the main base station via LoRaWAN. If the data from a certain sensor exceeds the threshold three times in a row (e.g., due to a humidity sensor malfunction), the system automatically switches to data from an adjacent node.

[0094] Water requirements: Actual water requirement = Basic water requirement × (1 + Environmental factor compensation level) × Seasonal coefficient. Furthermore, the seasonal coefficient is set according to the actual air humidity in different seasons. For example, in winter, when it is cold, green vegetation requires less water, so the actual water requirement of green vegetation in winter is reduced, and the seasonal coefficient is smaller than that in summer. The seasonal coefficient is used to fine-tune the actual water requirement of green vegetation in different seasons.

[0095] For example: Summer lawn base water requirement = 15mm / day. In a sunny summer day, the environmental factor compensation level is α = 1.2 → actual water requirement = 18mm / day.

[0096] Dynamic mode switching is set with a multi-level threshold trigger mechanism: if the air humidity is <30% for 2 hours, switch to sunny mode (α=1.2); if the air humidity is >80% for 1 hour, switch to rainy mode (β=0.5).

[0097] The address coding rule adopts a four-level coding system of "park-area-grid-plant" (example: A1-R2-G5-C9). The status markers include green (watered within the last 24 hours), yellow (watering pending, not irrigated for more than 48 hours), and red (urgent water needed, soil moisture <10%).

[0098] The inspection and dispatch module includes a water shortage dispatch unit for dispatching greening maintenance machines to fill gaps and continue greening, and an obstacle avoidance unit for dispatching machines that are working simultaneously.

[0099] If the greening maintenance machine runs out of water and cannot continue to spray water to maintain the green vegetation, the greening maintenance machine with the water shortage tag will return to the water intake tank and communicate the address of the greening maintenance to the main base station in real time.

[0100] If the greening maintenance machine is short of water, the real-time location of each greening maintenance machine is retrieved, and the greening maintenance machine closest to the one with the water shortage tag is dispatched to fill the unfinished greening maintenance task.

[0101] By defining dynamic pointers for the greening maintenance machines, the direction in which the greening maintenance machines continue to work can be determined.

[0102] The dynamic pointer is randomly inserted into the address in the greening maintenance storage stack and slides towards the initial base address. If the first address in the initial base address direction is an address that has not been maintained, it continues to slide until it visits an address that has been maintained. The greening maintenance machine then continues to execute the water spraying maintenance task of the greening maintenance machine with the water shortage label.

[0103] If the dynamic pointer is randomly inserted into an address that has been greened and maintained, the access will proceed in the reverse direction of the initial base address until an address that has not been greened and maintained is reached. The greening and maintenance machine will then continue to perform the water spraying and maintenance task of the greening and maintenance machine with the water shortage label.

[0104] If multiple greening maintenance machines are simultaneously scheduled to spray water on the green vegetation, the addresses of the green vegetation that have been maintained are communicated to the main base station in real time. The main base station will then aggregate all the addresses of the greening maintenance machines that have been sprayed with water and overwrite the addresses of the green vegetation that have not been sprayed with water in the stack, and provide real-time feedback to each greening maintenance machine.

[0105] Each greening maintenance machine is equipped with a real-time communication unit, which uploads the greened and maintained areas with location tags in real time. The data is then processed by the main base station, covering all un-watered and unmaintained areas in the address storage stack, and fed back to each greening maintenance machine in real time via location tags.

[0106] A specific implementation method for water shortage dispatch includes:

[0107] The water tank pressure is checked once per minute. When the pressure is below the threshold for three consecutive times, a water shortage alarm is triggered. For example, a dual redundancy design using a capacitive sensor and a float switch can be adopted, with a false alarm rate of <0.1%.

[0108] When a machine is short of water, it sends a "water shortage alarm packet" (containing its current location and a list of covered addresses) to the main base station via LoRaWAN. The main base station then activates a "hot backup" mechanism, selecting candidate machines (ranked by priority) from the list of online machines that have a battery level >80% and are less than 100 meters from the fault point. The main base station then sends a "task takeover request" (with a list of addresses that need to be sprayed again) to the candidate machines.

[0109] A doubly linked list is used to store the addresses to be maintained by greening. Each node contains an address code, a priority flag, and the last watering time. Furthermore, the pointer position is initialized to the top of the stack. If the current address has been watered and the timeout has not occurred, the pointer is moved forward one position. If the pointer reaches the bottom of the stack, the loop returns to the top of the stack and returns the address that has not been watered.

