Recommended installation locations for smart garden sprinklers and lawnmower control methods

Abstract

This disclosure provides a method for recommending the installation location of a smart garden sprinkler and a method for controlling a lawnmower, relating to the field of sprinkler technology. The method includes: obtaining information on vegetation cover areas, restricted movement areas, and unrestricted movement areas based on a garden map; and achieving accurate identification of narrow passage areas by quantifying the geometric features of restricted movement areas; when determining the recommended installation location, excluding the area inside the restricted movement area, while maximizing the effective spraying area covered by the sprinkler installation location. This technical solution not only avoids obstructing the lawnmower or user's passage path with the sprinkler installation but also ensures the rational allocation of water resources; simultaneously, by combining the sprinkler coverage area with lawnmower path planning, it enables the coordinated operation of the smart garden sprinkler system and the lawnmower, improving the overall efficiency and intelligence of the automated garden equipment during operation.

Description

Technical Field

[0001] This disclosure relates to the field of sprinkler technology, and more specifically, to a method for recommending the installation location of a smart garden sprinkler and a method for controlling a lawnmower. Background Technology

[0002] With the increasing popularity of smart garden equipment, smart sprinklers, as an important device for automating the maintenance of garden vegetation, are gradually entering users' daily applications. Existing smart sprinklers typically use preset spray radius and angle to periodically spray garden vegetation, replacing manual watering and reducing the user's daily maintenance burden. However, in garden settings, due to irregular vegetation distribution, complex zoning, and diverse access routes, the installation location of the sprinkler often directly affects the spraying effect and resource utilization.

[0003] Currently, the planning methods for installing smart sprinklers typically rely on manual experience or simple area coverage judgments. In this approach, special areas within the yard are often not adequately considered. If sprinklers are installed in such areas, it can easily affect equipment operation or pedestrian access.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this disclosure is to provide a method for recommending the installation location of a smart garden sprinkler and a method for controlling a lawnmower, so that the installation of the sprinkler can avoid obstructing the lawnmower or the passage of users, and can ensure optimal allocation of sprinkler resources and improve resource utilization.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0007] According to a first aspect of the present disclosure, a method for recommending the installation location of a smart garden sprinkler is provided, comprising:

[0008] Obtain a courtyard map, which includes a vegetation-covered area and a non-vegetation-restricted area;

[0009] Based on the courtyard map and the irrigation coverage of the smart courtyard sprinkler, a recommended installation location is determined, which does not include the inner area of ​​the restricted movement zone.

[0010] The restricted movement area is a narrow passageway in the courtyard map that allows users or mobile devices to pass through, and the mobile device is a device used for mowing the lawn in the courtyard.

[0011] The minimum width of the restricted movement area is a first preset multiple of the width of the mobile device, or the minimum width of the restricted movement area is 0.75 meters;

[0012] And / or, the maximum width of the restricted movement area is 2 meters;

[0013] And / or, the minimum length of the restricted movement area is 1 meter.

[0014] By defining the geometric features of restricted movement areas, the narrow passage areas can be quantitatively determined. When recommending installation locations, the area inside the restricted movement areas is explicitly excluded, maximizing the effective spraying area that the sprinkler installation location can cover. This not only ensures that the installation of the sprinkler avoids obstructing the lawnmower or user passage, but also guarantees optimal allocation of spraying resources, improving the efficiency and intelligence of the collaborative work of garden automation equipment. Meanwhile, if the minimum width of a certain area is a first preset multiple of the width of the mobile device, or if the minimum width of the restricted area is 0.75 meters, and / or the maximum width of the restricted area is 2 meters, and / or the minimum length of the restricted area is 1 meter, it indicates that the area is a key passage or narrow path in the yard for users or mobile devices (such as lawnmowers). If the smart garden sprinkler is installed in this area, it may affect the passage of users or mobile devices, or even prevent the mobile devices from entering the area to complete their work. When recommending the installation location of the smart garden sprinkler, the interior of such narrow passage areas can be excluded, so that the smart garden sprinkler is not installed on the main passage. This not only ensures that the lawnmower can pass through the area smoothly during daily operation, reducing the omission of mowing range or obstruction of the walking trajectory caused by the equipment occupying space, but also avoids the user being affected by obstacles during passage, thus improving the user experience.

[0015] According to a second aspect of the present disclosure, a method for recommending the installation location of a smart garden sprinkler is provided, the method comprising:

[0016] Obtain a courtyard map, which includes a vegetation-covered area and a non-vegetation-restricted area;

[0017] Based on the courtyard map and the irrigation coverage of the smart sprinkler, a recommended installation location is determined. The recommended installation location does not include the inner area of ​​the restricted movement area. The restricted movement area is a narrow passageway in the courtyard map that allows users or mobile devices to pass through. The irrigation coverage includes the maximum water spray diameter and the maximum water spray radius.

[0018] When the maximum distance between a point on the boundary of the vegetation-covered area and the recommended installation location is greater than the maximum spray radius and less than or equal to the maximum spray diameter, the vegetation-covered area includes an area not covered by sprinkler irrigation, and the recommended installation location is set in the inner area of ​​the vegetation-covered area that is closer to the area not covered by sprinkler irrigation than at the edge.

[0019] In relevant sprinkler installation schemes, when the distance between the point on the boundary of the vegetation coverage area and the recommended installation location exceeds the maximum spray radius, the vegetation area often cannot be completely covered. However, if only the overall sprinkler coverage area is estimated without a precise comparison between the boundary point and the sprinkler coverage radius, the sprinkler may be incorrectly deployed, resulting in uncovered areas still existing within the vegetation coverage area.

[0020] By incorporating the maximum spray diameter and maximum spray radius into the determination of the recommended installation location, and combining this with the maximum interval distance between the boundary point of the vegetation cover area and the recommended installation location, the system can determine that there are un-sprinkled areas within the vegetation cover area when the maximum interval distance is greater than the maximum spray radius but less than or equal to the maximum spray diameter. In this case, setting the recommended installation location closer to the un-sprinkled areas within the vegetation cover area effectively reduces missed spraying at the boundary, improves the matching degree between sprinkler coverage and vegetation distribution, and enhances the irrigation integrity of edge vegetation, thus making the recommended installation results more accurate and reliable.

[0021] According to a third aspect of the present disclosure, a method for recommending the installation location of a smart garden sprinkler is provided, the method comprising:

[0022] A courtyard map is formed by marking multiple location points along multiple water spray paths using the smart sprinkler pre-installed in the first location. These location points are obtained by controlling the smart sprinkler to spray water onto the courtyard location.

[0023] Obtain the courtyard map, which includes a vegetation-covered area, and the vegetation-covered area includes a restricted area and a non-restricted area;

[0024] Based on the courtyard map and the irrigation coverage of the smart courtyard sprinkler, a recommended installation location is determined, which does not include the inner area of ​​the restricted movement zone; wherein, the restricted movement zone is a narrow passageway in the courtyard map that allows users or mobile devices to pass through.

[0025] By pre-installing smart garden sprinklers at a designated location and manually controlling the sprinkler's path and height, multiple points are marked along different irrigation paths. These points are then merged to form a garden map. This method replaces the mapping function of a lawnmower, enabling the mapping of garden boundaries. Users can generate accurate garden maps through simple operations, even without a lawnmower or similar map-collecting equipment, without being limited by equipment conditions. This not only solves the problem of not being able to create garden maps in the absence of mobile mapping equipment like lawnmowers, but also improves the universality and flexibility of map generation through manual calibration and data fusion. This makes the method for generating recommended installation locations more universal and can cover more garden application scenarios. Furthermore, the acquired garden map includes vegetated areas and narrow, restricted-movement areas. When determining the recommended installation location, areas within restricted-movement zones can be excluded, ensuring that the sprinkler covers the maximum effective irrigation area without obstructing user or other mobile equipment passage.

[0026] In some example embodiments of this disclosure, based on the foregoing scheme, the courtyard map is constructed using a mobile device;

[0027] The width of the restricted mobility area is greater than or equal to a first preset multiple of the width of the mobile device and less than a second preset multiple of the width of the mobile device, and / or the length of the restricted mobility area is greater than a third preset multiple of the width of the mobile device.

[0028] In related backyard sprinkler installation planning methods, although the installation location of sprinklers can be determined by map, maps are often derived from manual surveying or static sensor data, which are difficult to reflect the dynamic changes in the backyard environment in a timely manner, resulting in insufficient accuracy of installation recommendations. At the same time, the determination of restricted areas lacks a precise proportional relationship with the size of mobile equipment such as lawnmowers. The width or length range set by manual experience is often too vague, which may result in the restricted area being too wide, thus wasting the effective sprinkler area, or the restricted area being too narrow, thus causing the sprinkler installation to conflict with the passage area.

[0029] By utilizing mobile devices to construct yard maps, recommended installation locations can be determined based on real-time updated spatial information analysis, ensuring that installation suggestions align with the actual yard environment. Simultaneously, by limiting the width of restricted movement areas to a first preset multiple greater than or equal to the width of the mobile device and less than a second preset multiple, combined with a third preset multiple greater than the width of the mobile device, quantitative determination of restricted movement areas can be achieved. This allows sprinkler installation recommendations to consider the accessibility needs of mobile devices such as lawnmowers while reducing uncertainties arising from manual experience settings, thereby improving the rationality of sprinkler installation and enhancing the stability of sprinkler operation in conjunction with other equipment.

[0030] In some example embodiments of this disclosure, based on the aforementioned scheme, the first preset multiple is 1.5, the second preset multiple is 4, and the third preset multiple is greater than or equal to 2.

[0031] By further defining specific numerical ranges in the criteria for determining restricted movement areas, a first preset multiple of 1.5 effectively ensures that a passage width only slightly larger than the width of the lawnmower itself is identified as a narrow area. This avoids recommending sprinklers to be installed in such areas during path planning, reducing the risk of collisions caused by the lawnmower driving close to the edge. A second preset multiple of 4 limits the upper limit of restricted movement areas. When the passage width exceeds four times the width of the lawnmower itself, the area no longer poses a substantial restriction on the lawnmower's passage and can therefore be identified as a suitable area for passage or sprinkler placement. This improves the flexibility of path planning, avoids including too many non-restricted movement areas in the restriction criteria, and improves the accuracy of the recommendation results. When a third preset multiple is set to greater than or equal to 2, it ensures that the length of the restricted movement area has sufficient extensibility relative to the length of the lawnmower itself, thus preventing short-distance obstacles from being misjudged as areas affecting passage and reducing unnecessary detours in path planning.

[0032] By setting specific values ​​for the first, second, and third preset multiples, the width and length of the restricted movement area can be clearly defined. This ensures that the recommended installation of sprinklers maintains a consistent basis for judgment in different courtyard environments and equipment application scenarios, thereby reducing the uncertainty caused by differences in the determination of restricted movement areas. This allows the sprinkler installation location to avoid obstructing the passage of mobile equipment, while improving the standardization and operability of the installation location recommendation process and enhancing the matching degree between the sprinkler and the mobile equipment's workspace.

[0033] In some example embodiments of this disclosure, based on the foregoing scheme, when it is detected that the edge of the vegetation cover area is at least part of the sprinkler coverage area, the recommended installation position is set at the edge of the vegetation cover area;

[0034] Wherein, at least part of the irrigation coverage area includes the fan-shaped irrigation area covered by the maximum spray radius of the smart garden sprinkler when it is located at the edge of the vegetation-covered area.

[0035] When recommending sprinkler installation locations, the technology often fails to distinguish whether the edge of the vegetated area falls within the sprinkler coverage area, leading to recommended locations that are biased towards the interior or randomly distributed. This can easily result in sprinkler heads being installed in suboptimal positions: potentially causing water to flow beyond the lawn area and resulting in waste, or causing insufficient watering in the edge areas.

[0036] When it is determined that the edge of the vegetation cover area is within the sprinkler coverage area, it is recommended to install the sprinkler at the edge. This can effectively ensure that the sprinkler's spray range can effectively cover the boundary area of ​​the lawn, avoid water shortage in the edge area, reduce ineffective spraying beyond the vegetation cover area, improve the targeting of irrigation and water resource utilization, and setting it at the edge can also greatly reduce interference to people moving on the lawn.

[0037] In some example embodiments of this disclosure, based on the foregoing scheme, a recommended installation location is determined according to the yard map and the irrigation coverage area of ​​the smart yard sprinkler, including:

[0038] Determine the vegetation coverage area of ​​the vegetation coverage area and the maximum sprinkler irrigation area of ​​the sprinkler irrigation coverage range based on the courtyard map;

[0039] When the vegetation coverage area is less than or equal to the maximum sprinkler area, the recommended installation location is the edge of the vegetation coverage area.

[0040] Understandably, if the area to be irrigated is much larger or smaller than the area of ​​vegetation cover, the sprinklers may be installed in areas with redundant cover, resulting in some of the spraying area being wasted in non-vegetated areas, or installed in areas with insufficient cover, resulting in dead spots in the lawn where water is scarce.

[0041] By comparing the maximum irrigation area in the sprinkler parameters, when the vegetation coverage area is less than or equal to the maximum irrigation area, the recommended installation location is set at the edge of the vegetation coverage area. The sprinkler's spray range can cover the entire vegetation coverage area, avoiding insufficient spraying and reducing the possibility of over-spraying non-vegetated areas. This ensures the matching degree between the sprinkler layout and the actual area of ​​the yard, and improves irrigation efficiency.

[0042] In some example embodiments of this disclosure, based on the foregoing scheme, when at least a portion of the edge of the vegetation cover area is not within at least a portion of the sprinkler coverage area, the recommended installation location is set at the edge of the restricted movement area, or at any location within the vegetation cover area other than the restricted movement area;

[0043] Wherein, at least part of the irrigation coverage area includes the fan-shaped irrigation area formed by the maximum spray radius of the smart garden sprinkler when the garden sprinkler is located at the edge of the vegetation coverage area.

[0044] In practical applications in courtyards, the spray coverage of sprinklers does not always reach the edge of the vegetated area, or the coverage area may be smaller than the covered area. When the edge is not within the spray range, if the edge-first installation logic is still followed, the sprinkler installation position may deviate from the actual coverage area, resulting in some areas not being effectively watered. Existing solutions do not differentiate the recommended installation position in this situation, which may lead to rigid sprinkler placement or insufficient coverage.

[0045] When it is determined that the edge of the vegetation cover area does not fall within the sprinkler coverage area, the recommended installation position is no longer fixed at the edge. Instead, it is adjusted to either set the recommended installation position at the edge of the restricted area, utilizing the boundary characteristics of the passable area to ensure that the installation of the sprinkler does not affect passage and can cover the adjacent area; or the recommended installation position is placed at any internal location within the vegetation cover area other than the restricted area, so as to ensure that the coverage of the sprinkler range is maximized, avoid sprinkler blind spots, and improve the integrity of irrigation.

[0046] In some example embodiments of this disclosure, based on the foregoing scheme, the method further includes:

[0047] The effective irrigation area is displayed on the courtyard map in conjunction with the irrigation coverage range. The effective irrigation area is the intersection of the irrigation coverage range of the smart courtyard sprinkler at the recommended installation location and the vegetation coverage area, which is used to characterize the effective range that the smart courtyard sprinkler can actually irrigate at the recommended installation location.

[0048] If the effective irrigation area does not completely cover the vegetation coverage area, and the vegetation coverage area includes areas not covered by irrigation, then the recommended installation position is set in the vegetation coverage area closer to the areas not covered by irrigation than the edge position.

[0049] In relevant sprinkler installation schemes, users often cannot intuitively understand the correspondence between the sprinkler coverage area and the vegetation coverage area; when the effective irrigation area of ​​the sprinkler does not completely cover the vegetation coverage area, users lack a clear reference to judge whether the installation position needs to be adjusted, which can easily lead to a mismatch between the sprinkler layout and irrigation needs.

[0050] By displaying the effective irrigation area on the yard map in conjunction with the sprinkler coverage area—that is, the intersection of the sprinkler coverage area and the vegetation coverage area—users can intuitively understand the actual area that the sprinkler can irrigate at the recommended installation location. If the effective irrigation area does not completely cover the vegetation coverage area, the system can adjust the recommended installation location closer to the un-irrigated area, thus reducing missed areas. Furthermore, this method improves the visibility and transparency of the recommended installation location, making it easier for users to understand the recommendation logic and enhancing the match between sprinkler coverage and vegetation distribution.

[0051] In some exemplary embodiments of this disclosure, based on the foregoing scheme, the smart garden sprinkler achieves irrigation coverage through multiple sub-sprinkler paths distributed radially;

[0052] When there are un-irrigated areas in the vegetation-covered area that cannot be covered by the effective irrigation area of ​​the smart garden sprinkler, the water volume of the sub-irrigation path corresponding to the boundary of the un-irrigated area or one or more previous sub-irrigation paths shall be increased to meet the water demand of the un-irrigated area.

[0053] In recommended sprinkler installation schemes, the sprinkler spray volume is typically uniform and fixed, lacking the ability to dynamically adjust for coverage blind spots. When the sprinkler coverage area fails to completely cover the vegetation, especially near the boundaries of uncovered areas, vegetation often suffers from water shortages. Furthermore, the relevant technologies do not consider compensating for uncovered areas, resulting in insufficient irrigation uniformity and irrational resource allocation.

[0054] By extending the spraying time along the corresponding path during sprinkler irrigation, water can flow to uncovered vegetation areas. This allows the sprinkler to compensate for irrigation needs in edge or blind spots while maintaining the overall irrigation pattern, reducing drought areas caused by insufficient edge coverage in vegetated areas, improving the uniformity and effectiveness of sprinkler coverage, and enhancing the adaptability of the sprinkler to different terrains and vegetation distributions. This allows the recommended installation location to work in conjunction with the sprinkler control strategy, thereby improving resource utilization and irrigation efficiency.

[0055] In some example embodiments of this disclosure, based on the foregoing scheme, the method further includes:

[0056] Obtain the maximum interval distance between a point on the boundary of the vegetation coverage area and the recommended installation location, wherein the sprinkler coverage area includes the maximum spray radius;

[0057] When the maximum interval distance is less than or equal to the maximum spray radius, the smart garden sprinkler will spray the vegetation-covered area evenly according to the preset spray path during irrigation.

[0058] When the maximum interval distance is greater than the maximum spray radius, the vegetation coverage area includes areas not covered by sprinkler irrigation, so that when the smart garden sprinkler irrigates along the preset sprinkler path, it increases the spray volume of the sub-sprinkler path passing through the boundary of the area not covered by sprinkler irrigation or one or more previous sub-sprinkler paths.

[0059] In relevant sprinkler irrigation control methods, when sprinklers perform path irrigation, they lack the ability to determine the irrigation coverage range between the vegetation coverage area boundary and the recommended installation location. If the maximum interval distance is less than the irrigation radius and is not properly controlled, it can easily lead to water waste. When the maximum interval distance is greater than the irrigation radius, if uniform spraying is still used, it can easily cause some vegetation areas to be uncovered, forming irrigation blind spots.

