CN107728217A - Detect circuit and method in zone boundary for intelligent grass-removing - Google Patents
Detect circuit and method in zone boundary for intelligent grass-removing Download PDFInfo
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- CN107728217A CN107728217A CN201710808766.6A CN201710808766A CN107728217A CN 107728217 A CN107728217 A CN 107728217A CN 201710808766 A CN201710808766 A CN 201710808766A CN 107728217 A CN107728217 A CN 107728217A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
- G01V3/10—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils
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Abstract
The invention provides the zone boundary for intelligent grass-removing to detect circuit and method, belongs to hay mover field, including：1 pulse detection points are provided with intelligent grass-removing, is provided with each pulse detection point and is used to detect the inductance for being arranged on electric wire generation pulse signal on zone boundary, each inductance interior loop axis direction is parallel with vertical direction；Signal amplifier and filter capacitor are connected with the output end of each inductance, pulse-detecting circuit is provided with the output end of filter capacitor.Detected by detecting circuit to being arranged on the pulse signal that electric wire on zone boundary is sent, based on testing result judge intelligent grass-removing whether out-of-bounds, due to the installation direction of the inductance of return pulse signal being fixed in detection process, the influence that can effectively avoid other electromagnetic signals from judging zone boundary, improve accuracy of the intelligent grass-removing to region detection.
Description
Technical field
The invention belongs to hay mover field, more particularly to a kind of zone boundary for intelligent grass-removing detect circuit and
Method.
Background technology
The main way of current intelligent grass-removing working region Boundary Recognition is by being placed on the border of working region
Electric wire, sends electric signal on electric wire, and current main signal form includes pulse signal, the arteries and veins of random frequency of fixed frequency
Rush signal, pseudo-random pulse signal etc., such signal in terms of antijamming capability all there is it is intrinsic the defects of, work as interference source
In the presence of, it is difficult to isolate the signal of needs from environment, intelligent grass-removing is easily because the interference information in environment causes side
Boundary's misjudgment, walks out working region.
The content of the invention
In order to solve shortcoming and defect present in prior art, the invention provides the electricity for including specific mounting means
Sense pulse signals are detected, and are examined so as to improve the zone boundary for intelligent grass-removing of zone boundary detection accuracy
Slowdown monitoring circuit and method.
In order to reach above-mentioned technical purpose, the invention provides the zone boundary for intelligent grass-removing to detect circuit, institute
Zone boundary detection circuit is stated, including：
1 pulse detection points are provided with intelligent grass-removing, is provided with each pulse detection point and is used to detect
The inductance that electric wire on zone boundary produces pulse signal is arranged on, each inductance interior loop axis direction is put down with vertical direction
OK；
Signal amplifier and filter capacitor are connected with the output end of each inductance, is provided with the output end of filter capacitor
Pulse-detecting circuit.
Optionally, the pulse-detecting circuit, including：
Signal rising edge detects circuit and signal trailing edge detection circuit.
Optionally, the signal rising edge detection circuit, including：
Hysteresis comparator U1A, hysteresis comparator U1A high level end connection VCC power supplies, low level end ground connection, positive are defeated
Enter output end of the end through resistance R190 connection filter capacitors, reverse input end connection reference voltage VREF, hysteresis comparator U1A
Output end through resistance R195 export testing result；
Resistance R184, hysteresis comparator U1A output end are additionally provided between normal phase input end and output end also through resistance
R182 connection 3.3V feeder ears.
Optionally, the signal trailing edge detection circuit, including：
Output of hysteresis comparator U1B, hysteresis comparator the U1B normal phase input end through resistance R208 connection filter capacitors
End, reverse input end ground connection, hysteresis comparator U1B output end export testing result through resistance R209；
Resistance R207, hysteresis comparator U1B output end are additionally provided between normal phase input end and output end also through resistance
R206 connection 3.3V feeder ears.
Optionally, the pulse-detecting circuit, including：
For the sampling A/D chip for the electric capacity output signal that accepts filter, mould is additionally provided between filter capacitor and sampling A/D chip
Number conversion chip.