[0110] A specific implementation method of an obstacle avoidance unit includes:

[0111] The system generates point cloud maps (0.1m resolution) by scanning 10 times per second, identifies pedestrians / vehicles in real time using YOLOv5-Tiny (97.3% accuracy), updates near-field obstacle information every 50ms, and uses Kalman filtering to fuse data from various sensors to build a comprehensive environmental model that includes position, velocity, and obstacle probability.

[0112] Randomizing the address access order avoids path fixation, improves coverage compared to traditional sequential scanning, and the sliding window mechanism ensures task continuity and reduces the probability of repeated water spraying.

[0113] The path optimization module is used to obtain the optimal path for scheduling greening and maintenance machines;

[0114] The greening maintenance machines are allocated through the path optimization module, and the greening maintenance machines with the "not short of water" label are allocated to fill the gaps in the greening maintenance machines with the "short of water" label.

[0115] Each greening maintenance machine simulates path filling through the path optimization module, and the path filling is simulated through a path flow graph.

[0116] The path flow graph includes a path transport operator, a first-order subsystem, and an integrator;

[0117] The path transmission operator outputs the path taken by the greening maintenance machine scheduling;

[0118] The first-order subsystem retrieves the main base station's greening maintenance storage stack through the greening maintenance machine to determine the greening maintenance points along the route;

[0119] The integrator is used to control the movement of the greening maintenance machine to the location of the greening maintenance machine with the water shortage label;

[0120] A path transmission operator for greening maintenance machines is constructed using the first-order subsystem and integrator. The main base station selects the shortest distance and issues dispatch instructions to greening maintenance machines with "not short of water" tags.

[0121] A specific implementation method of a path transport operator, a first-order subsystem, and an integrator includes:

[0122] The path transfer operator is used to generate path instructions for machine movement. It takes the starting position, target position, obstacle map, and real-time environmental data as input and outputs the optimal path trajectory (including speed, direction, and turning instructions).

[0123] The first-order subsystem is used for task decomposition and resource allocation. It takes the address stack to be processed and machine status (battery / load / location) as input and outputs a task priority list and a machine-task matching scheme.

[0124] The integrator is used for motion trajectory control. It takes the path trajectory, real-time position feedback, and obstacle avoidance commands as inputs and outputs motor drive commands, steering angle, and speed adjustment parameters.

[0125] For example, the starting node is the starting position of the task with coordinates (x1, y1), the ending node is the target address where water needs to be sprayed with coordinates A3-05 grid coordinates, the obstacle node is the dynamically detected obstacle with coordinates (x2, y2) and a "sculpture" label, and the decision node is the path selection branch point with the decision being "turn left to avoid the crowd" or "turn right to detour".

[0126] Furthermore, edge types include forced edges, optional edges, and dynamic edges;

[0127] Forced edges are rules that must be followed (such as "stop at a red light").

[0128] Optional edges can be multiple path alternatives (such as "go straight or detour").

[0129] Dynamic edges are path segments that adjust to changes in the environment (e.g., "reducing speed on wet and slippery roads in rainy weather").

[0130] Methods for constructing path flow graphs include:

[0131] Create an empty flow graph, add start and end nodes, and label all known obstacle nodes (imported from real-time LiDAR data).

[0132] New obstacle nodes are inserted every 5 seconds (such as pedestrians that suddenly appear), and nodes that have already been passed are dynamically deleted (to avoid path redundancy).

[0133] The initial path is generated by calculating the shortest distance between all nodes (weight = movement time + energy consumption), prioritizing the path with the lowest energy consumption and then the path with the shortest time. By restricting edge types, the greening maintenance machine is prevented from entering restricted areas (such as water areas / building interiors).

[0134] like Figure 4 As shown, the dispatching greening maintenance machine 5 receives the dispatching instruction for the water-deficient greening maintenance machine transmitted by the main base station 3. The dispatching greening maintenance machine 5 travels along the optimal path to the greening maintenance machine 1 with the water shortage tag. The real-time location of the dispatching greening maintenance machine 5 is obtained through the first sub-base station 2, the second sub-base station 4 and the main base station 3. In the actual production process, there are multiple greening maintenance machines in the same greening maintenance area. All of them communicate with the first sub-base station 2, the second sub-base station 4 and the main base station 3 to obtain the location of each greening maintenance machine. The optimal path is calculated by the main base station 3, and the greening maintenance machine with the water shortage tag is communicated and dispatched to the location of the water-deficient greening maintenance machine 1.