[0060] By obtaining the maximum interval distance between the boundary point of the vegetation coverage area and the recommended installation location, and combining it with the maximum spray radius in the sprinkler coverage area, when the maximum interval distance is less than or equal to the maximum spray radius, it can be considered that the sprinkler can spray evenly along the preset path during sprinkler irrigation, thereby maintaining the uniformity of sprinkler coverage. When the maximum interval distance is greater than the maximum spray radius, it can be considered that the sprinkler needs to increase the spray volume when passing through the boundary of the unsprinkled area or the sub-sprinkler path before it, so that the sprinkler water can flow to the boundary of the unsprinkled area to make up for the sprinkler blind spots. This can effectively reduce the situation of insufficient sprinkler blind spot coverage and improve the sprinkler's sprinkler uniformity in different areas, ensuring full sprinkler coverage while improving water resource utilization.

[0061] In some example embodiments of this disclosure, based on the foregoing scheme, the increase in water volume is achieved by extending the water spraying time under the corresponding sub-sprinkler path.

[0062] In the relevant sprinkler compensation methods, when additional watering is needed for uncovered areas, there is often a lack of clear adjustment mechanisms. If compensation is achieved by simply changing the water pressure or spray angle of the sprinkler, it is not only difficult to accurately control the spraying of specific paths, but may also lead to over-irrigation or under-compensation in local areas. When faced with irregular vegetation distribution, sprinklers lack stable and operable compensation methods.

[0063] By limiting the increase in water volume to extending the spraying time under the corresponding sub-sprinkler path, the sprinkler can provide targeted compensation for local path segments while maintaining the overall irrigation pattern. This method makes the compensation process more intuitive and controllable, avoiding uncertainties caused by water pressure or angle adjustments. At the same time, extending the spraying time not only provides more complete coverage of unirrigated areas, but also ensures that the compensation amount is consistent with the actual water requirements of the vegetation. This ensures the uniformity of irrigation while achieving the rational use of water resources and improving the flexibility and stability of the sprinkler during compensation.

[0064] In some example embodiments of this disclosure, based on the foregoing scheme, the restricted movement area includes an area entrance and an area exit, the vegetation cover area includes a non-restricted movement area connected to the restricted movement area, and at least the width of the non-restricted movement area is greater than the width of the restricted movement area;

[0065] When the edge of the vegetation-covered area is detected to be within the sprinkler coverage area, the recommended installation location is set at the corner where the non-movable restricted area connects to the area entrance or area exit.

[0066] During the installation of garden sprinklers, if the location of the sprinkler entrance and exit is not considered when placing it near narrow passages, it can easily lead to conflicts between the sprinkler installation point and the passage space. If the sprinkler is installed in an unreasonable location, it may not only prevent the lawnmower from entering or leaving the passage smoothly, but may also create irrigation dead zones at the edge of the passage, preventing the boundary vegetation from being adequately watered.

[0067] By recommending the installation location at the corner connecting the non-restricted area and the entrance or exit of the passage when the edge of the vegetated area is detected as being within the sprinkler coverage area, the sprinkler deployment can simultaneously meet the needs of passage space and irrigation coverage. This ensures smooth use in restricted areas while providing effective irrigation to the boundary vegetated areas, resulting in a more complete and balanced irrigation range. Furthermore, the corner installation location of the sprinklers provides a clear boundary reference for the path recognition of mobile equipment, thereby enhancing the collaborative operation between devices.

[0068] In some example embodiments of this disclosure, based on the foregoing scheme, the non-movement-restricted area includes a first working area and a second working area, and the movement-restricted area is connected between the first working area and the second working area; the method further includes:

[0069] If the actual installation location of the smart garden sprinkler is within a first working area outside the restricted movement area and the edge of the restricted movement area, the water curtain formed by the smart garden sprinkler is controlled to gradually change the spray diameter and / or spray height along the extension direction of the restricted movement area, so that the water curtain extends from the first working area to the second working area, so that the water curtain at least covers the two sides of the restricted movement area in the extension direction, and extends a preset distance beyond at least one boundary of the restricted movement area.

[0070] In a backyard sprinkler system, the vegetation-covered area is often divided into multiple independent work zones. These zones are connected by a restricted area. If the sprinkler is actually installed in a certain work zone, but the sprinkler strategy does not consider cross-zone spraying, it will result in insufficient coverage of adjacent work zones near the restricted area. Especially when the restricted area is narrow, the water curtain cannot naturally extend to another work zone, which can easily cause the sprinkler range between zones to be fragmented.

[0071] When the sprinkler is installed in the first working area, the water curtain formed by the sprinkler is controlled to gradually change the spray diameter and / or spray height along the extension direction of the restricted area, so that the water curtain can extend from the first working area to the second working area. The water curtain can cover both sides of the channel extension direction and extend outward by a preset distance at at least one boundary. This can effectively compensate for the blind spots at the edge of the restricted area, not only ensuring the irrigation of the lawn area around the restricted area, but also forming a continuous coverage of the water curtain between different areas, improving the uniformity of sprinkler irrigation and enhancing the sprinkler irrigation coverage effect.

[0072] In some example embodiments of this disclosure, based on the foregoing scheme, the movement-restricted area includes an area entrance and an area exit; the method further includes:

[0073] Increase the water volume of the sub-sprinkler path of the smart garden sprinkler at the entrance or exit of the area, and / or control the coverage length of the sub-sprinkler path so that the water curtain formed by the smart garden sprinkler completely covers the entrance or exit of the area.

[0074] When sprinklers are operating near the entrance or exit of a restricted area, if the water volume and coverage length of the irrigation path are not specifically controlled, either insufficient water will result in missed areas of vegetation along the boundaries of the entrance or exit; or the spraying area will be too large, causing the water curtain to extend into unrelated areas outside the restricted area, resulting in water waste and localized over-irrigation.

[0075] By increasing the water volume of the sub-sprinkler path at the area entrance or exit, or by controlling the coverage length of the sub-sprinkler path, the water curtain formed by the sprinkler can completely cover the area entrance or exit. In this way, the boundary vegetation at the area entrance and exit can be fully irrigated, while unrelated areas will not be subjected to unnecessary water curtain spraying. This makes the allocation of water resources more rational and makes the sprinkler irrigation at the boundary of the restricted area more in line with the actual needs of the courtyard scene.

[0076] In some example embodiments of this disclosure, based on the foregoing scheme, the courtyard map includes a recessed area, and the recommended installation location is set in an area away from the recessed area.

[0077] In courtyard environments, there are often recessed areas, such as pits or low-lying areas. If the sprinkler is installed too close to these recessed areas, the sprinkler water is likely to accumulate there, causing local water accumulation. This not only wastes water resources but may also affect the normal growth of vegetation and even accelerate soil compaction.

[0078] By identifying recessed areas on the yard map and setting recommended installation locations away from these areas, sprinklers can avoid areas prone to water accumulation, resulting in a more even and reasonable distribution of irrigation water. This reduces the negative impact of excessive local water concentration and improves the coordination between sprinkler coverage and terrain features, thereby enhancing the overall adaptability and reliability of yard irrigation.

[0079] In some example embodiments of this disclosure, based on the foregoing scheme, the yard map includes a sprinkler prohibition zone, and the recommended installation location of the smart yard sprinkler is set in an area far from the edge of the sprinkler prohibition zone.

[0080] In courtyard settings, there are often areas where sprinkler irrigation is prohibited, such as paved areas, recreational areas, or functional areas that need to be kept dry. If the sprinkler is installed too close to these prohibited areas, water can easily flow into non-target areas, affecting not only the normal use of those areas but also potentially causing slippery surfaces or structural damage.

[0081] By introducing sprinkler-restricted zones in the yard map and setting the recommended installation locations for sprinklers far from the edges of these zones, it is possible to effectively prevent sprinkler water from flowing into areas that do not require irrigation. This sprinkler placement reduces ineffective water consumption, concentrates irrigation on vegetated areas, and effectively keeps restricted sprinkler zones dry. This improves the usability and safety of the yard, thereby enhancing the coordination between sprinkler placement and the actual functional zoning of the yard.

[0082] In some example embodiments of this disclosure, based on the foregoing scheme, the method further includes:

[0083] The effective irrigation area is determined by combining the actual installation location of the smart sprinkler in the courtyard. The effective irrigation area is the intersection of the sprinkler coverage area of ​​the smart sprinkler at the actual installation location and the vegetation coverage area, which is used to characterize the effective range that the smart sprinkler can actually irrigate at the actual installation location.

[0084] If the effective irrigation area at least partially covers the irrigation prohibition area, then the sub-irrigation path of the smart garden sprinkler is controlled to be less than or equal to the width of the local vegetation coverage area surrounding the irrigation prohibition area.

[0085] During the actual installation of garden sprinklers, even if the recommended installation location is far from areas where irrigation is prohibited, some water may still reach prohibited areas because the irrigation coverage area often extends in a fan or circle. Without further determination of the effective irrigation area at the actual installation location, it is difficult to promptly identify and correct conflicts between the irrigation range and prohibited areas. Furthermore, without precise constraints on the irrigation path, prohibited areas can easily be sprayed, affecting the user experience of functional areas and wasting water resources.

[0086] By combining the actual installation location of the smart sprinkler system in the courtyard, the intersection of its sprinkler coverage area and the vegetation coverage area is determined as the effective irrigation area. This provides a clear indication of the area that the sprinkler can irrigate at the actual installation point. When it is found that the effective irrigation area at least partially covers the prohibited irrigation area, the sub-sprinkler path of the sprinkler system is controlled to be smaller than or equal to the width of the surrounding local vegetation coverage area. This limits the sprinkler's spray range to a reasonable local space, preventing water from spraying into the prohibited area while ensuring that adjacent vegetation still receives necessary irrigation. This improves the accuracy of sprinkler control and enhances the overall irrigation effect.

[0087] In some example embodiments of this disclosure, based on the foregoing scheme, if the vegetation coverage area includes raised vegetation areas that the mobile device cannot access, and the raised vegetation areas that cannot access include at least shrub areas and / or flower bed areas, the recommended installation location is set at the area range of the effective irrigation range of the smart garden sprinkler that covers the raised vegetation areas.

[0088] In garden environments, there are often raised vegetation areas that mobile equipment cannot access, such as flower beds or shrubbery areas. Due to height differences or structural barriers, these areas are inaccessible to mobile equipment like lawnmowers, and the surrounding vegetation is prone to insufficient irrigation due to lack of cover. If sprinkler installation recommendations fail to take these raised vegetation areas into account, it will lead to a disconnect between the sprinkler range and irrigation needs, leaving these areas chronically water-deficient and thus affecting the overall healthy growth of the garden vegetation.

[0089] By identifying raised vegetation areas inaccessible to mobile devices within vegetated areas and placing sprinklers in recommended locations where their effective irrigation range can cover these areas, the sprinkler's spraying effect can extend to flower beds or shrub areas. This ensures that raised vegetation areas receive adequate irrigation, resulting in a more comprehensive and balanced irrigation layout. Furthermore, it enhances the sprinkler's versatility, enabling it to handle different types of vegetation even in complex garden settings, thereby improving the overall reliability of automated garden irrigation.

[0090] In some example embodiments of this disclosure, based on the foregoing scheme, the irrigation height of the smart sprinkler at the recommended installation location is at least greater than the shading height of the raised vegetation area;

[0091] The method further includes:

[0092] The intelligent sprinkler system in the courtyard is controlled to spray at a height greater than the shading height of the raised vegetation area.

[0093] When sprinkler irrigation is applied to raised vegetation areas such as flower beds or shrubs in a courtyard, if the sprinkler height is insufficient to exceed the height of the raised vegetation, the water flow will be blocked by the edges of the vegetation or flower beds, resulting in ineffective irrigation of the vegetation behind the blocked area. This situation not only leads to irrigation blind spots but may also cause water to concentrate in front of the blocked area, resulting in localized over-irrigation.

[0094] By setting the sprinkler height at the recommended installation location to be at least greater than the shading height of the raised vegetation area, and controlling the sprinkler height to remain above the shading height during irrigation, the water flow can cross the edges of flower beds or shrubs, fully covering the vegetation area behind them. This effectively reduces irrigation blind spots and improves the uniformity of watering inside and outside the raised vegetation area. Furthermore, dynamic control of the sprinkler height enhances the sprinkler's adaptability to complex garden terrain, resulting in more stable and reliable irrigation.

[0095] In some exemplary embodiments of this disclosure, based on the foregoing scheme, the nozzle types of the smart garden sprinkler include water curtain nozzles and atomizing nozzles. The water curtain nozzles are used to form a water curtain coverage with a longer spray distance, and the atomizing nozzles are used to form an atomized water stream with a shorter spray distance. The method further includes:

[0096] If there is a flower bed area in the vegetation coverage area, the recommended installation location is set close to the flower bed area; and when the smart garden sprinkler executes the sub-sprinkler path corresponding to the flower bed area, it switches the water curtain nozzle to the atomizing nozzle.

[0097] By incorporating both water curtain and atomizing nozzles into a smart garden sprinkler system, and switching between them based on the irrigation path and the location of the flower bed area, the system can cater to the differentiated needs of both large-scale vegetation and localized flower bed areas. On one hand, the water curtain nozzles can create a continuous water curtain over a long distance, ensuring uniform irrigation of lawns or vegetation outside the flower bed area. On the other hand, the atomizing nozzles, operating within the sub-irrigation path corresponding to the flower bed area, create a mist-like water flow with a shorter spray distance and finer droplets, increasing the moisture content of the leaves of the flower bed plants while effectively preventing impact damage to delicate vegetation such as petals and seedlings.

[0098] In some example embodiments of this disclosure, based on the foregoing scheme, the method further includes:

[0099] Obtain a location modification instruction for the recommended installation location, the location modification instruction being used to switch the recommended installation location to a new installation location specified on the courtyard map;

[0100] If the new installation location is within the restricted movement area, a restricted prompt message is output, which is used to indicate that the new installation location restricts the user or the mobile device from working or moving.

[0101] In practical applications, users may modify the recommended sprinkler installation location based on personal preferences or usage habits. If a user moves the sprinkler to a restricted area without fully considering yard map information, the sprinkler may obstruct the lawnmower's path or pedestrian access.

[0102] By obtaining the user's location modification command based on the recommended installation location, and judging the situation when the user specifies a new installation location, if the new installation location is detected to be within a restricted movement area, a restriction warning message is output, indicating that the location may restrict the operation of mobile devices such as lawnmowers or the user's normal passage. This allows for user flexibility in adjustment while providing clear risk warnings, avoiding inconvenience caused by improper sprinkler installation location selection. This enhances the user-friendliness of the installation recommendation process, making sprinkler deployment more suitable for the actual needs of backyard environments and multi-device collaborative operation.

[0103] In some example embodiments of this disclosure, based on the foregoing scheme, the method further includes:

[0104] A yard map is obtained using a global positioning system, the yard map including pre-identified non-mobility restricted areas;

[0105] Based on the courtyard map and the irrigation coverage area of ​​the smart sprinkler, a recommended installation location is determined. The recommended installation location is set in a non-restricted area, and the recommended installation location maximizes the area of ​​the irrigation coverage area within the vegetation coverage area.

[0106] By acquiring a yard map through the Global Positioning System (GPS) and pre-marking non-restricted movement zones on the map, the recommended installation location can be determined based on a unified and accurate data source. Based on this, analysis of the yard map and sprinkler coverage area allows for the installation of sprinklers within non-restricted movement zones, maximizing the sprinkler coverage area within the vegetation cover. This achieves a more rational coverage match, reducing potential conflicts between sprinklers and traffic paths, and improving the scientific accuracy of recommended installation locations. This ensures that sprinkler deployment meets irrigation coverage requirements while also considering the operating environment of mobile equipment.

[0107] In some example embodiments of this disclosure, based on the foregoing scheme, the method further includes:

[0108] A yard map is obtained through a global positioning system. The yard map includes pre-marked non-mobility restricted areas, which include raised vegetation areas that mobile devices cannot access. The inaccessible raised vegetation areas include at least shrub areas or flower bed areas.

[0109] Based on the courtyard map and the irrigation coverage and height distribution of the smart sprinkler, a recommended installation location is determined. The recommended installation location is set in a non-restricted area. The recommended installation location ensures that the irrigation height of the smart sprinkler at the raised vegetation area is at least greater than the shading height of the raised vegetation area, and maximizes the area of ​​the irrigation coverage within the vegetation coverage area.

[0110] By acquiring a yard map using a GPS system and pre-marking non-restricted-movement zones on the map, including raised vegetation areas such as shrublands or flower beds, installation locations can be recommended based on the sprinkler coverage area and sprinkler height distribution. This ensures that the sprinkler height in raised vegetation areas is at least greater than the obstruction height, maximizing the sprinkler coverage area within the vegetation. In this way, the sprinkler flow can overcome the obstruction of raised vegetation, achieving uniform coverage of the raised vegetation area and its surroundings. The recommended installation locations not only meet the irrigation needs of all areas to be irrigated but also avoid interfering with the passage of users or mobile devices, improving the rationality and adaptability of sprinkler deployment.

[0111] According to a fourth aspect of the present disclosure, a lawnmower control method is provided, comprising:

[0112] Obtain the actual installation location of the smart sprinkler in the yard and mark the actual installation location on the yard map;

[0113] Based on a yard map including the actual installation location, a new working path is planned for the lawnmower, which is used to avoid obstacles when the lawnmower moves to the actual installation location.

[0114] When using automated equipment such as sprinklers and lawnmowers in a yard, if the actual installation location of the sprinkler is not effectively linked to the working path of the lawnmower, the lawnmower is prone to colliding with the sprinkler during operation, causing equipment damage or work interruption. Most related lawnmower path planning methods do not consider the actual layout of the sprinklers and lack the inclusion of sprinkler installation information in the path obstacle avoidance planning. In yard scenarios with multiple devices working together, there are problems of operational conflicts and instability.

[0115] By obtaining the actual installation location of the sprinkler and marking it on the yard map, the lawnmower can plan a new working path based on the updated map. In the new path planning, the lawnmower will automatically avoid obstacles when moving to the area where the sprinkler is located, thereby avoiding physical interference with the sprinkler. This can effectively improve the stability and safety of the lawnmower's operation, while also enabling collaborative work between the sprinkler and the lawnmower, making the overall operation of the smart yard equipment more efficient and reliable.

[0116] According to a fifth aspect of the present disclosure, a smart garden sprinkler is provided, which can be installed in a location using the recommended installation location method for smart garden sprinklers in the first, second, or third aspects.

[0117] According to a sixth aspect of the present disclosure, a lawnmower is provided that may include a map acquisition component for acquiring a yard map, the yard map being applied to the method for recommending the installation location of a smart yard sprinkler in the first or second aspect.

[0118] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0119] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0120] Figure 1 The diagram illustrates a method for recommending installation locations for a smart garden sprinkler according to some embodiments of the present disclosure.

[0121] Figure 2 The illustration schematically shows a principle diagram of calculating the length of a movement-restricted region obtained by multi-path stitching according to some embodiments of the present disclosure.

[0122] Figure 3 The illustration schematically depicts a process for selecting or updating recommended installation locations according to some embodiments of the present disclosure.

[0123] Figure 4 The illustration shows a schematic diagram of the principle of forming unsprinkled areas in a vegetated area according to some embodiments of the present disclosure.

[0124] Figure 5 The illustration schematically depicts a principle diagram of updating recommended installation locations in areas not covered by sprinkler irrigation, according to some embodiments of the present disclosure.

[0125] Figure 6 The illustration schematically shows a process diagram of controlling a smart garden sprinkler to compensate for areas not covered by sprinkler irrigation according to some embodiments of the present disclosure.

[0126] Figure 7 The diagram illustrates a recommended installation location at a connecting corner position according to some embodiments of the present disclosure.