On the other hand, the embodiment of the present invention additionally provides the zone boundary detection method for intelligent grass-removing, its feature
It is, the zone boundary detection method, including：
Pulse signal of the inductance in external electromagnetic environment is received is made, based on default wave character in pulse signal, is obtained
Take the boundary pulses signal as caused by being arranged on electric wire on zone boundary；
Boundary pulses signal is amplified through signal amplifier, the signal after amplification is transmitted to being dropped in filter capacitor
Make an uproar filtering process, the boundary pulses signal after being handled；
Boundary pulses signal is transmitted and detected into pulse-detecting circuit, current intelligence is judged based on testing result
Hay mover and the relative position of zone boundary.
Optionally, default wave character in the pulse signal, including：
Comprise at least two pulse signals in each pulse signal transmit cycle, the time interval between two pulse signals
G, and pulse signal transmit cycle T.
Optionally, when the zone boundary electric wire is sub-thread, unipolar pulse is produced after making zone boundary wiring harness
Signal.
Optionally, described transmit boundary pulses signal is detected into pulse-detecting circuit, is sentenced based on testing result
Settled preceding intelligent grass-removing and the relative position of zone boundary, including：
Boundary pulses signal is transmitted to pulse-detecting circuit, obtains the pulse signal in boundary pulses signal respectively
Rising edge triggered time and trailing edge triggered time；
According to the precedence relationship in rising edge triggered time and trailing edge triggered time, judge intelligently to mow under current time
Machine and the relative position of zone boundary.
Optionally, described transmit boundary pulses signal is detected into pulse-detecting circuit, is sentenced based on testing result
Settled preceding intelligent grass-removing and the relative position of zone boundary, including：
Boundary pulses signal is transmitted to pulse-detecting circuit, obtains the positive pulse letter in boundary pulses signal respectively
Number and inverted burst signal；
According to the precedence relationship of positive pulse signal and inverted burst signal time of occurrence, judge intelligently to mow under current time
Machine and the relative position of zone boundary.
The beneficial effect that technical scheme provided by the invention is brought is：
Detected to being arranged on the pulse signal that electric wire on zone boundary is sent by detecting circuit, tied based on detection
Fruit judge intelligent grass-removing whether out-of-bounds, due to being carried out in detection process to the installation direction of the inductance of return pulse signal
It is fixed, the influence that can effectively avoid other electromagnetic signals from judging zone boundary, intelligent grass-removing is improved to region detection
Accuracy.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, in being described below to embodiment it is required use it is attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is the structural representation provided by the present invention for the zone boundary detection circuit of intelligent grass-removing；
Fig. 2 is rising edge provided by the invention, the time relationship schematic diagram one of trailing edge；
Fig. 3 is rising edge provided by the invention, the time relationship schematic diagram two of trailing edge.
Embodiment
To make the structure of the present invention and advantage clearer, the structure of the present invention is made below in conjunction with accompanying drawing further
Ground describes.
Embodiment one
The invention provides the zone boundary for intelligent grass-removing to detect circuit, as shown in figure 1, the zone boundary
Circuit is detected, including：
1 pulse detection points are provided with intelligent grass-removing, is provided with each pulse detection point and is used to detect
The inductance that electric wire on zone boundary produces pulse signal is arranged on, each inductance interior loop axis direction is put down with vertical direction
OK；
Signal amplifier and filter capacitor are connected with the output end of each inductance, is provided with the output end of filter capacitor
Pulse-detecting circuit.
In force, closed in order to make intelligent grass-removing accurately obtain the relative position on itself and operating area border
System, present applicant proposes a kind of zone boundary to detect circuit, is sent to being arranged on electric wire on zone boundary by detecting circuit
Pulse signal is detected, based on testing result judge intelligent grass-removing whether out-of-bounds, due in detection process to receive arteries and veins
The installation direction for rushing the inductance of signal is fixed, the influence that can effectively avoid other electromagnetic signals from judging zone boundary,
Improve accuracy of the intelligent grass-removing to region detection.
Specifically, in order to improve Detection results, multiple pulse detection points are set on intelligent grass-removing first, each
An inductance is respectively provided with pulse detection point, due to being arranged in the electric wire at zone boundary the overwhelming majority all in level side
To, therefore in order to improve the Detection results to being horizontally oriented upper electric wire generation pulse signal, order is arranged on pulse detection point
The inductance at place uses the design of vertical direction.I.e. inductance coil surrounds the axis direction of imaginary circles cylinder and vertical side
To parallel so that the induction area of inductance pulse signals maximizes.