[0135] like Figure 5 As shown, a path transmission operator simulation diagram is presented, where z1 represents the location of the scheduled greening maintenance machine, z4 represents the greening maintenance machine with a water shortage label, z2 represents the first obstacle or waypoint, z3 represents the second obstacle or waypoint, S1 represents the path of the first scheduled greening maintenance machine, S2 represents the path of the second scheduled greening maintenance machine, and S3 represents the path of the third scheduled greening maintenance machine. Greening maintenance machines are selected through screening and scheduling to fill the locations of greening maintenance machines with water shortage labels.

[0136] Furthermore, it should be noted that, Figure 5 The paths of different greening maintenance machines are simulated in the same graph to facilitate comparison of path length and number of points along the way, ensuring that the three paths do not belong to the same greening maintenance robot.

[0137] When a path conflict is detected (such as intersection with the path of another machine), a decision node is inserted at the conflict point to generate two alternative paths (such as "wait for the other to pass" or "detour"). The path complexity is adjusted in real time according to the machine's battery level (the shortest path is selected when the battery level is low).

[0138] Example 2

[0139] like Figure 2 As shown, a method for controlling a greening maintenance machine includes:

[0140] Obtain weather information and greening water information, compensate the environment with the weather information, determine the greening water demand, and cover the vegetation areas that do not require greening maintenance according to the water demand;

[0141] The main base station retrieves the greening maintenance machine to spray water on the addresses of the uncovered greening vegetation and uploads the addresses of the completed greening maintenance in real time, which are then stored in the greening maintenance storage stack by the main base station in real time.

[0142] If the greening maintenance machine is short of water, the greening maintenance machine with the water shortage tag will return to the water intake tank, communicate the address of the greening maintenance already completed to the main base station in real time, and retrieve the real-time location of each greening maintenance machine. The greening maintenance machine closest to the greening maintenance machine with the water shortage tag will be dispatched to fill the unfinished greening maintenance task.

[0143] If multiple greening maintenance machines are simultaneously scheduled to spray water on the green vegetation, the addresses of the green vegetation that have been maintained are communicated to the main base station in real time. The main base station will then aggregate all the addresses of the greening maintenance machines that have been sprayed with water and overwrite the address portion of the stack that has not been sprayed with water, and provide real-time feedback to each greening maintenance machine.

[0144] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only two embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible without substantially departing from the novel teachings and advantages of the subject matter described in this application. For example, variations in the size, dimensions, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc. For instance, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. Any "device plus function" clause is intended to cover the structure performing the function described herein, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0145] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the currently considered best mode for carrying out the invention, or those features that are not relevant to implementing the invention) may be omitted.

[0146] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from this disclosure, the development effort will be a routine task in design, manufacturing, and production without requiring extensive experimentation.