[0127] Figure 8 The illustration schematically shows a principle diagram of sprinkler irrigation compensation at the area entrance and area exit of a restricted area according to some embodiments of the present disclosure.

[0128] Figure 9 The illustration schematically shows a principle diagram of sprinkler irrigation compensation for the areas on both sides of a movement-restricted area according to some embodiments of the present disclosure.

[0129] Figure 10 The illustration shows a schematic diagram of a process that interactively prompts users about location restrictions for new installations, according to some embodiments of the present disclosure.

[0130] Figure 11 The diagram illustrates a method for recommending installation locations for a smart garden sprinkler according to other embodiments of the present disclosure.

[0131] Figure 12 The illustration schematically shows a schematic diagram of the principle of forming a yard map by marking location points using a smart yard sprinkler according to some other embodiments of the present disclosure.

[0132] Figure 13 The schematic diagram illustrates a flow chart of a lawnmower control method according to some embodiments of the present disclosure.

[0133] Figure 14 The schematic diagram illustrates the structural schematic of a computer system of an electronic device according to some embodiments of the present disclosure.

[0134] Figure 15 A schematic diagram of a computer-readable storage medium according to some embodiments of the present disclosure is shown.

[0135] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts. Detailed Implementation

[0136] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0137] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0138] Furthermore, the accompanying drawings are for illustrative purposes only and are not necessarily drawn to scale. The block diagrams shown in the drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0139] The method for recommending the installation location of a smart sprinkler system provided in this disclosure can be used in smart garden maintenance scenarios, especially in family gardens, villa gardens, or small green areas where smart sprinklers and lawnmowers are deployed simultaneously. Since gardens typically include functional spaces such as lawns, flower beds, shrub areas, walkways, and paved areas, the rationality of the sprinkler installation location not only affects the irrigation coverage of vegetation but also directly relates to the lawnmower's access efficiency and the convenience of users' daily activities. This disclosure determines the recommended installation location of the sprinkler system by obtaining vegetation coverage areas, restricted movement areas, and prohibited sprinkler areas from a garden map, and combining this with the sprinkler coverage range and sprinkler height characteristics. This allows for more scientific installation planning in complex garden layouts.

[0140] In home garden settings, when lawn areas are adjacent to flower beds or shrub areas, the embodiments of this disclosure can cover raised vegetation areas by adjusting the sprinkler height, thereby solving the irrigation blind spot problem caused by obstruction in traditional sprinkler installations. In garden settings containing narrow passages or walkways, the technical solution of this disclosure can actively identify areas with restricted movement and avoid these paths when recommending installation locations, ensuring that the sprinkler installation does not obstruct the passage of people and lawnmowers while ensuring that vegetation on both sides of the passage receives uniform irrigation. In garden settings containing paved areas or recreational areas where sprinkler irrigation is prohibited, the technical solution of this disclosure can control the sub-sprinkler path by determining the relationship between the sprinkler coverage area and the prohibited area, avoiding ineffective spraying and thus improving water resource utilization. In the scenario of collaborative operation of intelligent devices, this disclosure can incorporate the actual installation position of the sprinkler into the path planning of the lawnmower to form an obstacle avoidance path, so that the sprinkler and the lawnmower can work together in the yard without interfering with each other. It is particularly suitable for users with a high degree of yard automation, and while meeting irrigation needs, it improves the collaborative efficiency and overall intelligence level between yard maintenance equipment.

[0141] Current technical solutions often fail to adequately consider the collaborative operation with other smart yard devices when selecting installation locations for intelligent sprinklers. For example, installing a sprinkler in the path of a lawnmower may prevent the lawnmower from performing its daily mowing operations in that area, thus affecting the overall mowing efficiency of the lawn. While some existing solutions propose sprinkler deployment methods based on yard maps or user input information, they still do not resolve the conflict between sprinkler installation locations and equipment operating paths.

[0142] One technical solution proposes a method to recommend the installation location of sprinklers based on a yard map. Although this method can combine map information to deploy sprinklers, it mainly relies on the terrain shape for recommendations and lacks constraints and handling on access paths and equipment operation. It fails to avoid the problem that sprinklers may obstruct the operation of lawnmowers.

[0143] Another technical solution focuses on sensor deployment and data acquisition in the yard maintenance system. By placing sensors at multiple standard locations within the yard and using algorithms to predict vegetation needs in other areas, maintenance operations such as irrigation can be performed. However, this solution emphasizes reducing the number of sensors and increasing the level of intelligence in maintenance, without addressing how to optimize sprinkler installation locations based on yard maps and lawnmower routes. Therefore, it still cannot resolve the conflict between sprinkler deployment and equipment or user accessibility.

[0144] Based on one or more defects in the relevant technical solutions, this example embodiment first provides a method for recommending the installation location of a smart garden sprinkler. This method can be applied to terminal devices, such as handheld terminals, computer devices and other electronic devices, or it can be applied to servers. This embodiment does not make any special limitations on this, and the following description will take the execution of the method by a terminal device as an example.

[0145] Figure 1 A schematic flowchart illustrating a method for recommending installation locations for a smart garden sprinkler according to some embodiments of the present disclosure is shown below. Figure 1 The recommended installation location method for the smart sprinkler system in the courtyard according to the embodiments of this disclosure will be further explained.

[0146] In step S110, a courtyard map is obtained, the courtyard map including a vegetation-covered area, the vegetation-covered area including a restricted area and a non-restricted area.

[0147] In one example embodiment of this disclosure, a courtyard map refers to a two-dimensional or three-dimensional digital representation used to describe the spatial environment structure and attribute characteristics of a courtyard. For example, a courtyard map can be constructed based on existing courtyard design drawings, LiDAR scanning point clouds, image recognition results, or a Global Positioning System (GPS) combined with an Inertial Navigation System (INS). This embodiment does not impose any special limitations on the construction method of the courtyard map.

[0148] For example, in some alternative implementations, the courtyard map can be in the form of a two-dimensional vector layer, where vegetation cover is represented by polygonal features with an identification attribute field to distinguish different types of green areas, such as lawns, shrubs, or flower beds; restricted areas can be represented by access path features, usually in the form of a long and narrow passage structure, and the boundary contours can be obtained by extracting the heat map distribution or space occupancy map of the navigation path.

[0149] To improve the spatial accuracy of courtyard map data, Differential Global Positioning System (DGPS) can be introduced for positioning calibration when constructing the courtyard map, or Simultaneous Localization and Mapping (SLAM) technology can be used to compensate and align the observation trajectory of mobile devices. This embodiment does not limit the specific acquisition method of the map source, as long as it can meet the requirements for subsequent spatial range determination and geometric analysis.

[0150] The restricted movement area is a narrow passageway in the courtyard map for users or mobile devices to pass through. Optionally, the minimum width of the restricted movement area can be a first preset multiple of the width of the mobile device, or the minimum width of the restricted movement area is 0.75 meters, and / or the maximum width of the restricted movement area is 2 meters, and / or the minimum length of the restricted movement area is 1 meter.

[0151] Mobile devices are those used for mowing or cleaning in the yard. Specifically, they may include intelligent lawnmowers with autonomous navigation capabilities, push-type electric lawnmowers, or other wheeled mobile machinery. This embodiment does not specifically limit the type of mobile device. To ensure that the selected installation location does not obstruct the normal travel path of these mobile devices, the passable areas on the map need to be finely marked and evaluated. For example, the minimum width is determined by extracting the boundary segments of the mobile device's travel path and calculating their corresponding minimum lateral spacing. If the minimum width of the restricted area is less than the width of the mobile device multiplied by a first preset multiple (e.g., 1.5 times), or less than 0.75 meters, it is considered unsuitable as a mobile device's travel path and excluded from recommended installation areas. If the width is greater than 2 meters, it may belong to the main functional area of ​​the yard or an unobstructed area for the mobile device, and is excluded from the restricted area. Furthermore, by analyzing the centerline length of the travel path, it is confirmed whether it meets the condition of a minimum length of 1 meter, in order to eliminate short, isolated path segments or invalid connecting segments. It is understood that the specific dimensions above are for illustrative purposes only. The actual dimensions of the restricted area may vary. For example, the minimum width of the restricted area may be 0.6-0.9 meters, the maximum width may be 1.8-2.2 meters or 0.75-2 meters, and the minimum length may be 0.9-1.2 meters. This example embodiment does not impose any special limitations on these dimensions.

[0152] By further defining specific numerical ranges in the criteria for determining restricted movement areas, a first preset multiple of 1.5 effectively ensures that a passage width only slightly larger than the width of the lawnmower itself is identified as a narrow area. This avoids recommending sprinklers to be installed in such areas during path planning, reducing the risk of collisions caused by the lawnmower driving close to the edge. A second preset multiple of 4 limits the upper limit of restricted movement areas. When the passage width exceeds four times the width of the lawnmower itself, the area no longer poses a substantial restriction on the lawnmower's passage and can therefore be identified as a suitable area for passage or sprinkler placement. This improves the flexibility of path planning, avoids including too many non-restricted movement areas in the restriction criteria, and improves the accuracy of the recommendation results. When a third preset multiple is set to greater than or equal to 2, it ensures that the length of the restricted movement area has sufficient extensibility relative to the length of the lawnmower itself, thus preventing short-distance obstacles from being misjudged as areas affecting passage and reducing unnecessary detours in path planning.

[0153] In practical deployment, a 3D point cloud model can be constructed by combining laser ranging data with visual depth images, and the cross-sectional dimensions can be obtained through projection analysis. Alternatively, the path can be reconstructed from the trajectory recorded by the mobile device during SLAM navigation, thereby accurately calculating the geometric dimensions of the passage area. In an optional implementation, the first preset multiplier can be dynamically adjusted according to the actual model of the mobile device, or it can be manually set by the user in the sprinkler installation and configuration interface to adapt to the passage width requirements of different types of mobile devices. By setting this geometric constraint, it can be ensured that the installation position of the sprinkler maximizes irrigation coverage without interfering with the passage path.

[0154] In step S120, a recommended installation location is determined based on the yard map and the irrigation coverage of the smart yard sprinkler. The recommended installation location does not include the inner area of ​​the restricted movement zone.

[0155] In one example embodiment of this disclosure, the irrigation coverage of the smart garden sprinkler can be described using a fan-shaped model, with its radius equal to the sprinkler's maximum spray radius and the included angle being the adjustable spray angle of the nozzle. For example, the irrigation coverage can be a general fan-shaped angle model with 180° as the reference angle. It is understood that when the sprinkler has a multi-stage rotating spray function, the irrigation coverage can be extended to a concentric arc or a full circle area with a rotation angle of 360°, which is also within the protection scope of the disclosed embodiments, and this embodiment is not limited thereto.

[0156] When determining recommended installation locations, candidate installation areas can be constructed based on the boundary range of vegetation coverage in the yard map. Then, spatial Boolean operations are used to eliminate the inner range of the restricted movement area. The inner range is the prohibited zone obtained by buffering the restricted movement area at equal intervals along its boundaries. For example, if the width of the restricted movement area is W, and the minimum passage width requirement is k×W, then the buffer zone is determined by performing an outward buffering operation on this area using the coefficient k as the buffer radius, and the buffer zone is deducted from the candidate areas. Simply put, when considering the prohibited zone, not only the restricted movement area itself but also the space occupied by the sprinkler and the spray range of the water curtain must be considered. Therefore, the sprinkler should be further away from the restricted movement area to allow sufficient space for the mobile equipment. For example, if the width of the restricted movement area is 1 meter and the width of the lawnmower is 0.6 meters, considering the size of the sprinkler itself, for safety reasons, the sprinkler should be set to leave at least 0.3 meters (0.5 × the width of the lawnmower) further from the edge of the passage. This buffered area is the buffer zone. After completing the screening of legal candidate areas, the maximum coverage matching algorithm is used to traverse each possible installation point to maximize the overlap area between the sprinkler coverage fan and the vegetation coverage area.

[0157] In some alternative implementations, optimization strategies based on genetic algorithms, simulated annealing, or gradient descent can be introduced to improve the search efficiency for the global optimum. In another alternative approach, if the yard map contains multiple disconnected vegetation cover areas, coverage area assessment can be performed independently within each sub-area to select a local optimum. Then, the overall optimum is selected as the final recommended installation location among these local optima. Alternatively, installation points corresponding to key coverage areas can be selected based on a user-defined sprinkler priority strategy. These operations ensure that the effective vegetation area covered by the sprinkler is maximized, while avoiding obstruction of passage for users or other mobile devices (such as lawnmowers) due to installation in areas with restricted movement.

[0158] In some optional implementations, a recommended installation location can be displayed to the user through a human-computer interaction interface (HCI). The user can also modify the recommended installation location by dragging the corresponding marker on the HCI interface. For example, when a user drags the marker of the recommended installation location along the edge of the yard map on the HCI interface of the control terminal application, this operation can be considered as simulating the movement of the sprinkler within the boundary area, and the sprinkler's coverage path is updated in real time to reflect the boundary constraints. If the user continues to drag the marker of the recommended installation location beyond the edge of the yard map, this operation can be considered a location modification command, triggering a recalculation of the new installation location and an update of the coverage area.

[0159] By defining the geometric features of restricted movement areas, the narrow passage areas can be quantitatively determined. When recommending installation locations, the area inside the restricted movement areas is explicitly excluded, maximizing the effective spraying area that the sprinkler installation location can cover. This not only ensures that the installation of the sprinkler avoids obstructing the lawnmower or user passage, but also guarantees optimal allocation of spraying resources, improving the efficiency and intelligence of the collaborative work of garden automation equipment.

[0160] The contents of steps S110 to S120 will be described in detail below.

[0161] In one example embodiment of this disclosure, the courtyard map is constructed using a mobile device; the width of the restricted area is greater than or equal to a first preset multiple of the width of the mobile device and less than a second preset multiple of the width of the mobile device, and / or the length of the restricted area is greater than a third preset multiple of the width of the mobile device.

[0162] In this embodiment, the mobile device can be a smart lawnmower for mowing in the yard, or a mobile intelligent device for navigation and patrolling in the yard. For example, it can also include inspection robots or unmanned yard vehicles equipped with positioning and sensing modules. This embodiment does not specifically limit the type of mobile device. While the mobile device is moving in the yard environment, it can map the surrounding environment using Simultaneous Localization and Mapping (SLAM) technology, constructing a spatial map covering the entire yard area. SLAM technology integrates multi-source sensing information such as LiDAR point clouds, depth camera images, Inertial Measurement Unit (IMU) data, and GPS coordinates to estimate the device's pose in real time and perform raster modeling or vector reconstruction of the surrounding environment.

[0163] Mobile devices can acquire ground images through their front-facing vision modules and, combined with optical flow and image semantic segmentation models, identify green vegetation areas and hard-paved paths, thus delineating the boundaries between vegetated areas and restricted movement zones. Simultaneously, they acquire the outlines of surrounding obstacles using ranging radar and record their own historical trajectories during navigation, further aiding in the generation of a complete yard map. To ensure the accuracy and completeness of the map data, the mobile device can perform a full-area survey sampling at the initial stage of operation, gradually supplementing details and correcting existing boundaries in subsequent repetitive operations. The final output yard map is stored on the terminal device or simultaneously uploaded to the yard automation system's backend server in raster or vector map form for intelligent recommendations of sprinkler installation locations.

[0164] The first preset multiple is used to limit the minimum width threshold of the restricted movement area, ensuring that mobile devices can pass safely without the risk of jamming or collision. The second preset multiple is used to limit the maximum permissible narrow passage width. Passage paths exceeding this width are considered non-restricted movement areas, allowing sprinklers to be deployed close to the area and preventing the mistaken inclusion of wide courtyard areas within the restricted movement area. In practice, the width of the mobile device can be read from the device parameters or obtained from the manufacturer's preset, denoted as W. For any restricted movement area, its minimum lateral width must at least satisfy: W × first preset multiple ≤ restricted movement area width < W × second preset multiple.

[0165] In some optional implementations, the measurement of the width of the restricted movement area can first extract the boundary vector data of candidate passage areas from the yard map; then, a morphological method is used to extract the central axis (Skeleton), and then isometric sampling is performed on the boundary based on the normal direction of the central axis, measuring the left and right boundary distances in the normal direction at each point, and finally calculating the minimum width value and determining whether it meets the multiple condition of the above mobile device width. In another optional implementation, if the map is expressed in raster form, local connectivity detection is performed on the passage path through a sliding window, and the physical width obtained by multiplying the number of consecutive raster cells in the vertical direction of the passage area by the cell side length is calculated, and it is used to determine whether it meets the above multiple threshold requirement. By limiting the minimum and maximum passage width, small gaps that cannot be passed, visually misjudged path corners, or open areas in the yard that are not suitable for placing sprinklers can be effectively filtered out, thereby improving the accuracy of the restricted movement area determination and avoiding the problem of low accuracy of recommended installation locations due to misidentification.

[0166] The third preset multiple is used to limit the length extension of the restricted movement area to distinguish between effective passage paths and isolated short corner areas. Assuming the mobile device width is W and the third preset multiple is N, the length of the central axis of any path segment must satisfy L ≥ W × N to be considered a restricted movement area with passage functionality. In actual evaluation, the length L can be calculated based on the path arc length after fitting a curve to the central axis of the passage area; in multi-segment path splicing scenarios, the effective path length can be obtained by analyzing the length of the main links of each connected subgraph in the path topology diagram and excluding the terminal branches. To address courtyard layouts with corners, U-shaped paths, or non-straight paths, optionally, the Dynamic Time Warping (DTW) algorithm or curve segmentation approximation method can be used to estimate the main passage direction, thereby improving the stability of length determination. (Reference) Figure 2 As shown, the restricted movement area is a corner path, which consists of at least three path segments, belonging to a scenario of multi-segment path splicing. In this case, the length of the central axis of the restricted movement area can be calculated, that is, the length of the central axis of the restricted movement area is L=L1+L2+L3. Only when the length of the central axis of the restricted movement area satisfies L1+L2+L3=L≥W×N can it be identified as a restricted movement area with passage function. By setting a minimum length limit, false paths caused by changes in ground material and misidentification of boundary textures can be further avoided from being misjudged as restricted movement areas, thus ensuring that the geometric basis of the sprinkler recommendation logic is more robust.

[0167] By utilizing mobile devices to construct yard maps, recommended installation locations can be determined based on real-time updated spatial information analysis, ensuring that installation suggestions align with the actual yard environment. Simultaneously, by limiting the width of restricted movement areas to a first preset multiple greater than or equal to the width of the mobile device and less than a second preset multiple, combined with a third preset multiple greater than the width of the mobile device, quantitative determination of restricted movement areas can be achieved. This allows sprinkler installation recommendations to consider the accessibility needs of mobile devices such as lawnmowers while reducing uncertainties arising from manual experience settings, thereby improving the rationality of sprinkler installation and enhancing the stability of sprinkler operation in conjunction with other equipment.

[0168] In an optional embodiment of this disclosure, the first preset multiple can be 1.5, the second preset multiple can be 4, and the third preset multiple can be greater than or equal to 2.