Secondly, the signal amplifier and filter capacitor being additionally provided with circuit with inductance connection are detected in zone boundary, the former
Pulse signal for inductance to be received is amplified, and the latter is then used for can be to finally sentencing in the pulse signal of filtering amplification
Determine the ambient noise that result impacts, improve the signal to noise ratio for transmitting into pulse-detecting circuit pulse signal as far as possible.
Finally, pulse-detecting circuit is made to detect obtained pulse signal, based on the time relationship in testing result
Current intelligent grass-removing is judged relative to the relative position relation of zone boundary, specific decision process is entered below
Row is described in detail.
Optionally, the pulse-detecting circuit, including：
Signal rising edge detects circuit and signal trailing edge detection circuit.
In force, in order to which pulse signals are detected, so that the time relationship in testing result is to intelligent grass-removing
Position be determined, in pulse-detecting circuit be provided with signal rising edge detection circuit and signal trailing edge detection circuit.
As its name suggests, the former is served only for detecting the triggering moment of rising edge in pulse signal, and the latter is only used for detecting pulse
The triggering moment of trailing edge in signal.
Wherein, the signal rising edge detection circuit, including：
Hysteresis comparator U1A, hysteresis comparator U1A high level end connection VCC power supplies, low level end ground connection, positive are defeated
Enter output end of the end through resistance R190 connection filter capacitors, reverse input end connection reference voltage VREF, hysteresis comparator U1A
Output end through resistance R195 export testing result；
Resistance R184, hysteresis comparator U1A output end are additionally provided between normal phase input end and output end also through resistance
R182 connection 3.3V feeder ears.
Relative, the signal trailing edge detects circuit, including：
Output of hysteresis comparator U1B, hysteresis comparator the U1B normal phase input end through resistance R208 connection filter capacitors
End, reverse input end ground connection, hysteresis comparator U1B output end export testing result through resistance R209；
Resistance R207, hysteresis comparator U1B output end are additionally provided between normal phase input end and output end also through resistance
R206 connection 3.3V feeder ears.
In force, can entering signal rising edge, trailing edge inspection simultaneously from the pulse detection signals of filter capacitor output
In slowdown monitoring circuit, it is connected with due to being detected in rising edge in circuit on hysteresis comparator U1A inverting input for distinguishing height
The reference voltage of level, therefore, when output of pulse signal high level, U1A output end can export the first knot at current time
Fruit, it is the triggering moment of rising edge corresponding to this result, similarly, when output of pulse signal low level, due to now level
Less than reference voltage, therefore hysteresis comparator U1B normal phase input end is can only enter, in the premise of U1B reverse inter-input-ing ending groundings
Under, rate of exchange device U1B output end can export the second result at current time, when being the triggering of trailing edge corresponding to this result
Carve.
The testing result of circuit output is detected based on signal rising edge, the trailing edge being set forth above, with reference to testing result
The time order and function order that middle rising edge, trailing edge occur, it is possible to determine that go out the intelligent grass-removing currently relative position with zone boundary
Put relation.
Reason is：Ring-type magnetic field (right-hand rule) is produced based on electrified wire to understand, the direction of zone boundary inner and outer magnetic field
Opposite, the signal detected is also necessarily reverse, if signal is from low to high (when rising edge occurs in zone boundary
Between before trailing edge), testing result shows rising edge, the time relationship of trailing edge is followed successively by as in Fig. 2 up and down shown in two figures
Sequencing when, show that current intelligent grass-removing is in zone boundary.
Opposite, the upper and lower two figure institutes in testing result shows rising edge, the time relationship of trailing edge is followed successively by such as Fig. 3
During the sequencing shown, zone boundary external signal is then first low rear high (rising edge time of origin is after trailing edge).Show to work as
Preceding intelligent grass-removing is in outside zone boundary.
Believe it should be noted that comprising at least two pulses in figs. 2 and 3, in each pulse signal transmit cycle
Number, the time interval G between two pulse signals, and pulse signal transmit cycle T.G, specific marks of the T as pulse signal
Know, be identified for pulse signals.
Optionally, the pulse-detecting circuit, including：
For the sampling A/D chip for the electric capacity output signal that accepts filter, mould is additionally provided between filter capacitor and sampling A/D chip
Number conversion chip.