[0147] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A control system for a greening maintenance machine, comprising: The greening information module is used to acquire weather information and greening water information, and to compensate the environment based on the weather information to determine the greening water requirements; The inspection and dispatch module includes a water shortage dispatch unit for dispatching greening maintenance machines to fill gaps and continue greening, and an obstacle avoidance unit for work dispatching machines. The path optimization module is used to obtain the optimal path for scheduling greening and maintenance machines; The information base station module includes a location unit for obtaining the real-time location of the greening maintenance machine, a greening stack for storing the greening path of the greening maintenance machine, and a dynamic pointer for finding the ungreened location of the machine. The system obtains the water requirements of the green vegetation for the current season, and combines this with air humidity to automatically schedule water spraying and maintenance of the green vegetation through the main base station. The main base station stores all the addresses of the green vegetation into the address storage stack. The addresses of the green vegetation that do not require watering and maintenance cover the addresses corresponding to all the green vegetation addresses in the address storage stack and are recorded as having been watered and maintained. The rest are not watered and maintained and are recorded as blank addresses. If the greening maintenance machine runs out of water, the greening maintenance machine with the water shortage label will return to the water intake tank; If multiple greening maintenance machines are simultaneously scheduled to spray water on the green vegetation, the main base station will aggregate all the addresses of the greening maintenance machines that have been sprayed with water and cover the address portion of the stack that has not been sprayed with water. If the greening maintenance machines are short of water, the real-time location of each greening maintenance machine can be retrieved to find the nearest greening maintenance machine for dispatch to fill the unfinished greening maintenance tasks. By defining dynamic pointers for the greening maintenance machines, the direction in which the greening maintenance machines continue to work can be determined. The dynamic pointer is randomly inserted into the address in the greening maintenance storage stack and slides towards the initial base address. If the first address in the initial base address direction is an address that has not been maintained, it continues to slide until it visits an address that has been maintained. If the dynamic pointer is randomly inserted into an address that has been greened and maintained, the access will proceed in the reverse direction of the initial base address until an address that has not been greened and maintained is reached. The greening and maintenance machine will then continue to perform the water spraying and maintenance task of the greening and maintenance machine with the water shortage label. Each greening maintenance machine is equipped with a real-time communication unit to upload the greened and maintained areas with location tags in real time, which are then processed by the main base station; The greening maintenance machines are deployed through the path optimization module. Each greening maintenance machine with a "no water shortage" label simulates path filling through a path optimization module, which is simulated using a path flow graph. The path flow graph includes path transport operators, first-order subsystems, and integrators; The path transmission operator outputs the path taken by the greening maintenance machine scheduling; The first-order subsystem plans the path for the greening maintenance robot to reach the greening maintenance point; The integrator is used to control the movement of the greening maintenance machine to the location of the greening maintenance machine with the water shortage label; The main base station selects the shortest distance and issues dispatch instructions to the greening maintenance machines with the "not short of water" tag.

2. The greening maintenance machine control system according to claim 1, characterized in that: The location unit includes multiple sub-base stations, which are arranged side by side in the greening maintenance area. The real-time location of the greening maintenance machine is obtained by transmitting the greening location in real time through the greening maintenance machine. The plurality of sub-base stations include a main base station, which is used to receive the location information of the greening maintenance machine that has been greened, and to store the greening path of the greening maintenance machine through the greening stack; The greening maintenance machine has stored the greening path in the stack using computer addresses.

3. The greening maintenance machine control system according to claim 1, characterized in that: The weather information includes air humidity obtained through a humidity sensor, and the greening level is set based on the air humidity. The greening level is used to control the greening machine to spray water on the greening maintenance area. If the air humidity parameter reaches the first preset threshold at time tag T, switch to sunny mode, set the environmental factor compensation level to α, and set α according to the air humidity parameter at different time tags. If the air humidity parameter reaches the second preset threshold at time tag T, switch to rain mode, set the environmental factor compensation level to β, and set β according to the air humidity parameter at different time tags; If the air humidity parameter reaches the third preset threshold at time tag T, switch to high wind mode, set the environmental factor compensation level to γ, and set γ according to the air humidity parameter at different time tags. If the air humidity parameter reaches the fourth preset threshold at time tag T, switch to low temperature mode, set the environmental factor compensation level to δ, and set δ according to the air humidity parameter at different time tags.

4. A method for controlling a greening maintenance machine, implemented based on a greening maintenance machine control system according to any one of claims 1-3, characterized in that, The method includes the following specific steps: Acquire weather information and greening water information, compensate the environment with the weather information, determine the greening water demand, and divide the address storage stack including all addresses of greening vegetation into those that have been watered and those that have not been watered according to the water demand. The main base station retrieves the greening maintenance machine to spray water on the addresses of the uncovered greening vegetation and uploads the addresses of the completed greening maintenance in real time, which are then stored in the greening maintenance storage stack by the main base station in real time. If the greening maintenance machine is short of water, the greening maintenance machine with the water shortage tag will return to the water intake tank, communicate the address of the greening maintenance already completed to the main base station in real time, and retrieve the real-time location of each greening maintenance machine. The greening maintenance machine closest to the greening maintenance machine with the water shortage tag will be dispatched to fill the unfinished greening maintenance task. If multiple greening maintenance machines are simultaneously scheduled to spray water on the green vegetation, the addresses of the green vegetation that have been maintained are communicated to the main base station in real time. The main base station will then aggregate all the addresses of the greening maintenance machines that have been sprayed with water and overwrite the address portion of the stack that has not been sprayed with water, and provide real-time feedback to each greening maintenance machine.

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