[0169] It is understandable that the first preset multiplier of 1.5 is a relatively conservative and stable threshold that empirically considers the slight deviation of the mobile device during movement, the safe gap between obstacles on both sides, and the error in path edge recognition. In optional implementations, the first preset multiplier can also be dynamically adjusted according to the operating accuracy and navigation control capabilities of the mobile device. For example, when the mobile device supports high-precision positioning or has lateral obstacle avoidance capabilities, the first preset multiplier can be reduced to 1.3; while for scenarios with blurred path boundaries or a wide mobile device, the multiplier can be increased to 1.6 or 1.7 to further improve the fault tolerance of path recognition. This example embodiment does not impose any special limitation on the specific value of the first preset multiplier.

[0170] Similarly, the strip-shaped restricted movement areas within the range of the first and second preset multiples typically manifest as paths, alleys, corridors, and gaps between plants, exhibiting a typical elongated shape. Areas exceeding the width of the second preset multiple may be courtyard functional areas, open lawns, platform areas, etc., where sprinkler deployment no longer affects the passage of mobile devices and therefore should not be classified as restricted movement areas. Using a second preset multiple of 4 can help improve the accuracy of restricted movement area identification, avoid over-judgment due to irregular boundary contours or image errors, and improve the rationality and flexibility of the sprinkler installation exclusion range. In an optional embodiment, to address diverse equipment sizes or specific user preferences, the second preset multiple can be defined as an adjustable parameter, set by the user in the intelligent control terminal, or it can be self-adapted according to the mobile device model or equipment parameters. This example embodiment does not impose any special limitations on this.

[0171] Similarly, the third preset multiple is used to limit the minimum length requirement of the restricted movement area, that is, to limit the extension capability of a certain area along the main passage direction, so as to exclude false paths or corner areas with insufficient length. By setting the third preset multiple to be greater than or equal to 2, it can be ensured that the mobile device has enough space to complete actions such as entering, passing, and turning within the restricted movement area. By setting this minimum length standard, short and fragmented areas due to abnormal size can be effectively avoided from being misidentified as restricted movement areas, thereby improving the screening accuracy and spatial logic consistency of recommended installation locations. In an optional approach, the third preset multiple serves as a conservative strategy parameter in the system, which is adjusted according to the complexity of the yard structure or the user's requirements for the continuity of the lawn mowing path. For example, 3 or 4 can be used as a multiple for large yards to increase the screening rigor, while 2 can be used as a multiple for small private yards to ensure sensitivity and identification completeness. This embodiment does not impose any special limitations on the value of the third preset multiple.

[0172] By further defining specific numerical ranges in the criteria for determining restricted movement areas, a first preset multiple of 1.5 effectively ensures that a passage width only slightly larger than the width of the lawnmower itself is identified as a narrow area. This avoids recommending sprinklers to be installed in such areas during path planning, reducing the risk of collisions caused by the lawnmower driving close to the edge. A second preset multiple of 4 limits the upper limit of restricted movement areas. When the passage width exceeds four times the width of the lawnmower itself, the area no longer poses a substantial restriction on the lawnmower's passage and can therefore be identified as a suitable area for passage or sprinkler placement. This improves the flexibility of path planning, avoids including too many non-restricted movement areas in the restriction criteria, and improves the accuracy of the recommendation results. When a third preset multiple is set to greater than or equal to 2, it ensures that the length of the restricted movement area has sufficient extensibility relative to the length of the lawnmower itself, thus preventing short-distance obstacles from being misjudged as areas affecting passage and reducing unnecessary detours in path planning.

[0173] By setting specific values ​​for the first, second, and third preset multiples, the width and length of the restricted movement area can be clearly defined. This ensures that the recommended installation of sprinklers maintains a consistent basis for judgment in different courtyard environments and equipment application scenarios, thereby reducing the uncertainty caused by differences in the determination of restricted movement areas. This allows the sprinkler installation location to avoid obstructing the passage of mobile equipment, while improving the standardization and operability of the installation location recommendation process and enhancing the matching degree between the sprinkler and the mobile equipment's workspace.

[0174] In one example embodiment of this disclosure, when it is detected that the edge of the vegetation-covered area is within at least a portion of the sprinkler coverage area, it is recommended that the installation location be set at the edge of the vegetation-covered area; wherein, at least a portion of the sprinkler coverage area includes the fan-shaped sprinkler area covered by the maximum spray radius of the smart garden sprinkler when it is located at the edge of the vegetation-covered area.

[0175] The edge of the vegetation cover area refers to the boundary curve corresponding to the vegetation cover area. It can be a closed polygon outline or a non-closed boundary composed of multiple line segments. The specific form of expression depends on the data structure of the courtyard map.

[0176] The irrigation coverage area can be the water curtain spraying area formed by the smart garden sprinkler at its current or target installation position. It is typically modeled as a fan-shaped area with a fixed maximum spray radius, where the spray direction is consistent with the nozzle orientation. The fan angle is adjusted based on the rotating gimbal connected to the nozzle. In some optional embodiments, the fan angle can be set to 90°, 120°, 180°, or 360°; this disclosure does not impose any particular limitation on this. For example, it can be assumed that the smart garden sprinkler is located at the edge of a vegetated area. In this case, taking the assumed recommended installation position as the pole, a fan-shaped geometric area is expanded towards the specified nozzle orientation. The radius of this fan is the maximum spray radius R of the nozzle, and the angle θ is the nozzle spray angle. For instance, in a 180° semi-circular nozzle scenario, the irrigation coverage area is a fan-shaped area with the installation point as the center, a radius of R, and an angle of 180°.

[0177] Optionally, the sprinkler head of the smart garden sprinkler can be driven by a rotatable gimbal mechanism to achieve horizontal rotation. This gimbal mechanism can drive the sprinkler head to rotate and scan within a 360° range, so that the irrigation coverage is not limited to a fixed fan-shaped angle in actual operation, but can flexibly adjust the spray direction according to control commands to form a water curtain area with full or partial coverage. In addition, the spray height of the sprinkler head can also be adjusted by a lifting mechanism set on the sprinkler body. This lifting mechanism can achieve continuous or graded raising and lowering within a preset height range, thereby adapting to the needs of vegetation of different heights. In specific applications, when the sprinkler head is at a lower height, it can enhance the close-range atomization spraying effect to irrigate flower beds or shrubs; when the sprinkler head is at a higher height, it can create a water curtain that crosses obstacles or evenly covers a larger area of ​​lawn.

[0178] To detect whether the edge of a vegetated area is within the sprinkler coverage area, a set of boundary lines B for the vegetated area can be constructed based on the courtyard map. Then, a fan-shaped area C is generated based on the current sprinkler parameters. Subsequently, a spatial inclusion relationship determination is performed, calculating the boundary segments in the boundary line set B that intersect or fall within the fan-shaped area C, and calculating the proportion of the boundary they cover. If this proportion exceeds a set determination threshold (such as 95%, 98%, or 100%), the edge of the vegetated area can be considered to be within at least part of the sprinkler coverage area, meaning any location within the vegetated area can be sprinkled and covered by the sprinkler. Alternatively, a fan-shaped coverage test can be used in the direction of the boundary normal to determine whether the shortest distance from the center of the fan to the boundary line segment is less than the maximum spray radius and falls within the spray direction angle range. This determination method supports both single-point determination and coverage analysis of continuous edge segments; this embodiment does not impose any special limitations on this.

[0179] When the test result is true, the recommended installation location can be preferentially set at the edge of the vegetation-covered area, that is, a suitable installation point corresponding to a point on the boundary line of the vegetation-covered area or a continuous boundary segment. For example, the recommended installation location can be preferably selected near the convex vertex of the boundary curve, the center of the straight line segment, or the point of maximum curvature, to ensure that the spraying area can cover most of the vegetation area after installation. Installing at the edge can geometrically increase the overlap area between the sprinkler coverage and the vegetation area, which is especially suitable for situations where the vegetation-covered area is a closed block, has a regular shape, and has no surrounding obstructions. In an optional implementation, to improve deployment efficiency, all points that satisfy the edge inclusion relationship can be preferentially sorted, their corresponding sprinkler overlap areas can be calculated, and the edge point with the largest coverage area can be selected as the final recommended installation location.

[0180] When it is determined that the edge of the vegetation cover area is within the sprinkler coverage area, it is recommended to install the sprinkler at the edge. This can effectively ensure that the sprinkler's spray range can effectively cover the boundary area of ​​the lawn, avoid water shortage in the edge area, reduce ineffective spraying beyond the vegetation cover area, improve the targeting of irrigation and water resource utilization, and setting it at the edge can also greatly reduce interference to people moving on the lawn.

[0181] In one example embodiment of this disclosure, the recommended installation location can be determined based on a yard map and the irrigation coverage area of ​​the smart yard sprinkler through the following steps:

[0182] The vegetation coverage area and the maximum sprinkler irrigation area can be determined based on the courtyard map. If the vegetation coverage area is less than or equal to the maximum sprinkler irrigation area, it is recommended to install the sprinkler at the edge of the vegetation coverage area.

[0183] The vegetation cover area refers to the total area of ​​all areas marked as vegetation cover zones on the courtyard map. It is used to measure the size of the target area requiring sprinkler irrigation. Vegetation cover zones can be represented on the map as a set of polygons, which can be one or more connected or disconnected areas, including lawns, shrubs, flower beds, and other green areas. In actual calculations, all polygon outlines within the vegetation cover area can be processed individually, and the area can be accumulated using the standard polygon area calculation formula to obtain the vegetation cover area. Optionally, the geometric operation module in a Geographic Information System (GIS) engine can be used, or the number of pixels identified as "vegetation" in the raster map can be counted and multiplied by the area per unit pixel. If the vegetation area has a complex, irregular shape or contains internal voids, topological repair of the boundaries should be performed to remove abnormal loops or multiple intersections, ensuring that the area calculation result conforms to the actual terrain projection. This embodiment does not impose special limitations on the method of determining the vegetation cover area.

[0184] The maximum irrigation area refers to the maximum theoretical area that the intelligent garden sprinkler can cover under maximum water spray conditions. In this embodiment, the maximum irrigation area is determined based on the sprinkler head parameters. For example, when the sprinkler head spray angle is θ (in degrees) and the maximum spray radius is R (in meters), its coverage area is approximately a fan shape. For full-circle sprinklers or variable flow sprinklers with rotation function, integral simulation can be performed based on the dynamic spray path to obtain the equivalent maximum irrigation area. In an optional embodiment, if the sprinkler head has an adjustable spray radius function, the most likely maximum spray configuration parameters can be recommended for the current sprinkler based on historical coverage statistics or a sprinkler head model database, thereby determining its maximum irrigation area.

[0185] When the vegetation cover area S1 is less than or equal to the maximum sprinkler irrigation area S2 (i.e., S1≤S2), meaning the target irrigation area does not exceed the maximum coverage range of the sprinkler, a single-point edge deployment strategy can be prioritized. This achieves full coverage irrigation of the entire vegetation cover area without the need for multiple sprinklers or overlapping spraying. This type of scenario is commonly seen in small courtyards, independent lawn islands, or corner flower beds, in areas with compact shapes and clear boundaries.

[0186] Based on the above area relationships, when selecting recommended installation locations, priority should be given to setting them at the edges of vegetated areas. Edge installation allows the sprinkler head's maximum spray radius to cover the entire vegetated area, reducing the risk of intrusion into restricted areas and preserving more central space for user activities or other facilities. To ensure effective coverage of all vegetation after edge installation, a maximum inscribed circle test can be introduced. This involves constructing a fan-shaped area centered on the edge point and spatially intersecting it with the vegetated area, then determining if the intersection area is approximately the same as the vegetated area S1. If they are, the edge location can be considered a valid installation location. Optionally, to further improve selection efficiency, an angle and direction optimization mechanism can be introduced. This involves sampling multiple points on the edge contour and calculating the coverage area point by point based on the spray direction, selecting the point with the largest overlap area as the final recommended installation location.

[0187] In some alternative implementations, if the edge area of ​​the vegetation-covered area is limited by obstructions, elevation differences, or obstacles, a subset of installable edge locations can be generated based on these environmental factors. This means that recommended installation locations are selected only from edge locations that meet conditions such as unobstructed visibility, flat ground, and no obstructions. In some scenarios, to enhance robustness, a safety buffer distance can be maintained outside the edge area, and the recommended points can be moved back a certain distance to avoid boundary coverage gaps caused by actual construction deviations.

[0188] By comparing the maximum irrigation area in the sprinkler parameters, when the vegetation coverage area is less than or equal to the maximum irrigation area, the recommended installation location is set at the edge of the vegetation coverage area. The sprinkler's spray range can cover the entire vegetation coverage area, avoiding insufficient spraying and reducing the possibility of over-spraying non-vegetated areas. This ensures the matching degree between the sprinkler layout and the actual area of ​​the yard, and improves irrigation efficiency.

[0189] In one example embodiment of this disclosure, when the edge of the vegetated area is not within at least part of the sprinkler coverage area, it is recommended to set the installation location at the edge of the restricted area, or at any location within the vegetated area other than the restricted area; wherein, at least part of the sprinkler coverage area includes the fan-shaped sprinkler area formed by the maximum spray radius of the smart garden sprinkler when it is located at the edge of the vegetated area.

[0190] The sprinkler coverage area can be determined by the maximum spray radius and nozzle spray angle of the smart sprinkler in the yard, and represented by a fan-shaped or circular geometric form. When it is detected that there is no overlap between the sprinkler coverage area and the edge of the vegetation coverage area, or the overlap area is lower than a preset judgment threshold, it can be determined that the edge of the vegetation coverage area is not within the sprinkler coverage area. In this case, the recommended installation location is no longer the edge point of the vegetation coverage area, but a new point needs to be selected from other candidate locations to ensure effective coverage of the vegetation area.

[0191] When the edge of the vegetated area is not at least partially within the sprinkler coverage area, sprinklers can be deployed at the edge of the restricted movement area. This allows the sprinkler coverage area to expand in a fan shape, based on the edge of the restricted movement area, without occupying the space within the restricted movement area (i.e., narrow passageways). Specifically, the boundary of the restricted movement area can be used as a candidate installation point to construct a fan-shaped or circular coverage area with a maximum spray radius of R and a sprinkler angle of θ (e.g., 90°, 180°, or 360°). This fan-shaped area extends into the vegetated area and overlaps with it. By calculating the ratio of the overlapping area to the area of ​​the vegetated area, it can be determined whether the coverage effect of the sprinkler at this edge location meets the threshold requirements.

[0192] When the edge of the vegetated area is not at least partially within the sprinkler coverage area, the recommended installation location can also be set at any location within the vegetated area other than the restricted movement area. In this case, the candidate area is the non-edge internal space of the vegetated area, excluding all areas belonging to the restricted movement area. By sampling candidate points within the vegetated area, the final recommended installation location can be determined based on the geometric centroid, the center of the largest inscribed circle, or an optimization algorithm through iterative search. When the smart sprinkler is installed at this recommended location, the sprinkler coverage area can cover the main part of the vegetated area, thereby ensuring uniform irrigation and coverage integrity.

[0193] When it is determined that the edge of the vegetation cover area does not fall within the sprinkler coverage area, the recommended installation position is no longer fixed at the edge. Instead, it is adjusted to either set the recommended installation position at the edge of the restricted area, utilizing the boundary characteristics of the passable area to ensure that the installation of the sprinkler does not affect passage and can cover the adjacent area; or the recommended installation position is placed at any internal location within the vegetation cover area other than the restricted area, so as to ensure that the coverage of the sprinkler range is maximized, avoid sprinkler blind spots, and improve the integrity of irrigation.

[0194] In one example embodiment of this disclosure, it can be achieved through Figure 3 To set the recommended installation location, refer to the steps in the instructions. Figure 3As shown, it can specifically include:

[0195] Step S310: Display the effective irrigation area on the courtyard map in conjunction with the irrigation coverage range. The effective irrigation area is the intersection of the irrigation coverage range of the smart courtyard sprinkler at the recommended installation location and the vegetation coverage area, which is used to characterize the effective range that the smart courtyard sprinkler can actually irrigate at the recommended installation location.

[0196] Step S320: If the effective irrigation area does not completely cover the vegetation coverage area, and the vegetation coverage area includes areas not covered by irrigation, then the recommended installation position is set in the vegetation coverage area closer to the areas not covered by irrigation than the edge position.

[0197] The effective irrigation area is the intersection of the sprinkler coverage area and the vegetation cover area at the recommended installation location of the smart sprinkler. It characterizes the effective area that the smart sprinkler can actually irrigate at the recommended installation location. To obtain the effective irrigation area, a two-dimensional geometric shape of the irrigation coverage area can be generated based on the recommended installation location. Then, a geometric Boolean intersection operation is called to extract the portion overlapping with the vegetation cover area, which is then presented on the yard map using color fill, dashed outline, or other visualization methods. This display method can be graphically displayed on the control terminal's visual interface, or it can achieve a real-time overlay effect on the mobile device itself using an LCD screen, projection indicators, or Augmented Reality (AR) technology, allowing users to intuitively understand the irrigation area covered by the current sprinkler deployment.

[0198] In an optional implementation, the effective irrigation area can be displayed using layer overlay. Specifically, the irrigation coverage area and the vegetation coverage area are loaded as two separate vector layers into the geographic information system module. An intersection operation is performed to generate a new layer, which is then filled with a special color to highlight the boundaries of the effective irrigation area. Alternatively, if the sprinkler deployment assessment occurs within a 3D courtyard modeling system, the effective irrigation area can be embedded as a semi-transparent spatial fan-shaped element in the 3D model. This element dynamically responds to adjustments in the sprinkler head angle or orientation, updating the intersection area in real time. Accurate display of the effective irrigation area not only enhances the user's ability to predict irrigation effects but also serves as a basis for the system to subsequently identify coverage blind spots or redundant spraying.

[0199] In practice, the area not covered by sprinkler irrigation can be extracted based on the difference between the effective irrigation area and the vegetation coverage area. This area is the sprinkler dead zone or irrigation blind spot, which may be caused by deviations in the recommended installation position, mismatched sprinkler angles, or obstructions. To solve this problem, the recommended installation position can be readjusted to be closer to the area not covered by sprinkler irrigation, thereby expanding the sprinkler coverage and incorporating as much of the previously uncovered vegetation as possible.

[0200] The recommended installation location update strategy can employ an iterative movement method based on gradient optimization. The objective function is to maximize the intersection area of ​​the effective irrigation area and the vegetation cover area. The current location is fine-tuned iteratively until the newly added intersection area covers all unirrigated areas or reaches a set threshold. Alternatively, a heuristic point selection method based on target point transfer can be used. This involves calculating the centroid of the unirrigated area or the center of the highest density area, shifting the recommended installation location a preset distance towards that area, and reassessing whether the effective irrigation area meets the requirements. To prevent the irrigation coverage area from encroaching on the restricted movement area due to proximity to unirrigated areas, obstacle detection constraints can be introduced during the adjustment of the recommended installation location to ensure that the new recommended installation location does not fall within the restricted movement area and its buffer zone.

[0201] In one optional implementation, to avoid user confusion caused by frequent changes to the recommended installation location, a threshold for the number of recommended adjustments can be set, and the coverage comparison between candidate installation points and the current point can be displayed in a visual interface, allowing users to independently confirm whether to adopt the new recommended installation location. In another optional approach, if the area not covered by sprinkler irrigation is located in multiple scattered areas, a deployment priority strategy can be introduced, performing recommended location adjustments only on larger blind spots or areas with high plant density, while leaving the remaining areas to be covered by subsequent auxiliary sprinklers.