In force, pulse signal is received by inductance, then is obtained after amplifying filtering and sampling A/D chip sampling by signal
The input that the result arrived is changed directly as modulus (Anlog/Digital, AD), modulus conversion chip analyzing and processing AD signals,
After signal characteristic filtering interference signals, modulus conversion chip is first by comparison signal positive axis and negative semiaxis time of occurrence
Relation judges that the position of inductance is in working region or outer afterwards, and specific resolution principle with being based on rising edge, trailing edge above
Decision logic it is close, here is omitted.
The invention provides the zone boundary for intelligent grass-removing to detect circuit, including：In the appearance of intelligent grass-removing
Face is provided with 1 pulse detection points, is provided with each pulse detection point and is arranged on electricity on zone boundary for detection
Line produces the inductance of pulse signal, and each inductance interior loop axis direction is parallel with vertical direction；In the output of each inductance
End is connected with signal amplifier and filter capacitor, and pulse-detecting circuit is provided with the output end of filter capacitor.By detecting circuit
The pulse signal sent to being arranged on electric wire on zone boundary detects, and whether judges intelligent grass-removing based on testing result
Out-of-bounds, due to the installation direction of the inductance of return pulse signal being fixed in detection process, it can effectively avoid other
The influence that electromagnetic signal is judged zone boundary, improve accuracy of the intelligent grass-removing to region detection.
Embodiment two
On the other hand, the embodiment of the present invention additionally provides the zone boundary detection method for intelligent grass-removing, the area
Domain boundary detection method, including：
41st, pulse signal of the inductance in external electromagnetic environment is received is made, it is special based on default waveform in pulse signal
Sign, is obtained as caused by being arranged on electric wire on zone boundary；
42nd, boundary pulses signal is amplified through signal amplifier, the signal after amplification is transmitted to carrying out in filter capacitor
Noise reduction filtering processing, the boundary pulses signal after being handled；
43rd, boundary pulses signal is transmitted and detected into pulse-detecting circuit, current intelligence is judged based on testing result
Energy hay mover and the relative position of zone boundary.
In force, circuit is detected based on the zone boundary described in previous embodiment, the present embodiment proposes zone boundary
Detection method, this method include：
First, filtered out based on default wave character in pulse signal from numerous and jumbled electromagnetic environment by being arranged on area
Boundary pulses signal caused by electric wire on the border of domain.
Secondly, by the boundary pulses signal filtered out successively through signal amplifier, filter capacitor processing.
Finally, the boundary pulses signal after processing is detected in impulse circuit, intelligence is judged based on testing result
Hay mover and the relative position of zone boundary.
According to the difference of specific decision method, the step of judging the two relative position, is divided into the following two kinds mode：
(1) boundary pulses signal is transmitted to pulse-detecting circuit, obtains the pulse letter in boundary pulses signal respectively
Number rising edge triggered time and trailing edge triggered time；
According to the precedence relationship in rising edge triggered time and trailing edge triggered time, judge intelligently to mow under current time
Machine and the relative position of zone boundary.
(2) boundary pulses signal is transmitted to pulse-detecting circuit, obtains the positive pulse in boundary pulses signal respectively
Signal and inverted burst signal；
According to the precedence relationship of positive pulse signal and inverted burst signal time of occurrence, judge intelligently to mow under current time
Machine and the relative position of zone boundary.
Wherein, the decision process in mode (1) is that signal rising edge detection circuit and signal trailing edge detect circuit, most
Signal is analyzed and processed by MCU afterwards, after signal characteristic filtering interference signals, MCU is by comparing rising edge and trailing edge
Triggered time relation judges that the position of inductance is in working region or outer., inductance positive pulse and anti-arteries and veins in or beyond border
It is opposite to go out existing time order and function relation.
Decision process in mode (2) is judged by comparison signal positive axis and negative semiaxis time of occurrence precedence relationship
The position of inductance is in zone boundary or outside zone boundary.Relative to mode (1), decision process in mode (2) can be with
Exempt signal rising, trailing edge detection circuit, relative can reduce testing cost.
Optionally, default wave character in the pulse signal, including：
Comprise at least two pulse signals in each pulse signal transmit cycle, the time interval between two pulse signals
G, and pulse signal transmit cycle T.
In force, in pulse signal, each transmission cycle sends at least two pulse signal, and signal sends cycle T
And the same time G sent in the cycle between successive pulse signals is as this feature, and the signal characteristic can flexibly be set, intelligence
During the signal that energy hay mover processing receives, the interference signal in environment can be filtered out according to signal characteristic.It is in addition, adjacent
When region all uses intelligent grass-removing, each via each different signal characteristics is set, reach and do not interfere with each other mutually.