[0202] By displaying the effective irrigation area on the yard map in conjunction with the sprinkler coverage area—that is, the intersection of the sprinkler coverage area and the vegetation coverage area—users can intuitively understand the actual area that the sprinkler can irrigate at the recommended installation location. If the effective irrigation area does not completely cover the vegetation coverage area, the system can adjust the recommended installation location closer to the un-irrigated area, thus reducing missed areas. Furthermore, this method improves the visibility and transparency of the recommended installation location, making it easier for users to understand the recommendation logic and enhancing the match between sprinkler coverage and vegetation distribution.

[0203] In one example embodiment of this disclosure, the sprinkler coverage area may include the maximum spray diameter and the maximum spray radius; when the maximum distance between a point on the boundary of the vegetation-covered area and the recommended installation location is greater than the maximum spray radius and less than or equal to the maximum spray diameter, the vegetation-covered area includes an area not covered by sprinkler irrigation, and the recommended installation location is set in the inner area of ​​the vegetation-covered area that is closer to the area not covered by sprinkler irrigation than the edge location.

[0204] The maximum spray radius R1 represents the farthest water column distance that the sprinkler head can reach at maximum spray power, which is the radius length formed by extending from the center point of the sprinkler head in any direction. The maximum spray diameter D1 is twice or slightly larger than the maximum spray radius R1 (considering the volume of the sprinkler body), and can represent the maximum span that the irrigation coverage area can achieve in a two-dimensional plane, that is, the diameter range covered under 360° full-circle spraying conditions. If the sprinkler head is a directional spray or fan-shaped spray structure, the actual irrigation coverage area can be an arc-shaped or fan-shaped area, and its maximum boundary is still R1 as the limit range, while D1 is the theoretical maximum equivalent diameter. In the process of modeling the irrigation coverage area, D1 and R1 can be automatically extracted according to the sprinkler head model parameters, or they can be manually set by the user in the control terminal. This embodiment is not limited to this.

[0205] When the sprinkler is located at the recommended installation position, the maximum interval distance D2 can be obtained by calculating the Euclidean distance sequence from the recommended installation position to each point on the boundary of the vegetation cover area, and extracting the maximum value. The maximum interval distance D2 measures the spatial distance between the sprinkler and the target irrigation area, reflecting whether the sprinkler can cover the farthest boundary point of the vegetation cover area. It can be calculated by constructing a spatial distance matrix to obtain the distance sequence between the center point of the sprinkler and the set of sampled points on the boundary outline of the vegetation cover area, and taking the maximum value as the maximum interval distance D2; alternatively, it can be improved by constructing a nearest neighbor index tree structure in a vector map to increase the efficiency of boundary distance lookup. When the maximum interval distance D2 exceeds the maximum spray radius R1, it means that the farthest point of the vegetation cover area boundary is outside the sprinkler's spraying limit, indicating a sprinkler blind zone. In this case, the recommended installation position needs to be optimized or the sprinkler parameters adjusted. (Reference) Figure 4 As shown, when the sprinkler is located at the recommended installation position 301, the maximum interval distance D2 can be obtained by calculating the Euclidean distance sequence from the recommended installation position to each point on the boundary of the vegetation coverage area 302, and extracting the maximum value. If the maximum interval distance D2 exceeds the maximum spray radius R1, the farthest point of the boundary of the vegetation coverage area 302 is outside the spraying limit of the sprinkler, forming an area 303 that is not covered by sprinkler irrigation.

[0206] When the maximum distance between a point on the boundary of the vegetation-covered area and the recommended installation location is greater than the maximum spray radius and less than or equal to the maximum spray diameter (i.e., D1 ≥ D2 > R1), it can be considered that a gap in sprinkler coverage is created when the sprinkler is at the edge position. However, the area not covered by sprinkler irrigation is still within the maximum equivalent spraying capacity of the sprinkler. In this case, the area not covered by sprinkler irrigation can be included in the sprinkler coverage range by adjusting the recommended installation location. Therefore, a recommended installation location replanning operation can be performed, shifting the recommended installation location towards the area not covered by sprinkler irrigation, and regenerating the sprinkler coverage range at the new candidate location. The intersection area between the new location and the vegetation-covered area is calculated, and it is confirmed whether the updated location can include the far boundary point corresponding to the original maximum distance D2 within the maximum spray radius R1. (Reference) Figure 4 and Figure 5 As shown, when it is determined that there is an area 303 not covered by sprinkler irrigation in the vegetation coverage area 302, the sprinkler can be placed at the recommended installation position. The recommended installation position 301 is shifted towards the area not covered by sprinkler irrigation to obtain a new recommended installation position 401. At the new recommended installation position 401, the sprinkler can cover the entire vegetation coverage area 302.

[0207] In an optional implementation, the adjustment vector direction of the recommended installation location can be set from the current sprinkler position to the geometric center point of the un-sprinkled area, i.e., the position of the boundary point corresponding to the maximum interval distance D2. The offset distance can be initially set to D2-R1+c, where c is a safety redundancy to ensure that the boundary point is within the effective coverage area. If, after the offset, there are still other boundary points with intervals exceeding the maximum sprinkler radius R1, the same strategy is iterated until the condition D2≤R1 is met. During the offset process, it can also be ensured that the new recommended installation location does not enter a movement-restricted area or a sprinkler-prohibited area. Dynamic obstacle avoidance can be performed by combining obstacle layers or buffer masks in the yard map; this embodiment does not impose any special limitations on this.

[0208] By incorporating the maximum spray diameter and maximum spray radius into the determination of the recommended installation location, and combining this with the maximum interval distance between the boundary point of the vegetation cover area and the recommended installation location, the system can determine that there are un-sprinkled areas within the vegetation cover area when the maximum interval distance is greater than the maximum spray radius but less than or equal to the maximum spray diameter. In this case, setting the recommended installation location closer to the un-sprinkled areas within the vegetation cover area effectively reduces missed spraying at the boundary, improves the matching degree between sprinkler coverage and vegetation distribution, and enhances the irrigation integrity of edge vegetation, thus making the recommended installation results more accurate and reliable.

[0209] In one example embodiment of this disclosure, the smart garden sprinkler achieves irrigation coverage through multiple sub-sprinkler paths distributed radially. When there are un-irrigated areas in the vegetation-covered area that cannot be covered by the effective irrigation area of ​​the smart garden sprinkler, the water volume of the sub-sprinkler path corresponding to the boundary of the un-irrigated area or one or more previous sub-sprinkler paths is increased to meet the water demand of the un-irrigated area.

[0210] Multiple sub-irrigation paths refer to several irrigation directions sequentially divided along a fixed angle from the sprinkler installation position. Each sub-irrigation path corresponds to a specific polar angle θ. Whenever the sprinkler rotates to the polar angle corresponding to a sub-irrigation path, the sprinkler head starts spraying water along that direction. The water jet propels outward from the center of the sprinkler, covering the corresponding area in concentric circles until the maximum irrigation radius is reached. Each concentric irrigation area is a circular arc covered by the water jet. The sprinkler determines the distance the water jet travels and the amount of water sprayed in that direction by controlling the spraying time, spray height / angle. (Reference) Figure 4 and Figure 5 As shown, the sub-sprinkler paths can be multiple arc-shaped paths radially distributed along the sprinkler area. That is, after each sprinkler is rotated by a predetermined angle with a preset radius, the radius is increased or decreased and sprinkler is sprayed again, forming multiple sub-sprinkler paths with the sprinkler location as the center and the sprinkler radius changing successively.

[0211] In an optional implementation, the sprinkler can switch clockwise or counterclockwise to each sub-irrigation path angle, performing water spraying from the start to the end point in each angular direction, forming multiple radial arc-shaped water spraying scanning areas. These arc-shaped water spraying scanning areas together constitute the complete sprinkler coverage area. The water spraying control parameters of the sprinkler on each sub-irrigation path can be set independently, such as water spraying duration, starting radius, ending radius, and water spraying height / angle, to achieve more precise local water spraying control.

[0212] Specifically, based on the yard map and the currently recommended installation location, the spatial extent of areas not covered by sprinkler irrigation can be identified. By analyzing the polar angle and distance parameters between each point in the uncovered area and the sprinkler installation location, it can be determined which sub-sprinkler path it is located on. To compensate for this area, the spraying time or water pressure can be increased on the corresponding sub-sprinkler path in that direction, allowing the water jet to propel to a greater radius and enhancing the spraying coverage in that path direction. If necessary, one or more adjacent sub-sprinkler paths before or after this sub-sprinkler path can also be adjusted in tandem, effectively compensating for the amount of water sprayed in the uncovered area. This allows excess water to flow to the uncovered area, compensating for spray blind spots caused by installation location offsets or irregular vegetation shapes.

[0213] By extending the spraying time along the corresponding path during sprinkler irrigation, water can flow to uncovered vegetation areas. This allows the sprinkler to compensate for irrigation needs in edge or blind spots while maintaining the overall irrigation pattern, reducing drought areas caused by insufficient edge coverage in vegetated areas, improving the uniformity and effectiveness of sprinkler coverage, and enhancing the adaptability of the sprinkler to different terrains and vegetation distributions. This allows the recommended installation location to work in conjunction with the sprinkler control strategy, thereby improving resource utilization and irrigation efficiency.

[0214] In one example embodiment of this disclosure, it can be achieved through Figure 6 The steps outlined in the document enable sprinkler control for a smart garden sprinkler system. Refer to [link / reference]. Figure 6 As shown, it can specifically include:

[0215] Step S610: Obtain the maximum interval distance between a point on the boundary of the vegetation coverage area and the recommended installation location, wherein the sprinkler coverage area includes the maximum spray radius;

[0216] Step S620: When the maximum interval distance is less than or equal to the maximum spray radius, the intelligent garden sprinkler will spray the vegetation-covered area evenly according to the preset spray path during irrigation.

[0217] Step S630: When the maximum interval distance is greater than the maximum spray radius, the vegetation coverage area includes an area not covered by sprinkler irrigation, so that when the smart garden sprinkler is spraying along the preset sprinkler path, it increases the spray volume of the sub-sprinkler path passing through the boundary of the area not covered by sprinkler irrigation or one or more previous sub-sprinkler paths.

[0218] The preset irrigation path is a spray band formed by the sprinkler head of the smart garden sprinkler during operation. For example, the preset irrigation path can be multiple arc-shaped spray bands formed by gradually rotating with a fixed spray radius. At any given moment, the sprinkler head sprays water with only a strip of water covering the area. As the sprinkler head rotates, this point is depicted as an arc path on the plane. At the same time, the sprinkler head radius can be gradually increased or decreased, thereby forming multiple concentric arc-shaped spray bands from the inside out or from the outside in, until the maximum irrigation radius is covered or the minimum irrigation radius is returned. Of course, the preset irrigation path can also be a straight spray band. For example, when forming a straight irrigation path, the smart garden sprinkler can be controlled to continuously adjust the spray radius while rotating, thereby forming a straight spray band. Of course, the irrigation path of any shape can also be adjusted by controlling the rotation angle and the spray radius. This embodiment does not impose any special limitation on the shape of the irrigation path of the smart garden sprinkler in actual operation.

[0219] When the maximum interval distance is less than or equal to the maximum spray radius, the sprinkler head of the smart garden irrigation system can be considered to cover the entire boundary of the vegetated area. In this case, uniform spraying can achieve even coverage of the entire vegetated area. In a uniform spraying scenario, the spray path can be divided into multiple sub-sprinkler paths, with each sub-sprinkler path maintaining a consistent spraying time and flow rate, thus ensuring uniform water distribution throughout the vegetated area. For example, the sprinkler head of the smart garden irrigation system maintains consistent spraying time and flow rate on each arc path, ensuring uniform water distribution across all arcs and providing balanced irrigation to the entire vegetated area. When there are no-spray zones, the smart garden irrigation system automatically skips the corresponding arc segment without affecting the uniform distribution of water to other arc segments.

[0220] When the maximum interval distance exceeds the maximum spray radius, areas exceeding the sprinkler head's coverage capacity will appear on the vegetation cover boundary, i.e., areas not covered by sprinkler irrigation. By analyzing the location of the boundary points of the vegetation cover area, the angular and radial ranges corresponding to these uncovered areas can be determined, and intersecting or adjacent arc-shaped sprinkler paths can be marked as target sub-sprinkler paths. When executing these target sub-sprinkler paths, the smart garden sprinkler can extend the spraying time of the arc segment or increase its water output to compensate using the radial diffusion of the water column at the boundary and the soil infiltration effect. Alternatively, a certain proportion of water output can be increased on one or more adjacent target sub-sprinkler paths preceding the target sub-sprinkler path, allowing the uncovered areas to receive indirect compensation through water infiltration and dripping effects.

[0221] Continue to refer to Figure 4 As shown, when the maximum interval distance D2 is greater than the maximum spray radius R1, an un-sprayed area 303 is formed in the vegetation coverage area 302 that cannot be irrigated. At this time, the intelligent garden sprinkler can be controlled to increase the spray volume of the first sub-spray path 304 or one or more second sub-spray paths 305 that pass through the boundary of the un-sprayed area when spraying along the preset spray path. Of course, Figure 4 This is merely an illustrative example and should not be construed as limiting the scope of this example embodiment.

[0222] In an optional implementation, to prevent localized over-watering, an upper limit can be set for the compensation amount, and a gradual attenuation method can be adopted. That is, the sub-sprinkler path closest to the un-irrigated area receives the maximum compensation, while the compensation of the preceding sub-sprinkler paths is reduced sequentially, thereby forming a natural water transition zone in space. Through this incremental spraying method based on the target sub-sprinkler path, the smart garden sprinkler can effectively alleviate the boundary blind zone problem and improve the overall water uniformity and practicality of the sprinkler system in the vegetated area without changing the installation location or sprinkler head structure.

[0223] By obtaining the maximum interval distance between the boundary point of the vegetation coverage area and the recommended installation location, and combining it with the maximum spray radius in the sprinkler coverage area, when the maximum interval distance is less than or equal to the maximum spray radius, it can be considered that the sprinkler can spray evenly along the preset path during sprinkler irrigation, thereby maintaining the uniformity of sprinkler coverage. When the maximum interval distance is greater than the maximum spray radius, it can be considered that the sprinkler needs to increase the spray volume when passing through the boundary of the unsprinkled area or the sub-sprinkler path before it, so that the sprinkler water can flow to the boundary of the unsprinkled area to make up for the sprinkler blind spots. This can effectively reduce the situation of insufficient sprinkler blind spot coverage and improve the sprinkler's sprinkler uniformity in different areas, ensuring full sprinkler coverage while improving water resource utilization.

[0224] In an optional embodiment of this disclosure, the water volume is increased by extending the spraying time of the corresponding sub-irrigation path. Since the sprinkler head of the smart garden sprinkler only outputs a point-like water jet at any given moment, and the sprinkler head gradually forms an arc-shaped water band as the angle rotates, the spraying time of each sub-irrigation path determines the cumulative water distribution on the ground within that arc segment. To increase the water volume, the execution time of the target sub-irrigation path can be directly extended during path scheduling, causing the water jet to remain in that arc segment for a longer period, thereby accumulating more water within the same spatial range.

[0225] In a specific implementation, an extended duration can be set for the target sub-sprinkler path in the execution table of the sub-sprinkler path. For example, in the normal working mode, each sub-sprinkler path may stay for 2 seconds, while in the compensation mode, the dwell time of the target sub-sprinkler path can be extended to 3 to 5 seconds or longer. In another optional embodiment, the extension of the spraying time can be set with different incremental levels according to the severity of the area not covered by irrigation. For example, the extension can be 10% for lightly uncovered areas, 30% for moderately uncovered areas, and 50% or more for severely uncovered areas. Specifically, the delay range can be dynamically determined by combining the difference between the maximum interval distance and the maximum spray radius to ensure the compensation effect and the rationality of water resource utilization. The process of increasing the spray volume can be closely integrated with the arc-shaped spraying path of the smart garden sprinkler, achieving targeted water increase in a simple and direct time adjustment method, improving the water balance of the uncovered areas, and avoiding excessive control complexity for the overall sprinkler system.

[0226] By limiting the increase in water volume to extending the spraying time under the corresponding sub-sprinkler path, the sprinkler can provide targeted compensation for local path segments while maintaining the overall irrigation pattern. This method makes the compensation process more intuitive and controllable, avoiding uncertainties caused by water pressure or angle adjustments. At the same time, extending the spraying time not only provides more complete coverage of unirrigated areas, but also ensures that the compensation amount is consistent with the actual water requirements of the vegetation. This ensures the uniformity of irrigation while achieving the rational use of water resources and improving the flexibility and stability of the sprinkler during compensation.

[0227] In an optional embodiment of this disclosure, the restricted area may include an area entrance and an area exit, and the vegetated area includes a non-restricted area connected to the restricted area, with at least the width of the non-restricted area being greater than the width of the restricted area; when the edge of the vegetated area is detected to be within the sprinkler coverage area, it is recommended to set the installation position at the corner where the non-restricted area connects to the area entrance or area exit.

[0228] The area entrance and area exit are the boundaries connecting the restricted area to the external space, i.e., the points where the restricted area connects to the unrestricted area or open space. Geometrically, the area entrance and area exit can be defined by the edge turning points of the polygon boundary, or determined by channel connectivity detection in a rasterized map. By detecting the existence of area entrances and area exits, the restricted area can be distinguished from the overall courtyard space, making it easier to avoid these narrow areas when recommending the installation of smart courtyard sprinklers.

[0229] The non-restricted zone refers to the portion of the vegetated area that does not form narrow passage constraints, allowing for smooth passage of mobile devices or users on a spatial scale. In the analysis, the widths of the restricted and non-restricted zones can be calculated separately, i.e., the minimum lateral distance between the two boundary points. When the non-restricted zone is connected to the restricted zone, and the width of the non-restricted zone is significantly greater than that of the restricted zone, it indicates a spatial abrupt change at the connection point. The non-restricted zone can be a reasonable candidate for installing a smart garden sprinkler system because a wide non-restricted zone can accommodate the radius required for sprinkler coverage, while avoiding the installation of the sprinkler in a narrow restricted zone, which would impede the passage of mobile devices.

[0230] When the edge of the vegetated area is detected to be within the sprinkler coverage area, it can be assumed that the sprinkler at the recommended installation location has the effective coverage capability for the entire vegetated area. In this case, the recommended installation location can be preferentially set at the corner connecting the non-restricted area and the area entrance or exit. The corner location refers to the intersection of the boundary line of the non-restricted area and the boundary line of the restricted area. This point is both close to the entrance or exit of the narrow area and inside the non-restricted area. Placing the sprinkler at this location ensures that the sprinkler coverage covers the entire vegetated area, while also preventing the sprinkler itself from obstructing the passage of mobile equipment in the restricted area.

[0231] refer to Figure 7 As shown, the vegetated area includes a non-restricted area connected to the restricted area 601. For example, the non-restricted area includes a first working area 602 and a second working area 603. The boundary between the restricted area 601 and the first working area 602 constitutes an area entrance 604, and the boundary between the restricted area 601 and the second working area 603 constitutes an area exit 605. In this case, when the edge of the vegetated area is detected to be within the sprinkler coverage area, it can be considered that the sprinkler at the recommended installation location has the effective coverage capability for the entire vegetated area. The recommended installation location can preferably be set at the corner where the non-restricted area connects to the area entrance 604 or the area exit 605. Figure 7 The example shown is that the recommended installation location is set at the corner 606 where the non-restricted area and the area entrance 604 are connected. It is easy for those skilled in the art to understand that the recommended installation location can also be set at the corner where the non-restricted area and the area exit 605 are connected. This embodiment does not make any special limitation on this.

[0232] In practical implementation, the location of the connecting corner can be determined by calculating the intersection of the boundaries of the non-movable restricted area and the movable restricted area, or by directly extracting the turning node through graphic segmentation methods. In some scenarios, if there are multiple candidate corners connecting the non-movable restricted area to the area entrance or exit, the connecting corner location with the smallest coverage blind spot can be selected as the final recommended installation location based on the principle of maximizing sprinkler coverage area. In another optional implementation, if the edge of the non-movable restricted area is relatively complex, convex hull simplification or angle threshold analysis can be combined to automatically identify the turning point that meets the conditions as the selectable connecting corner location, ensuring that the recommended installation location has good geometric rationality and spraying effect.

[0233] By recommending the installation location at the corner connecting the non-restricted area and the entrance or exit of the passage when the edge of the vegetated area is detected as being within the sprinkler coverage area, the sprinkler deployment can simultaneously meet the needs of passage space and irrigation coverage. This ensures smooth use in restricted areas while providing effective irrigation to the boundary vegetated areas, resulting in a more complete and balanced irrigation range. Furthermore, the corner installation location of the sprinklers provides a clear boundary reference for the path recognition of mobile equipment, thereby enhancing the collaborative operation between devices.

[0234] In an optional embodiment of this disclosure, the non-movable restricted area includes a first working area and a second working area, and the movable restricted area connects the first working area and the second working area; the irrigation control of the smart garden sprinkler can be achieved through the following steps, specifically including:

[0235] If the actual installation location of the smart garden sprinkler is within the first working area outside the restricted movement area and the edge of the restricted movement area, the water curtain formed by the smart garden sprinkler is controlled to gradually change the spray diameter and / or spray height along the extension direction of the restricted movement area, so that the water curtain extends from the first working area to the second working area, so that the water curtain at least covers the two sides of the restricted movement area in the extension direction, and extends a preset distance beyond at least one boundary of the restricted movement area.

[0236] The first and second working areas are two independent parts of the non-restricted area, geometrically connected by the restricted area. Since the restricted area lies between the first and second working areas, it forms a corridor-like spatial layout. In sprinkler irrigation control, these areas often have significant blind spots in spray coverage, requiring targeted spray control strategies to achieve uniform water supply.

[0237] When the actual installation location is within the first working area and not within or near the edge of a restricted movement area, the sprinkler cannot directly and evenly cover the entire restricted movement area in its normal circular path spraying mode. In this case, an adjustable water curtain can be formed by controlling the sprinkler's spraying method. A water curtain is a continuous liquid curtain formed by the water jet from the sprinkler head after propagation through air and gravity; its shape and range are determined by the combined effect of the spray diameter and spray height.

[0238] The spray diameter refers to the width of the water curtain sprayed from the sprinkler head in the horizontal plane, while the spray height refers to the vertical projection height of the water curtain. By gradually changing the spray diameter and / or spray height during spraying, the water curtain can gradually expand or contract as it moves along the direction of the restricted area, effectively covering the boundary of this narrow area. Specifically, the spray diameter can be varied by adjusting the nozzle opening, controlling the flow rate of the solenoid valve, and controlling the pump speed by adjusting the water supply pressure; the spray height can also be gradually varied by changing the sprinkler head elevation angle or adjusting the spray pressure. Alternatively, dynamic control of the Pulse Width Modulation (PWM) solenoid valve can be used to adjust the water curtain shape with finer granularity, ensuring the smoothness of the adjustment process. In this way, effective coverage of the restricted area can still be achieved even when the sprinkler is not directly inside the restricted area, effectively reducing blind spots in sprinkler coverage.

[0239] By gradually adjusting the spray diameter and / or spray height of the sprinkler, the resulting water curtain extends along the direction of the restricted area, spanning the spatial range from the first working area to the second working area, as referenced. Figure 8 As shown, the actual installation position 704 of the smart garden sprinkler is within the first working area 602. The water curtain formed by the smart garden sprinkler can be controlled to gradually change its spray diameter and / or spray height along the extension direction of the restricted movement area 601, allowing the water curtain to extend from the first working area 602 to the second working area 603. During spraying, the water curtain must cover at least both sides of the restricted movement area, ensuring that the water curtain spans the entire width of the restricted movement area laterally, thus preventing uncovered areas from appearing at the sides of the restricted movement area. Simultaneously, to enhance the stability of the coverage, the water curtain extends a preset distance beyond at least one boundary of the restricted movement area. This preset distance can be set according to the physical properties of the sprinkler head and the soil permeability characteristics, for example, 0.2 meters to 0.5 meters. Through this outward expansion, the seepage and diffusion of water overflowing from the edges can be utilized to improve the water uniformity of vegetation near the boundary. (Reference) Figure 8 and Figure 9 As shown, when the actual installation position 704 of the smart garden sprinkler is within the first working area 602, the water curtain formed by the smart garden sprinkler can be controlled to gradually change the spray diameter and / or spray height along the extension direction of the movement-restricted area 601, so that the water curtain extends from the first working area 602 to the second working area 603, and at the same time, the water curtain covers at least the two sides of the extension direction of the movement-restricted area 601, and extends a preset distance 805 beyond at least one boundary of the movement-restricted area 601.

[0240] In practical implementation, this process can be achieved through a preset spray control program. When the spray path passes through a restricted area, the controller automatically adjusts the nozzle's spray diameter or angle, maintaining a certain delay to ensure the water curtain coverage extends beyond the preset boundary by a preset distance. By deploying sprinklers in the first working area and controlling the directionality of the water curtain to achieve cross-area coverage, the uniformity of irrigation in the restricted area and its edges can be effectively guaranteed, without affecting the normal operation of the smart garden sprinkler in non-restricted areas. When a restricted area exists between the first and second working areas, adjusting the spray diameter and height allows the water curtain formed by the smart garden sprinkler to cross the restricted area, achieving continuous coverage of the vegetation on both sides and thus avoiding irrigation interruptions.

[0241] When the sprinkler is installed in the first working area, the water curtain formed by the sprinkler is controlled to gradually change the spray diameter and / or spray height along the extension direction of the restricted area, so that the water curtain can extend from the first working area to the second working area. The water curtain can cover both sides of the channel extension direction and extend outward by a preset distance at at least one boundary. This can effectively compensate for the blind spots at the edge of the restricted area, not only ensuring the irrigation of the lawn area around the restricted area, but also forming a continuous coverage of the water curtain between different areas, improving the uniformity of sprinkler irrigation and enhancing the sprinkler irrigation coverage effect.

[0242] In an optional embodiment of this disclosure, sprinkler coverage of the entrance or exit of a restricted area can be achieved through the following steps, specifically including:

[0243] It can increase the water volume of the sub-sprinkler path at the area entrance or area exit of the smart garden sprinkler, and / or control the coverage length of the sub-sprinkler path so that the water curtain formed by the smart garden sprinkler can completely cover the area entrance or area exit.

[0244] When a sub-sprinkler path passes through the entrance or exit of a restricted-access area, the water volume of that sub-sprinkler path can be increased to ensure a more sufficient water supply at that location. This increased water volume can be achieved by extending the spraying time of the sub-sprinkler path. By increasing the water volume of the sub-sprinkler path at the entrance or exit of the restricted-access area, significant water compensation can be achieved at these points, resulting in higher humidity in the vegetated area at these key locations. This prevents blind spots in sprinkler coverage at both ends of the restricted-access area and improves the uniformity of sprinkler coverage.

[0245] The coverage length of a sub-sprinkler path refers to the angular span of the sprinkler head of a smart garden sprinkler when it completes an arc-shaped spray at a certain radius. When the area entrance or exit coincides with the edge of the sub-sprinkler path, the conventional coverage range may not be sufficient to completely cover that location or corner area. To ensure spray integrity, this can be compensated for by adjusting the coverage length of the sub-sprinkler path. For example, the angular range can be extended in the sprinkler head rotation control, thereby expanding the water curtain's coverage as it passes the area entrance or exit; or the sprinkler head rotation speed can be reduced, increasing the dwell arc length of the water jet as it passes the target location, thus extending the spatial range of the water curtain. (Continue to refer to...) Figure 8 As shown, by adjusting the coverage length of the sub-sprinkler path at the area entrance 604 or area exit 605, such as when the water curtain expands its coverage as it passes through the area entrance 604 or area exit 605, the sprinkler blind spots at the area entrance 604 or area exit 605 can be effectively reduced.

[0246] In another alternative approach, a multi-path overlapping strategy can be employed. This involves increasing the coverage area in adjacent sub-sprinkler paths to create overlapping coverage at the area entrance or exit, enhancing coverage redundancy. This embodiment is not limited to this approach. By increasing the water volume of the sub-sprinkler paths at the area entrance or exit and / or controlling the coverage length of the sub-sprinkler paths, it can be ensured that the water curtain formed by the smart garden sprinkler can completely cover these key locations. This not only improves the spray uniformity at both ends of the restricted movement area but also ensures that the water penetration effect extends into the interior of the restricted movement area, thereby improving the continuity and stability of sprinkler irrigation in the overall vegetation coverage area. Increasing the water volume of the sub-sprinkler paths and / or controlling the coverage length at the area entrance or exit ensures that the water curtain coverage can completely cover these key locations, thereby reducing edge water shortage and ensuring the uniformity of moisture for vegetation at both ends of narrow channels.

[0247] By increasing the water volume of the sub-sprinkler path at the area entrance or exit, or by controlling the coverage length of the sub-sprinkler path, the water curtain formed by the sprinkler can completely cover the area entrance or exit. In this way, the boundary vegetation at the area entrance and exit can be fully irrigated, while unrelated areas will not be subjected to unnecessary water curtain spraying. This makes the allocation of water resources more rational and makes the sprinkler irrigation at the boundary of the restricted area more in line with the actual needs of the courtyard scene.

[0248] In an optional embodiment of this disclosure, the courtyard map may include a recessed area, and it is recommended that the installation location be set in an area away from the recessed area.

[0249] In this context, a recessed area refers to a low-lying or sunken section on the surface of a yard, creating a significant height difference relative to the surrounding ground. Recessed areas can be naturally formed depressions or man-made features such as drainage ditches, planting pits, or landscape ponds. Because recessed areas are prone to water accumulation during sprinkler irrigation, if a smart sprinkler is installed near a recessed area, the sprayed water may directly converge on the low-lying area, resulting in uneven water distribution or even excessive water accumulation. Therefore, marking recessed areas on a yard map provides necessary exclusion criteria for recommending sprinkler installation locations, allowing for the avoidance of unsuitable installation areas during site planning.

[0250] The identification methods for depression areas may include terrain fitting analysis based on three-dimensional point cloud data, height shadow detection based on images, or local height scanning based on ultrasonic ranging sensors. This embodiment does not impose any special limitations on the identification methods for depression areas.

[0251] When there are recessed areas on the yard map, points close to these recessed areas can be eliminated from the candidate installation locations, and areas furthest from them can be prioritized as recommended installation locations. "Far from" means that the horizontal distance between the recommended installation location and the edge of the recessed area is greater than a preset safety threshold. This threshold can be set based on the maximum spray radius of the smart sprinkler, the spray coverage mode, and the soil permeability characteristics. For example, when the maximum spray radius of the sprinkler head is 5 meters, the preset safety threshold can be set to 1 to 2 meters to ensure that the sprayed water does not directly converge in large quantities into the recessed area under the influence of gravity.

[0252] In practical implementation, when selecting recommended installation locations, a buffer zone can be first generated for recessed areas on the yard map, that is, a no-installation zone is formed by extending a preset distance outward from the edge of the recessed area. Then, recommended installation locations are selected only within the area outside the no-installation zone, thus ensuring a reasonable distance between the sprinkler and the recessed area. In another optional implementation, if the recessed area is small but densely distributed, sprinkler coverage simulation can be used to prioritize the points with the least impact on the recessed area within the overall coverage area as recommended installation locations, further optimizing the uniformity of sprinkler irrigation and water resource utilization efficiency. By setting recommended installation locations far from recessed areas, localized water accumulation caused by the sprinkler being installed near low-lying terrain can be avoided, maintaining a balanced overall water distribution in the yard and improving the stability of the sprinkler effect.

[0253] By identifying recessed areas on the yard map and setting recommended installation locations away from these areas, sprinklers can avoid areas prone to water accumulation, resulting in a more even and reasonable distribution of irrigation water. This reduces the negative impact of excessive local water concentration and improves the coordination between sprinkler coverage and terrain features, thereby enhancing the overall adaptability and reliability of yard irrigation.

[0254] In an optional embodiment of this disclosure, the yard map may include a no-sprinkler zone, and the recommended installation location for the smart yard sprinkler is set in an area far from the edge of the no-sprinkler zone.

[0255] Among them, the sprinkler-prohibited area refers to the part of the yard that is not suitable for being covered by sprinkler water. For example, the sprinkler-prohibited area can be the area where electrical equipment is installed, the paved road or the leisure area in the yard; it can also be a safety restriction, such as the location near building walls, glass windows, door steps, etc., which are easily damaged by long-term water exposure; it can also be a management restriction, such as the flower bed, decorative rockery or ornament area where the yard owner wants to avoid long-term spraying, or the canopy, pavilion and other leisure areas in non-vegetated areas. This embodiment does not make special restrictions on the type of sprinkler-prohibited area.

[0256] The no-sprinkler zone can be marked as a polygonal vector block or a specific pixel marker in a rasterized image on the yard map. The edge of the no-sprinkler zone refers to the area within a preset distance outside the no-sprinkler zone, which forms a spatial geometric constraint that sprinklers must avoid when being deployed.

[0257] Optionally, the no-sprinkler zones in the courtyard map can be obtained and marked in various ways. For example, users can actively specify areas they do not want sprinkler irrigation from by manually drawing, selecting, or clicking on markers in the human-computer interaction interface of the courtyard map displayed on the control terminal. These areas could include recreational areas such as canopies or pavilions in non-vegetated areas, locations where furniture or decorations are placed in the courtyard, or hard paved areas such as stone paths or wooden platforms. Alternatively, the courtyard map can automatically extract no-sprinkler zones by combining image recognition or sensor data obtained by the user through the control terminal. For example, using a camera to identify the ground can mark areas such as paving stones, gravel areas, or outdoor electrical appliances as no-sprinkler zones. This embodiment does not impose any special limitations on the method of setting no-sprinkler zones in the courtyard map.

[0258] When a no-sprinkler zone exists on the yard map, locations near the no-sprinkler zone and its edges can be eliminated from the pool of candidate installation locations. Areas farther from this edge will be prioritized. "Far away" means the horizontal distance between the recommended installation location and the edge of the no-sprinkler zone should not be less than a preset safety threshold. This threshold can be set based on the maximum spray radius of the smart sprinkler head, the spray pattern, and the spray diffusion characteristics. For example, when the maximum spray radius of the sprinkler head is 4 meters, the system can set the preset safety threshold to 0.5 to 1 meter to ensure that water is less likely to enter the no-sprinkler zone due to water jet propulsion or wind deviation.

[0259] In practice, a buffer zone can be generated outside the edge of the sprinkler irrigation restricted area. The width of this buffer zone is equal to a preset safety threshold, thus forming the restricted area for the sprinkler. (Continue to refer to...) Figure 7 As shown, the first working area 602 includes a sprinkler prohibition zone 607 pre-marked on the yard map. Points located near the sprinkler prohibition zone 607 and its edge area can be eliminated from the candidate installation location pool. For example, a buffer zone can be generated outside the edge of the sprinkler prohibition zone, with the width of the buffer zone equal to a preset safety threshold, such as 0.5 meters, 0.8 meters, or 1 meter, thus forming a sprinkler prohibition zone 608. It is recommended that the installation location be far away from either the sprinkler prohibition zone 607 or the prohibition zone 608. Of course… Figure 7 The sprinkler irrigation prohibited areas 607 and 608 are merely illustrative examples and are not intended to limit this embodiment. Subsequently, by traversing the candidate point set in the yard map, recommended installation locations can be selected only within the area outside the prohibited areas. If the distribution of sprinkler irrigation prohibited areas is complex, such as multiple irregularly shaped areas intersecting each other, the system can also use geometric Boolean operations to generate a uniform buffer zone outline to ensure that all prohibited areas are effectively avoided.

[0260] By setting the recommended installation location away from the edge of the sprinkler irrigation prohibition zone, it is ensured that the prohibition zone will not be affected during the sprinkler irrigation process. This protects sensitive facilities or non-target areas in the yard while ensuring the safety and targeting of the sprinkler irrigation operation.

[0261] By introducing sprinkler-restricted zones in the yard map and setting the recommended installation locations for sprinklers far from the edges of these zones, it is possible to effectively prevent sprinkler water from flowing into areas that do not require irrigation. This sprinkler placement reduces ineffective water consumption, concentrates irrigation on vegetated areas, and effectively keeps restricted sprinkler zones dry. This improves the usability and safety of the yard, thereby enhancing the coordination between sprinkler placement and the actual functional zoning of the yard.

[0262] In one example embodiment of this disclosure, sprinkler control associated with sprinkler irrigation prohibition areas can also be achieved through the following steps, specifically including:

[0263] The effective irrigation area can be determined by combining the actual installation location of the smart sprinkler in the yard. The effective irrigation area is the intersection of the sprinkler coverage area of ​​the smart sprinkler at the actual installation location and the vegetation coverage area. It is used to characterize the effective range that the smart sprinkler can actually irrigate at the actual installation location. If the effective irrigation area at least partially covers the irrigation prohibition area, then the sub-irrigation path of the smart sprinkler in the yard is controlled to be less than or equal to the area width of the local vegetation coverage area around the irrigation prohibition area.

[0264] When the effective irrigation area overlaps with the irrigation prohibition area, it can be assumed that part of the spraying path may carry water into the irrigation prohibition area. In this case, the irrigation prohibition area can be avoided by controlling and adjusting the sub-sprinkler paths of the smart garden sprinkler.

[0265] In a specific implementation, after identifying an overlap between the effective irrigation area and the prohibited irrigation area, the sub-irrigation path corresponding to the overlapping area can be truncated or shortened so that its coverage width is less than or equal to the width of the local vegetation coverage area. For example, when the nozzle of the smart garden sprinkler rotates to an angle close to the prohibited irrigation area, the spray arc can be shortened by closing the solenoid valve in advance, or the water column radius can be reduced by lowering the spray pressure, so that the water curtain does not exceed the boundary of the local vegetation coverage area in the lateral direction. In another optional approach, the starting and ending angles of the sub-irrigation path can be adjusted to prevent the water curtain from crossing into the prohibited area. By determining the effective irrigation area at the actual installation location and limiting the coverage width of the sub-irrigation path when the effective irrigation area overlaps with the prohibited irrigation area, the sprinkler can strictly avoid the prohibited area while maintaining the irrigation needs of the local vegetation coverage area, thus improving the accuracy of spraying.