Optionally, when the zone boundary electric wire is sub-thread, unipolar pulse is produced after making zone boundary wiring harness
Signal.
In force, antijamming capability is strengthened by encoded signal, adapts to the application scenarios of complexity, for example annex has it
Its instrument (such as grass-mowing machine, shrub and hedge trimmer can produce electromagnetic interference) is using, and neighbours also have intelligent grass-removing caused by use
Situations such as sideband signal mixes.
Simultaneously, it is contemplated that unipolar pulse signal characteristic is obvious enough, therefore is using unipolar pulse signal
When, aid in carrying out the Screening Treatment of boundary pulses signal without adding outer synchronous signal.
If unipolar pulse signal is too strong to the interference of other communication equipments, a string of coded pulses can also be used
Instead of pulse, anti-interference, the advantages that adjacent area work is not interfere with each other is likewise supplied with.
The invention provides the zone boundary detection method for intelligent grass-removing, including：Inductance is made to receive extraneous electricity
Pulse signal in magnetic environment, based on default wave character in pulse signal, obtain and produced by being arranged on electric wire on zone boundary
Raw；Boundary pulses signal is amplified through signal amplifier, the signal after amplification is transmitted to progress noise reduction filter in filter capacitor
Ripple processing, the boundary pulses signal after being handled；Boundary pulses signal is transmitted and detected into pulse-detecting circuit,
The relative position of current intelligent grass-removing and zone boundary is judged based on testing result.By detecting circuit to being arranged on region
The pulse signal that electric wire is sent on border is detected, based on testing result judge intelligent grass-removing whether out-of-bounds, due to examining
The installation direction of the inductance of return pulse signal is fixed during survey, can effectively avoid other electromagnetic signals to area
The influence of domain edge determination, improve accuracy of the intelligent grass-removing to region detection.
Each sequence number in above-described embodiment is for illustration only, during the assembling or use that do not represent each part
Sequencing.
Embodiments of the invention are the foregoing is only, are not intended to limit the invention, it is all in the spirit and principles in the present invention
Within, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
1. the zone boundary detection circuit for intelligent grass-removing, it is characterised in that circuit is detected in the zone boundary, including：
1 pulse detection points are provided with intelligent grass-removing, is provided with each pulse detection point and is arranged on for detection
Electric wire produces the inductance of pulse signal on zone boundary, and each inductance interior loop axis direction is parallel with vertical direction；
Signal amplifier and filter capacitor are connected with the output end of each inductance, is examined in the output end of filter capacitor provided with pulse
Slowdown monitoring circuit.
2. circuit is detected in the zone boundary according to claim 1 for intelligent grass-removing, it is characterised in that the pulse
Circuit is detected, including：
Signal rising edge detects circuit and signal trailing edge detection circuit.
3. circuit is detected in the zone boundary according to claim 2 for intelligent grass-removing, it is characterised in that the signal
Rising edge detects circuit, including：
Hysteresis comparator U1A, hysteresis comparator U1A high level end connection VCC power supplies, low level end ground connection, normal phase input end
Output end through resistance R190 connection filter capacitors, reverse input end connection reference voltage VREF, hysteresis comparator U1A output
End exports testing result through resistance R195；
Resistance R184, hysteresis comparator U1A output end are additionally provided between normal phase input end and output end also through resistance R182
Connect 3.3V feeder ears.
4. circuit is detected in the zone boundary according to claim 2 for intelligent grass-removing, it is characterised in that the signal
Trailing edge detects circuit, including：
Output end of hysteresis comparator U1B, hysteresis comparator the U1B normal phase input end through resistance R208 connection filter capacitors, instead
To input end grounding, hysteresis comparator U1B output end exports testing result through resistance R209；
Resistance R207, hysteresis comparator U1B output end are additionally provided between normal phase input end and output end also through resistance R206
Connect 3.3V feeder ears.
5. circuit is detected in the zone boundary according to claim 1 for intelligent grass-removing, it is characterised in that the pulse
Circuit is detected, including：
For the sampling A/D chip for the electric capacity output signal that accepts filter, analog-to-digital conversion is additionally provided between filter capacitor and sampling A/D chip
Chip.