[0266] By combining the actual installation location of the smart sprinkler system in the courtyard, the intersection of its sprinkler coverage area and the vegetation coverage area is determined as the effective irrigation area. This provides a clear indication of the area that the sprinkler can irrigate at the actual installation point. When it is found that the effective irrigation area at least partially covers the prohibited irrigation area, the sub-sprinkler path of the sprinkler system is controlled to be smaller than or equal to the width of the surrounding local vegetation coverage area. This limits the sprinkler's spray range to a reasonable local space, preventing water from spraying into the prohibited area while ensuring that adjacent vegetation still receives necessary irrigation. This improves the accuracy of sprinkler control and enhances the overall irrigation effect.

[0267] In one example embodiment of this disclosure, if the vegetation cover area includes raised vegetation areas that are inaccessible to mobile devices, and the inaccessible raised vegetation areas include at least shrub areas and / or flower bed areas, it is recommended that the installation location be set in the area where the effective irrigation range of the smart garden sprinkler covers the raised vegetation area.

[0268] Raised vegetation areas refer to specific regions within a vegetated area that are higher than the surrounding lawn. These areas create localized three-dimensional barriers, preventing mobile equipment from entering or crossing them. For example, dense shrubs with significant height, or flower beds with perimeter barriers or height differences, all constitute conditions that prevent mobile equipment from passing through. Therefore, when a vegetated area includes such raised vegetation areas, conventional lawnmowers or mobile maintenance equipment are identified as suspended objects. In such cases, special consideration must be given to the sprinkler irrigation plan to ensure adequate water supply to the raised vegetation areas.

[0269] Shrub areas refer to planting areas within a courtyard consisting of dense shrubs, typically 0.5 to 2 meters tall, whose dense foliage makes passage impossible. Flower bed areas are artificially created concentrated planting areas within a courtyard, often enclosed by stone, brick, or wooden structures, with edges typically 0.2 to 0.5 meters high, making it difficult for mobile devices to enter. Raised vegetation areas can include both shrub and flower bed areas, sharing the characteristics of prominent boundaries, high ceilings, and surfaces unsuitable for mobile device movement. Identification of raised vegetation areas can include semantic segmentation based on courtyard maps, height detection based on depth sensors, or vegetation type classification based on image recognition. In practical applications, shrub or flower bed areas can be automatically identified as raised vegetation areas by labeling them, thus incorporating this constraint into recommended installation location planning.

[0270] When shrub or flower bed areas exist within the vegetated area, the recommended installation location must ensure coverage of these raised vegetation areas within the effective irrigation range, thereby ensuring water supply to the roots of the vegetation in these areas. Specifically, the effective irrigation range of each candidate installation location can be calculated, and it can be checked whether it includes all or part of the raised vegetation area. If the coverage is insufficient, the location is eliminated; if the coverage meets the requirements, the location is selected as the recommended installation location. In another optional approach, if there are many raised vegetation areas and they are scattered, the system can use iterative optimization to prioritize the location that covers the most raised vegetation areas, ensuring overall coverage effectiveness. By setting the recommended installation location within the effective irrigation range that covers the raised vegetation areas, areas inaccessible to mobile equipment, such as shrub and flower bed areas, can also receive sufficient irrigation, thereby improving the overall coverage integrity and the adaptability of the sprinkler system to complex garden environments.

[0271] By identifying raised vegetation areas inaccessible to mobile devices within vegetated areas and placing sprinklers in recommended locations where their effective irrigation range can cover these areas, the sprinkler's spraying effect can extend to flower beds or shrub areas. This ensures that raised vegetation areas receive adequate irrigation, resulting in a more comprehensive and balanced irrigation layout. Furthermore, it enhances the sprinkler's versatility, enabling it to handle different types of vegetation even in complex garden settings, thereby improving the overall reliability of automated garden irrigation.

[0272] In one example embodiment of this disclosure, it is recommended that the spraying height of the smart sprinkler at the recommended installation location be at least greater than the shading height of the raised vegetation area; effective coverage of the raised vegetation area can also be achieved through the following steps, specifically including:

[0273] It can control the intelligent sprinkler in the yard so that the sprinkler height in the raised vegetation area is greater than the shading height of the raised vegetation area.

[0274] The sprinkler height refers to the highest effective spray height formed by the water jet or mist sprayed by the smart garden sprinkler head during operation. This height is determined by the nozzle spray angle, water supply pressure, and nozzle diameter. The shading height of raised vegetation areas refers to the maximum vertical height of these areas, such as the upper edge of shrub branches or the highest point of a flower bed enclosure. When the smart garden sprinkler at the recommended installation location is used for water curtain spraying, its sprinkler height must be at least greater than the shading height of the raised vegetation area to ensure that the sprayed water can pass over the tops of the plants or the enclosure structure, thereby covering the target vegetation behind or inside the raised vegetation area. If the sprinkler height is lower than the shading height, the sprayed water will be blocked by obstacles in front, resulting in a blind spot for the roots of the vegetation inside the raised vegetation area.

[0275] The spray height of the smart garden sprinkler head can be dynamically adjusted during operation, enabling it to achieve irrigation coverage over obstructions when spraying through raised vegetation areas. The irrigation height can be controlled by adjusting the nozzle elevation angle, increasing the initial angle of the water jet and thus raising the highest point of the water flow, achieving over-the-top spraying; or by increasing the water supply pressure, increasing the initial velocity of the water flow, so that the apex of the water jet trajectory's parabola exceeds the height of the obstruction from the raised vegetation area; of course, the nozzle structure can also be changed, for example, by selecting a nozzle with a longer range and a larger atomization angle to achieve higher irrigation height coverage, but this example embodiment does not impose any special limitations on this.

[0276] In a straightforward manner, the system can also obtain the sprinkler height distribution range of the smart garden sprinkler. Based on this distribution from the current installation location to the target location, the system can adjust the sprinkler parameters, thereby controlling the sprinkler height in areas with raised vegetation, ensuring irrigation of the root zone within these areas. By controlling the sprinkler height to exceed the shading height of the raised vegetation, the water flow can overcome the top obstacles of shrubs or flower beds, avoiding the formation of shaded areas and ensuring sufficient water supply to the vegetation in these areas.

[0277] By setting the sprinkler height at the recommended installation location to be at least greater than the shading height of the raised vegetation area, and controlling the sprinkler height to remain above the shading height during irrigation, the water flow can cross the edges of flower beds or shrubs, fully covering the vegetation area behind them. This effectively reduces irrigation blind spots and improves the uniformity of watering inside and outside the raised vegetation area. Furthermore, dynamic control of the sprinkler height enhances the sprinkler's adaptability to complex garden terrain, resulting in more stable and reliable irrigation.

[0278] In an optional embodiment of this disclosure, the nozzle type of the smart garden sprinkler may include water curtain nozzles and atomizing nozzles. Water curtain nozzles are configured to form a continuous water curtain during irrigation, with a longer spray distance, enabling them to cover a large vegetated area when the sprinkler is installed in a non-restricted area. Atomizing nozzles, on the other hand, can atomize the sprayed water into fine droplets, with a shorter spray distance, but are suitable for irrigating vegetation in flower bed areas, increasing leaf surface moisture while avoiding impact damage to flowers.

[0279] In this embodiment, when a flower bed area is identified in the garden map, the recommended installation location is preferably close to this flower bed area, so that the smart garden sprinkler can switch the nozzle type when the sub-irrigation path reaches the flower bed area. Specifically, when the smart garden sprinkler enters the sub-irrigation path corresponding to the flower bed area, the control system will issue a switching command to switch the sprinkler head from a water curtain nozzle to an atomizing nozzle, so that the water flow formed under the sub-irrigation path is an atomized jet, thereby taking into account both the irrigation needs of the flower bed vegetation and the protection needs of delicate flowers. It is easy to understand that the nozzle switching process can be completed by a solenoid valve or a mechanical nozzle switching device, and the control signal can be issued by the internal control circuit of the smart garden sprinkler or the communication module with the mobile terminal. This embodiment does not specifically limit the specific implementation method of nozzle switching.

[0280] By incorporating both water curtain and atomizing nozzles into a smart garden sprinkler system, and switching between them based on the irrigation path and the location of the flower bed area, the system can cater to the differentiated needs of both large-scale vegetation and localized flower bed areas. On one hand, the water curtain nozzles can create a continuous water curtain over a long distance, ensuring uniform irrigation of lawns or vegetation outside the flower bed area. On the other hand, the atomizing nozzles, operating within the sub-irrigation path corresponding to the flower bed area, create a mist-like water flow with a shorter spray distance and finer droplets, increasing the moisture content of the leaves of the flower bed plants while effectively preventing impact damage to delicate vegetation such as petals and seedlings.

[0281] In one example embodiment of this disclosure, it can also be achieved through Figure 10 The steps outlined in the document enable human-computer interaction with the user, thereby assisting in recommending installation locations for the smart sprinkler system in the yard. (Refer to...) Figure 10 As shown, it can specifically include:

[0282] Step S1010: Obtain a location modification instruction for the recommended installation location, the location modification instruction being used to switch the recommended installation location to a new installation location specified on the courtyard map;

[0283] Step S1020: If the new installation location is within the restricted movement area, a restricted prompt message is output. The restricted prompt message is used to indicate that the new installation location restricts the user or the mobile device from working or moving.

[0284] The location modification command can be triggered by the user through a human-computer interaction interface, such as clicking and dragging the marker point of the recommended installation location on the graphical interface of a mobile terminal, or entering the coordinates of the new installation location in a desktop application. The location modification command can also obtain the user's natural language input through a voice recognition system. For example, after the user issues a voice command such as "Install the sprinkler next to the flower bed", the system parses and generates the instruction for the new installation location.

[0285] Location switching refers to replacing the originally determined recommended installation location with a new installation location specified by the user or system, and updating it in the yard map. During the switch, the coordinates of the recommended installation location on the yard map can be directly replaced with the coordinates of the new installation location; at the same time, the irrigation coverage area of ​​the smart sprinkler in the yard is recalculated based on the new installation location, and the effective irrigation area is updated.

[0286] When a new installation location falls within a restricted movement area, the deployment of a smart garden sprinkler can impact users' daily activities or the path planning of automated lawnmowers. Therefore, a restriction warning can be automatically output when a new installation location is detected as being within a restricted movement area. This warning can be displayed on the mobile application interface as a pop-up or highlighted notification, with the message stating, "The new installation location is within a restricted movement area, which may affect lawnmower or user access." Alternatively, the restriction warning can also be delivered to the user via sound alerts, vibration feedback, or email notifications to enhance the immediacy and accessibility of the warning; this embodiment does not impose any specific limitations on this method.

[0287] The purpose of the restricted installation information is not only to remind users of the spatial limitations of the new installation location, but also to clearly point out the potential adverse effects of the new installation location. For example, when the new installation location is near a narrow passage at the edge of a flower bed, the lawnmower may be blocked when performing routine mowing tasks; when the new installation location is set in a narrow walkway, the user's daily passage may be interfered with. By outputting restricted installation information, users can decide whether to keep the new installation location or choose a more reasonable placement point, thus helping users determine the optimal installation location and ensuring that the irrigation effect after installation does not affect the normal operation of the accompanying mobile equipment, improving the user experience. After the user inputs a location modification command, the recommended installation location is updated, and a warning message is output for new locations in restricted areas. This allows the sprinkler deployment to maintain real-time verification of accessibility and irrigation effect while the user makes interactive adjustments, improving the flexibility and safety of deployment.

[0288] By obtaining the user's location modification command based on the recommended installation location, and judging the situation when the user specifies a new installation location, if the new installation location is detected to be within a restricted movement area, a restriction warning message is output, indicating that the location may restrict the operation of mobile devices such as lawnmowers or the user's normal passage. This allows for user flexibility in adjustment while providing clear risk warnings, avoiding inconvenience caused by improper sprinkler installation location selection. This enhances the user-friendliness of the installation recommendation process, making sprinkler deployment more suitable for the actual needs of backyard environments and multi-device collaborative operation.

[0289] In an optional embodiment of this disclosure, in addition to obtaining a yard map from a mobile device, a yard map can also be obtained through a global positioning system. The yard map includes pre-identified non-mobility restricted areas. Based on the yard map and the irrigation coverage of the smart yard sprinkler, a recommended installation location is determined. The recommended installation location is set in the non-mobility restricted area, and the recommended installation location maximizes the area of ​​the irrigation coverage within the vegetation coverage area; wherein, at least the width of the non-mobility restricted area is greater than the width of the mobility restricted area.

[0290] Among them, the courtyard map obtained through the Global Positioning System refers to the local area map corresponding to the courtyard that is directly selected from the map provided by the Global Positioning System. At this time, customers can be guided to directly mark the non-restricted area in the courtyard map by circling or drawing.

[0291] The sprinkler coverage area can be viewed as a coverage region centered on the recommended installation location and with a radius equal to the maximum spray radius. A non-restricted area layer can be extracted from the yard map to construct a set of candidate installation locations. This can be achieved by regularly gridding the non-restricted area and generating candidate installation locations at the grid center points, or by sampling equidistant points within the non-restricted area and placing candidate installation locations at given intervals within the boundaries. Subsequently, a corresponding sprinkler coverage area can be generated for each candidate point, and its spatial intersection with the vegetation coverage area can be calculated to obtain the area of ​​the sprinkler coverage area within the vegetation coverage area. This area can then be used as the target quantity for sorting, prioritizing the candidate installation location with the largest area as the recommended installation location. When multiple candidate points have the same or similar areas, secondary judgments can be used for differentiation. For example, points more centrally located from the boundary of the non-restricted area can be prioritized to reduce the probability of the sprinkler water curtain covering areas outside the vegetation coverage area, or points closer to the center of the vegetation coverage area can be prioritized to improve overall uniformity.

[0292] Understandably, the width of the non-restricted area should be greater than the width of the restricted area. For example, the non-restricted area could be wider than the restricted area, but the length of the non-restricted area could be shorter than the restricted area. Alternatively, both the non-restricted area and the restricted area could be wider and longer. A yard map is generated using a GPS system, and the recommended installation location is determined by combining the non-restricted area and the sprinkler coverage area. Simultaneously, the width of the non-restricted area is constrained to be greater than the width of the restricted area, achieving an optimal balance between coverage and accessibility, thus ensuring a rational sprinkler layout.

[0293] By acquiring a yard map through the Global Positioning System (GPS) and pre-marking non-restricted movement zones on the map, the recommended installation location can be determined based on a unified and accurate data source. Based on this, analysis of the yard map and sprinkler coverage area allows for the installation of sprinklers within non-restricted movement zones, maximizing the sprinkler coverage area within the vegetation cover. This achieves a more rational coverage match, reducing potential conflicts between sprinklers and traffic paths, and improving the scientific accuracy of recommended installation locations. This ensures that sprinkler deployment meets irrigation coverage requirements while also considering the operating environment of mobile equipment.

[0294] In an optional embodiment of this disclosure, a yard map can also be obtained through a global positioning system. The yard map includes pre-marked non-mobility restricted areas, which include raised vegetation areas that mobile devices cannot access. The inaccessible raised vegetation areas include at least shrub areas or flower bed areas. Based on the yard map and the irrigation coverage and irrigation height distribution of the smart garden sprinkler, a recommended installation location is determined. The recommended installation location is set in the non-mobility restricted area. The recommended installation location ensures that the irrigation height of the smart garden sprinkler in the raised vegetation area is at least greater than the shading height of the raised vegetation area, and maximizes the area of ​​the irrigation coverage within the vegetation coverage area. Wherein, at least the width of the non-mobility restricted area is greater than the width of the mobility restricted area.

[0295] The sprinkler height distribution refers to the maximum water column height curve that the sprinkler head of the smart garden sprinkler can achieve under different water pressure conditions, used to measure the ability of the sprinkler water curtain to cross obstacles. After the candidate points for recommended installation locations are generated, the sprinkler coverage area can be spatially overlaid with the vegetation coverage area in the garden map to calculate the overlapping area of ​​the sprinkler range in the vegetation coverage area; at the same time, the sprinkler height distribution corresponding to the candidate point is extracted and compared with the shading height of the raised vegetation area in the garden map to ensure that the effective sprinkler height of the sprinkler at the candidate installation location is at least higher than the shading height, thereby ensuring that the root area of ​​the shrub area or flower bed area can be fully irrigated.

[0296] In practice, sprinkler height can be controlled by adjusting the nozzle angle or water pressure. For example, increasing the water pressure around shrub areas increases the spray height, while in flower beds, the nozzle elevation angle is adjusted according to the height and shape of the flower bed. The final recommended installation location not only needs to maximize the overlap between the sprinkler coverage area and the vegetation coverage area to achieve efficient irrigation of the garden green area, but also requires the sprinkler height to be greater than the height of any obstructions within the raised vegetation area, ensuring the water jet can overcome obstacles and avoid shading areas caused by obstructions. By combining these two constraints, the recommended installation location can improve sprinkler uniformity and applicability while ensuring coverage efficiency.

[0297] By introducing constraints of non-movable restricted areas and raised vegetation areas into the courtyard map, and combining the sprinkler coverage and sprinkler height distribution, the installation location is optimized so that the recommended installation location can simultaneously meet the requirements of maximizing the coverage area and the sprinkler height crossing obstacles, thereby improving sprinkler efficiency and sprinkler uniformity in complex environments.

[0298] By acquiring a yard map using a GPS system and pre-marking non-restricted-movement zones on the map, including raised vegetation areas such as shrublands or flower beds, installation locations can be recommended based on the sprinkler coverage area and sprinkler height distribution. This ensures that the sprinkler height in raised vegetation areas is at least greater than the obstruction height, maximizing the sprinkler coverage area within the vegetation. In this way, the sprinkler flow can overcome the obstruction of raised vegetation, achieving uniform coverage of the raised vegetation area and its surroundings. The recommended installation locations not only meet the irrigation needs of all areas to be irrigated but also avoid interfering with the passage of users or mobile devices, improving the rationality and adaptability of sprinkler deployment.

[0299] Furthermore, this embodiment also provides a method for recommending the installation location of a smart garden sprinkler. This method can be applied to scenarios where users do not have mobile devices. This method can be applied to terminal devices, such as handheld terminals, computer devices, and other electronic devices, or it can be applied to servers. This embodiment does not make any special limitations on this. The following description will use the execution of this method by a terminal device as an example.

[0300] Figure 11 A schematic flowchart illustrating a method for recommending installation locations for a smart garden sprinkler according to other embodiments of this disclosure is shown below. Figure 11 The recommended installation location method for the smart sprinkler system in the courtyard according to the embodiments of this disclosure will be further explained.

[0301] Step S1110: Using the smart sprinkler pre-installed in the first position, mark multiple location points under multiple water spraying paths to form a courtyard map. The location points are obtained by controlling the smart sprinkler to spray water to the courtyard location.

[0302] Step S1120: Obtain the courtyard map, which includes a vegetation-covered area and a non-vegetation-restricted area.

[0303] Step S1130: Determine a recommended installation location based on the yard map and the irrigation coverage of the smart yard sprinkler. The recommended installation location does not include the inner area of ​​the restricted movement area. The restricted movement area is a narrow passageway in the yard map that allows users or mobile devices to pass through.

[0304] In this embodiment, the user can select any suitable first location in the yard to pre-install the smart sprinkler. This first location does not need to be the final recommended installation location; it is only used as an initial reference point for map acquisition. In this state, the user can gradually adjust the sprinkler's spray height and direction through the control terminal or the manual control interface on the smart sprinkler itself, causing the smart sprinkler to sequentially perform spraying operations along different sub-sprinkler paths. Within the spray range corresponding to each sub-sprinkler path, the yard boundary points covered by the sprinkler can be recorded as location points. These location points can form an initial dataset describing the yard's spatial boundaries and coverage area.

[0305] Understandably, the initial location can be recommended before the user obtains a yard map. This recommendation process can be communicated to the user through the terminal device's human-computer interaction interface, guiding the user to temporarily install the sprinkler at a suitable initial location. This facilitates the subsequent construction of the yard map by marking the water path. The initial location can be recommended in non-vegetated areas and / or at the edge of vegetated areas, thereby avoiding unnecessary impacts on the initial placement of the sprinkler on the construction of the yard map, while also ensuring that the sprinkler path covers the yard boundary area to the maximum extent.

[0306] Specifically, when a user runs the sprinkler-related installation recommendation application for the first time, the user interface will display a prompt suggesting that the sprinkler be placed near the edge of a vegetated area (i.e., the edge of a grassy area) or a temporary installation point in a non-vegetated area of ​​the yard (such as paved areas, walkways, or unoccupied areas). After confirming the installation location, the user can control the sprinkler to execute multiple water spraying paths through the terminal interface, and merge the markers along these paths to form a yard map. It should be noted that the first location is only used for building the yard map and defining its boundaries, and is not equivalent to the final recommended sprinkler installation location. After the yard map is generated, the final recommended installation location can be calculated based on information such as vegetated areas, restricted movement areas, and sprinkler coverage area, and the user will be prompted to reinstall the sprinkler from the temporary first location to the recommended installation location.

[0307] refer to Figure 12 As shown, the smart garden sprinkler can be pre-installed at the first position 1201, which is any position that can be selected in a non-restricted area. At this time, the smart garden sprinkler can be manually controlled to spray water towards the garden. The spray height and spray direction of the sprinkler can be gradually adjusted so that the smart garden sprinkler can perform spraying operations along the edge of the garden in sequence, and mark multiple position points 1202 of the garden boundary points covered by multiple spray paths. Then, the multiple position points 1202 can be merged to obtain the garden map.

[0308] After completing the manual operations of the multi-path sprinkler system, the control terminal can perform spatial fusion processing on the various location points, resulting in a yard map. This yard map not only includes the geometry of the overall vegetation cover area but also distinguishes between narrow and continuous restricted areas and wide unrestricted areas through analysis of the distribution of local location points. For example, when the system detects that the minimum width of a connected area is a first preset multiple of the width of the mobile device, or that the minimum width of a connected area is 0.75 meters, and / or that the maximum width of a connected area is 2 meters, and / or that the minimum length of a connected area is 1 meter, this area can be marked as a restricted area to represent the narrow path for users or future lawnmowers to pass through. Conversely, areas with a width greater than the maximum width are classified as unrestricted areas, suitable as candidate locations for sprinkler installation.

[0309] Based on this, the courtyard map can be overlaid with the irrigation coverage of the smart sprinkler. By calculating the coverage area of ​​different candidate locations, the maximum vegetation coverage area that the irrigation coverage can cover can be determined. At the same time, points located in the middle range of the restricted movement area are excluded. The final recommended installation location is the target point that maximizes the effective irrigation area without affecting the passage of users or mobile devices.

[0310] By pre-installing smart garden sprinklers at a designated location and manually controlling the sprinkler's path and height, multiple points are marked along different irrigation paths. These points are then merged to form a garden map. This method replaces the mapping function of a lawnmower, enabling the mapping of garden boundaries. Users can generate accurate garden maps through simple operations, even without a lawnmower or similar map-collecting equipment, without being limited by equipment conditions. This not only solves the problem of not being able to create garden maps in the absence of mobile mapping equipment like lawnmowers, but also improves the universality and flexibility of map generation through manual calibration and data fusion. This makes the method for generating recommended installation locations more universal and can cover more garden application scenarios. Furthermore, the acquired garden map includes vegetated areas and narrow, restricted-movement areas. When determining the recommended installation location, areas within restricted-movement zones can be excluded, ensuring that the sprinkler covers the maximum effective irrigation area without obstructing user or other mobile equipment passage.

[0311] In addition, this embodiment also provides a lawnmower control method, which can be applied to terminal devices, such as handheld terminals, computer devices and other electronic devices, or to servers. This embodiment does not make any special limitations on this, and the following description will take the execution of the method by a terminal device as an example.

[0312] Figure 13A schematic flowchart of a lawnmower control method according to some embodiments of the present disclosure is shown. Below, in conjunction with... Figure 13 The lawnmower control method in the embodiments of this disclosure will be further described.

[0313] In step S1310, the actual installation location of the smart sprinkler in the yard is obtained and the actual installation location is marked on the yard map;

[0314] In step S1320, a new working path for the lawnmower is planned based on a yard map including the actual installation location. The new working path is used to avoid obstacles when the lawnmower moves to the actual installation location.

[0315] The actual installation location of the smart garden sprinkler refers to the spatial coordinates of the sprinkler that are ultimately confirmed and fixed by the user or automation system. This involves not only two-dimensional planar position but also height information for spatial matching with the path planning of automated garden equipment such as lawnmowers. For example, the actual installation location can be interactively entered by the user by clicking on a marker on the garden map interface using a handheld mobile terminal; alternatively, it can be obtained by combining construction coordinate data during installation with measurements taken using a Global Positioning System (GPS) or Real-Time Kinematic (RTK); or a position sensor can be built into the control module of the smart garden sprinkler to automatically upload the current location to the garden map database during the power-on initialization phase. Understandably, to ensure consistency between the installation location and the geometric data of the garden map, a coordinate alignment operation can be performed after marking, that is, converting and projecting the actual installation location to the reference coordinate system of the garden map, storing it in a unified format in the attribute fields of the garden map.

[0316] The lawnmower's working path refers to its movement trajectory when performing mowing operations within the yard. Since the smart sprinkler is added to the yard map as a fixed obstacle, obstacle avoidance processing is required during the path planning stage. In specific implementation, the area surrounding the actual installation location of the sprinkler can be defined as a no-entry zone in the updated yard map. This zone can be obtained by generating a buffer zone with the installation point as the center and the sprinkler's occupied radius as the boundary. Subsequently, this no-entry zone can be used as a constraint in the lawnmower's path planning module to regenerate the existing mowing and coverage path. The path planning algorithm can be implemented in various ways. For example, the path planning algorithm can be based on gridded path search using the A* algorithm, shortest path planning based on Dijkstra's algorithm, or the Rapidly-exploring Random Tree (RRT) method to generate obstacle avoidance paths in continuous space. This embodiment does not impose any special limitations on this approach. The new working path not only needs to bypass the prohibited areas where the sprinklers are located, but also needs to ensure the integrity of the mowing operation. Therefore, the path reconstruction incorporates the principle of optimizing mowing coverage to ensure that no blind spots are created during mowing due to obstacle avoidance. The final generated new working path enables the lawnmower to automatically adjust its direction of travel when it moves near the actual installation location of the smart garden sprinkler, thereby avoiding collisions with the sprinkler or affecting its normal operation, while ensuring the overall mowing coverage of the garden.

[0317] After marking the actual installation location of the sprinkler on the yard map, the lawnmower's working path is replanned based on that location. This allows the lawnmower to actively avoid obstacles when approaching the sprinkler, thereby preventing mechanical collisions, ensuring safe cooperation between the sprinkler and the lawnmower, and improving the overall operating efficiency of the yard automation equipment.

[0318] By obtaining the actual installation location of the sprinkler and marking it on the yard map, the lawnmower can plan a new working path based on the updated map. In the new path planning, the lawnmower will automatically avoid obstacles when moving to the area where the sprinkler is located, thereby avoiding physical interference with the sprinkler. This can effectively improve the stability and safety of the lawnmower's operation, while also enabling collaborative work between the sprinkler and the lawnmower, making the overall operation of the smart yard equipment more efficient and reliable.

[0319] It should be noted that although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0320] Furthermore, in exemplary embodiments of this disclosure, an electronic device is also provided that can implement the above-described method for recommending the installation location of a smart garden sprinkler or the method for controlling a lawnmower.

[0321] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be embodied in the following forms: a completely hardware embodiment, a completely software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0322] The following reference Figure 14 To describe an electronic device 1400 according to such an embodiment of the present disclosure. Figure 14 The electronic device 1400 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0323] like Figure 14 As shown, the electronic device 1400 is manifested in the form of a general-purpose computing device. The components of the electronic device 1400 may include, but are not limited to: at least one processing unit 1410, at least one storage unit 1420, a bus 1430 connecting different system components (including storage unit 1420 and processing unit 1410), and a display unit 1440.

[0324] The storage unit stores program code that can be executed by the processing unit 1410, causing the processing unit 1410 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processing unit 1410 can perform actions such as... Figure 1 In step S110, a courtyard map is obtained, which includes a vegetation-covered area and a non-vegetation-restricted area; in step S120, a recommended installation location is determined based on the courtyard map and the irrigation coverage of the smart sprinkler, wherein the recommended installation location does not include the inner area of ​​the mobility-restricted area.

[0325] Storage unit 1420 may include readable media in the form of volatile storage units, such as random access memory (RAM) 1421 and / or cache memory 1422, and may further include read-only memory (ROM) 1423.

[0326] Storage unit 1420 may also include a program / utility 1424 having a set (at least one) of program modules 1425, such program modules 1425 including but not limited to: an operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0327] Bus 1430 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0328] Electronic device 1400 can also communicate with one or more external devices 1470 (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 1400, and / or any device that enables electronic device 1400 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 1450. Furthermore, electronic device 1400 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 1460. As shown, network adapter 1460 communicates with other modules of electronic device 1400 via bus 1430. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 1400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0329] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0330] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of this disclosure may also be implemented as a program product including program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure.

[0331] refer to Figure 15 As shown, a program product 1500 for implementing the above-described method for recommending the installation location of a smart garden sprinkler or controlling a lawnmower, according to embodiments of the present disclosure, is described. It may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of this disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0332] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0333] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0334] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0335] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0336] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this disclosure and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0337] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0338] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0339] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for recommending installation locations for a smart sprinkler system in a courtyard, characterized in that, The method comprises: obtaining a yard map, the yard map comprising a vegetation coverage area, the vegetation coverage area comprising a mobile-restricted area and a non-mobile-restricted area; determining a recommended installation position according to the yard map and a sprinkling coverage range of the yard intelligent sprinkler, the recommended installation position not containing an inner side range of the mobile-restricted area; wherein the mobile-restricted area is a narrow passage area in the yard map for a user or a mobile device to pass through, and the mobile device is a device used for mowing in the yard; a minimum width of the mobile-restricted area is a first preset multiple of a width of the mobile device, or a minimum width of the mobile-restricted area is 0.75 meters; and / or, a maximum width of the mobile-restricted area is 2 meters; and / or, a minimum length of the mobile-restricted area is 1 meter.

2. A method of recommending an installation location of a yard smart sprinkler, the method comprising: The method comprises: obtaining a yard map, the yard map comprising a vegetation coverage area, the vegetation coverage area comprising a mobile-restricted area and a non-mobile-restricted area; determining a recommended installation position according to the yard map and a sprinkling coverage range of the yard intelligent sprinkler, the recommended installation position not containing an inner side range of the mobile-restricted area, wherein the mobile-restricted area is a narrow passage area in the yard map for a user or a mobile device to pass through, and the sprinkling coverage range comprises a maximum water spraying diameter and a maximum water spraying radius; when a maximum interval distance between a point on a boundary of the vegetation coverage area and the recommended installation position is greater than the maximum water spraying radius and less than or equal to the maximum water spraying diameter, the vegetation coverage area contains an unsprinkled coverage area, and the recommended installation position is arranged in an inner area of the vegetation coverage area closer to the unsprinkled coverage area than an edge position.

3. A method for recommending installation locations for a smart sprinkler system in a courtyard, characterized in that, The method comprises: marking a plurality of position points in a plurality of water spraying paths by the yard intelligent sprinkler pre-installed at a first position to form a yard map, the position points being obtained by controlling the yard intelligent sprinkler to spray water to a yard position; obtaining the yard map, the yard map comprising a vegetation coverage area, the vegetation coverage area comprising a mobile-restricted area and a non-mobile-restricted area; determining a recommended installation position according to the yard map and a sprinkling coverage range of the yard intelligent sprinkler, the recommended installation position not containing an inner side range of the mobile-restricted area; wherein the mobile-restricted area is a narrow passage area in the yard map for a user or a mobile device to pass through.

4. The method according to claim 1 or 2, characterized in that, The yard map is obtained by a mobile device; a width of the mobile-restricted area is greater than or equal to a first preset multiple of a width of the mobile device and less than a second preset multiple of the width of the mobile device, and / or a length of the mobile-restricted area is greater than a third preset multiple of the width of the mobile device; wherein the first preset multiple is 1.5, the second preset multiple is 4, and the third preset multiple is greater than or equal to 2.

5. The method according to any one of claims 1 to 3, wherein: when it is detected that an edge of the vegetation coverage area is at least partially within the sprinkling coverage range, the recommended installation position is arranged at an edge position of the vegetation coverage area. At least part of the irrigation coverage range includes a fan-shaped irrigation area covered by the maximum water spraying radius of the smart yard sprinkler when the smart yard sprinkler is located at the edge of the vegetation coverage area.

6. The method of any one of claims 1 to 3, wherein, when at least part of the edge of the vegetation coverage area is not within at least part of the irrigation coverage range, the recommended installation position is set at the edge of the movement-restricted area or any position within the vegetation coverage area other than the movement-restricted area; At least part of the irrigation coverage range includes a fan-shaped irrigation area formed by the maximum water spraying radius of the smart yard sprinkler when the smart yard sprinkler is located at the edge of the vegetation coverage area.

7. The method according to any one of claims 1 to 3, characterized in that, The smart yard sprinkler achieves irrigation coverage through a plurality of radially distributed sub-irrigation paths; When the vegetation coverage area has an unirrigated area that cannot be covered by the effective irrigation area of the smart yard sprinkler, at least the water spraying amount of the sub-irrigation path corresponding to the boundary position of the unirrigated area or one or more previous sub-irrigation paths is increased to meet the water demand of the unirrigated area; The increase in the water spraying amount is achieved by extending the water spraying time of the corresponding sub-irrigation path.

8. The method according to any one of claims 1 to 3, characterized in that, The movement-restricted area includes an area entrance and an area exit, and the vegetation coverage area includes a non-movement-restricted area in communication with the movement-restricted area; When it is detected that the edge of the vegetation coverage area is within the irrigation coverage range, the recommended installation position is set at the connection corner position of the non-movement-restricted area and the area entrance or area exit.

9. The method of claim 8, wherein, The non-movement-restricted area includes a first working area and a second working area, and the movement-restricted area is in communication between the first working area and the second working area; the method further comprises: If the actual installation position of the smart yard sprinkler is within the first working area outside the movement-restricted area and the edge position of the movement-restricted area, the water curtain formed by the smart yard sprinkler gradually changes the water spraying diameter and / or water spraying height in the extension direction of the movement-restricted area, so that the water curtain extends from the first working area to the second working area, so that the water curtain covers at least the two side boundaries of the movement-restricted area in the extension direction and extends outward by a preset distance from at least one boundary of the movement-restricted area.

10. The method of claim 8, wherein, The movement-restricted area includes an area entrance and an area exit; the method further comprises: Increasing the water spraying amount of the sub-irrigation path of the smart yard sprinkler at the area entrance or the area exit, and / or controlling the coverage length of the sub-irrigation path, so that the water curtain formed by the smart yard sprinkler completely covers the area entrance or the area exit.

11. The method according to any one of claims 1 to 3, characterized in that, The yard map includes a recessed area, and the recommended installation position is set at a region range away from the recessed area; or The yard map includes an irrigation prohibited area, and the recommended installation position of the smart yard sprinkler is set at a region range away from the edge of the irrigation prohibited area.

12. The method of claim 11, wherein, The method further comprises: determine an effective irrigation area of the smart yard sprinkler at the actual installation position, the effective irrigation area being an intersection area of a spraying coverage of the smart yard sprinkler at the actual installation position and the vegetation coverage area, for representing an effective range of the smart yard sprinkler at the actual installation position that can be actually irrigated; if the effective irrigation area at least partially covers the irrigation prohibited area, control a sub-irrigation path of the smart yard sprinkler to be less than or equal to a local vegetation coverage area around the irrigation prohibited area.

13. The method of any one of claims 1-3, wherein: if the vegetation coverage area includes a convex vegetation area that the mobile device cannot reach, the convex vegetation area at least including a shrub area and / or a flower bed area, the recommended installation position is set at a range of the smart yard sprinkler at which an effective irrigation range of the smart yard sprinkler covers the convex vegetation area; wherein a spraying height of the smart yard sprinkler at the recommended installation position is at least greater than a shielding height of the convex vegetation area.

14. The method of claim 13, wherein, the spraying head type of the smart yard sprinkler includes a water curtain spraying head and an atomizing spraying head, the water curtain spraying head being used to form a water curtain coverage with a long spraying distance, and the atomizing spraying head being used to form an atomizing water flow with a short spraying distance; the method further comprises: if the vegetation coverage area includes a flower bed area, the recommended installation position is set close to the flower bed area; and controlling the smart yard sprinkler to switch the water curtain spraying head to the atomizing spraying head when performing a sub-irrigation path corresponding to the flower bed area.

15. The method according to any one of claims 1 to 3, characterized in that, the method further comprises: obtaining a position modification instruction for the recommended installation position, the position modification instruction being used to switch the recommended installation position to a new installation position specified on the yard map; if the new installation position is in the mobile restricted area, output a restricted prompt information, the restricted prompt information being used to prompt that the new installation position restricts a user or the mobile device from working or passing through.

16. The method of claim 1, wherein, the method further comprises: obtaining a yard map through a global positioning system, the yard map including a pre-identified non-mobile restricted area; determining a recommended installation position according to the yard map and a spraying coverage of the smart yard sprinkler, the recommended installation position being set in the non-mobile restricted area, and the recommended installation position maximizing an area of the spraying coverage in the vegetation coverage area; or, obtaining a yard map through a global positioning system, the yard map including a pre-identified non-mobile restricted area, the non-mobile restricted area including a convex vegetation area that the mobile device cannot reach, the convex vegetation area at least including a shrub area or a flower bed area. According to the yard map and the sprinkling coverage and the sprinkling height distribution of the yard intelligent sprinkler, a recommended installation position is determined, the recommended installation position is set in a non-mobile restricted area, the recommended installation position makes the sprinkling height of the yard intelligent sprinkler at the raised vegetation area at least greater than the shielding height of the raised vegetation area, and makes the sprinkling coverage in the vegetation coverage area maximize.

17. A lawnmower control method, characterized by, Comprising: An actual installation position of the yard intelligent sprinkler is acquired, and the actual installation position is identified in the yard map, the actual installation position is obtained by the recommended installation position determined by the installation position recommendation method of the yard intelligent sprinkler in any one of claims 1-16; According to the yard map containing the actual installation position, a new working path of the mower is planned, the new working path is used for obstacle avoidance when the mower moves to the actual installation position.

18. A yard smart sprinkler comprising: The installation position is set by the installation position recommendation method of the yard intelligent sprinkler in any one of claims 1-16.

19. A lawnmower characterised in that Comprising: A map acquisition component is used for acquiring a yard map, the yard map is applied to the installation position recommendation method of the yard intelligent sprinkler in any one of claims 1-2, 4-16.

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