6. the zone boundary detection method for intelligent grass-removing, it is characterised in that the zone boundary detection method, including：
Make pulse signal of the inductance in external electromagnetic environment is received, based on default wave character in pulse signal, obtain by
Boundary pulses signal caused by electric wire is arranged on zone boundary；
Boundary pulses signal is amplified through signal amplifier, the signal after amplification is transmitted to carrying out noise reduction filtering in filter capacitor
Processing, the boundary pulses signal after being handled；
Boundary pulses signal is transmitted and detected into pulse-detecting circuit, current intelligent grass-removing is judged based on testing result
With the relative position of zone boundary.
7. the zone boundary detection method according to claim 6 for intelligent grass-removing, it is characterised in that the pulse
Default wave character in signal, including：
Comprise at least two pulse signals in each pulse signal transmit cycle, the time interval G between two pulse signals, and
Pulse signal transmit cycle T.
8. the zone boundary detection method according to claim 6 for intelligent grass-removing, it is characterised in that when the area
When domain border electric wire is sub-thread, unipolar pulse signal is produced after making zone boundary wiring harness.
9. the zone boundary detection method according to claim 6 for intelligent grass-removing, it is characterised in that described by side
Boundary's pulse signal transmission is detected into pulse-detecting circuit, judges current intelligent grass-removing and regional edge based on testing result
The relative position on boundary, including：
Boundary pulses signal is transmitted to pulse-detecting circuit, obtains the rising of the pulse signal in boundary pulses signal respectively
Along triggered time and trailing edge triggered time；
According to the precedence relationship in rising edge triggered time and trailing edge triggered time, intelligent grass-removing and area under current time are judged
The relative position on domain border.
10. the zone boundary detection method according to claim 6 for intelligent grass-removing, it is characterised in that described to incite somebody to action
Boundary pulses signal transmits to be detected into pulse-detecting circuit, judges current intelligent grass-removing and region based on testing result
The relative position on border, including：
Boundary pulses signal is transmitted to pulse-detecting circuit, obtains positive pulse signal in boundary pulses signal and anti-respectively
Pulse signal；
According to the precedence relationship of positive pulse signal and inverted burst signal time of occurrence, intelligent grass-removing and area under current time are judged
The relative position on domain border.
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| CN201710808766.6A CN107728217A (en) | 2017-09-09 | 2017-09-09 | Detect circuit and method in zone boundary for intelligent grass-removing |
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| CN110764495A (en) * | 2018-07-09 | 2020-02-07 | 苏州宝时得电动工具有限公司 | Mower and control method thereof |
| CN111176278A (en) * | 2019-12-31 | 2020-05-19 | 宁波奇亚园林工具有限公司 | Intelligent mower sensor control circuit and method based on alternating current magnetic field |
| CN112147886A (en) * | 2019-06-27 | 2020-12-29 | 深圳拓邦股份有限公司 | Self-adaptive method for boundary signal of mower system and mower system |
| WO2020259586A1 (en) * | 2019-06-25 | 2020-12-30 | 苏州宝时得电动工具有限公司 | Automatic control system and working method thereof |
| CN112230636A (en) * | 2019-06-27 | 2021-01-15 | 深圳拓邦股份有限公司 | Self-adaptive method for boundary signal of mower system and mower system |
| WO2022001022A1 (en) * | 2020-06-28 | 2022-01-06 | 莱克电气股份有限公司 | Boundary signal generation and detection methods, generation system, and mowing robot |
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| CN110764495A (en) * | 2018-07-09 | 2020-02-07 | 苏州宝时得电动工具有限公司 | Mower and control method thereof |
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| CN109584856B (en) * | 2018-12-06 | 2022-02-08 | 宁波顺超轴承有限公司 | Progressive sound masking mechanism |
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| CN112147886A (en) * | 2019-06-27 | 2020-12-29 | 深圳拓邦股份有限公司 | Self-adaptive method for boundary signal of mower system and mower system |
| CN112230636A (en) * | 2019-06-27 | 2021-01-15 | 深圳拓邦股份有限公司 | Self-adaptive method for boundary signal of mower system and mower system |
| CN111176278A (en) * | 2019-12-31 | 2020-05-19 | 宁波奇亚园林工具有限公司 | Intelligent mower sensor control circuit and method based on alternating current magnetic field |
| WO2022001022A1 (en) * | 2020-06-28 | 2022-01-06 | 莱克电气股份有限公司 | Boundary signal generation and detection methods, generation system, and mowing robot |
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