CN202383462U - Electronic fence system for defining working range of automatic mower - Google Patents
Electronic fence system for defining working range of automatic mower Download PDFInfo
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- CN202383462U CN202383462U CN 201120562356 CN201120562356U CN202383462U CN 202383462 U CN202383462 U CN 202383462U CN 201120562356 CN201120562356 CN 201120562356 CN 201120562356 U CN201120562356 U CN 201120562356U CN 202383462 U CN202383462 U CN 202383462U
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Abstract
The utility model discloses an electronic fence system for defining the working range of an automatic mower. At present, how to enable an automatic mowing robot to work within an effective area becomes a problem which is required to be solved urgently. The electronic fence system for defining the working range of the automatic mower comprises a pulse signal transmitting part which is arranged in a base station and a signal receiving part which is arranged in the main machine of the mower. The electronic fence system for defining the working range of the automatic mower is characterized in that a circular area which is defined by an electric wire extends from the base station and the pulse signal transmitting part of the base station generates pulse signals which are output to the electric wire; and the signal receiving part consists of an induction coil for inducing pulse signals, an input amplifier circuit, a second-order band-pass filter circuit, a rectifier circuit and a single-chip microcomputer which are sequentially and serially connected. Induced current with specific frequency is generated through the induction coil, information indicating whether the mower gets close to a boundary or not is obtained by detecting the amplitude of the signal with the specific frequency and therefore the automatic mower is enabled to work within the effective area.
Description
Technical field
The utility model relates to the working range delineation of the intelligent grass-removing that carries out automatic cutting operation in places such as family and public lawns, specifically a kind of fence system that is used to draw a circle to approve the automatic mower working range.
Background technology
Along with expanding economy, the urban afforestation process is accelerated gradually, and Lawn Industry has also obtained fast development, and every year, public lawns such as urban lawn, football field, golf course were pruned and upkeep operation need consume great amount of manpower and material resources and time.When using traditional mower that the lawn is pruned; Produce not only contaminated environment of huge noise and waste gas; And can practitioner's physical and mental health generation be had a strong impact on; Therefore, be used to realize the robotization of turf-mown operation, people are arisen at the historic moment from the automatic mowing robot that height repeats, frees uninteresting, the tired cutting operation.Yet, guarantee that mower do not walk out the perform region, guarantee that automatic mowing robot is operated in the effective coverage and becomes current problem demanding prompt solution.
The utility model content
The utility model technical matters to be solved is to overcome the defective that above-mentioned prior art exists, and a kind of fence system that is used to draw a circle to approve the automatic mower working range is provided, and guarantees that automatic mower is operated in the effective coverage.
For this reason; The technical scheme that the utility model adopts is: a kind of fence system that is used to draw a circle to approve the automatic mower working range; Comprise pulse signal radiating portion that is positioned at the base station and the signal receive section that is positioned at the mower main frame; It is characterized in that by extending the zone (being fence) that a circle is surrounded by electric wire on the base station, the pulse signal radiating portion of base station produces pulse signal and outputs on the electric wire; Described signal receive section is in series by the inductive coil that is used for the inductive impulse signal, input amplifying circuit, second order bandwidth-limited circuit, rectification circuit and single-chip microcomputer successively.
The above-mentioned fence system that is used to draw a circle to approve the automatic mower working range; Described pulse signal radiating portion comprises constant current output circuit, frequency control circuit, current detection circuit and single-chip microcomputer; This single-chip microcomputer output square-wave signal is given frequency control circuit; Output pwm signal is given constant current output circuit, and current detection circuit output dc voltage signal is given single-chip microcomputer.
When mower in enclose in fixed zone work and when being connected with the electric wire border of exchange current, inductive coil can produce the induction current of CF, can obtain mower whether near the information on border according to the size of signal amplitude under the detection CF.Near the fence border, the signal amplitude of sensing is big more, selects an appropriate threshold to judge the state that just can obtain mower.The voltage swing that induces when setting also has 3 cm near the border in reality is as threshold value, and mower will provide corresponding processing after receiving this signal, and turning 180 ° like the back moves on then.
The utility model produces the induction current of CF through inductive coil, obtains mower whether near the information on border according to the size that detects signal amplitude under the CF, thereby has guaranteed that automatic mower is operated in the effective coverage.
Further describe the utility model below in conjunction with Figure of description and embodiment.
Description of drawings
Fig. 1 is the circuit theory diagrams of the utility model.
Fig. 2 is the circuit diagram of the utility model pulse signal radiating portion.
Fig. 3 is the circuit diagram of the utility model signal receive section.
Embodiment
Fence system as shown in Figure 1; It is grouped into by pulse signal radiating portion that is positioned at the base station and the signal receiving part that is positioned at the mower main frame; By extending the zone that a circle is surrounded by electric wire on the base station, the pulse signal radiating portion of base station produces pulse signal and outputs on the electric wire; Described signal receive section is in series by the inductive coil that is used for the inductive impulse signal, input amplifying circuit, second order bandwidth-limited circuit, rectification circuit and single-chip microcomputer successively.Described pulse signal radiating portion comprises constant current output circuit, frequency control circuit, current detection circuit and single-chip microcomputer; This single-chip microcomputer output square-wave signal is given frequency control circuit; Output pwm signal is given constant current output circuit, and current detection circuit output dc voltage signal is given single-chip microcomputer.
Pulse signal as shown in Figure 2 (square wave) radiating portion, square wire frame inside is divided into constant current output circuit and frequency control circuit.By single-chip microcomputer (MCU) PWMTJ and PWM 7.8kHz signal are provided, said PWMTJ signal is coupled to amplifier U3C reverse input end via resistance R 32; Capacitor C 13, C14 form filtering circuit, and the square-wave signal that preceding road Q4 is exported converts direct current signal to; R33, R34 form resistor voltage divider circuit, the Vref voltage signal of dividing potential drop gained are added to the input end in the same way of amplifier U3C; U3C uses as comparer; U3C compares the PWMTJ signal of reverse input end and the Vref signal of input end in the same way; And export the break-make of comparative result in order to control way of escape triode Q5, the break-make of power controlling FET Q4 makes circuit constant current output then; Said PWM 7.8kHz signal is coupled on the power field effect pipe Q9 by resistance R 24, is used for controlling the break-make of Q9, so that R2 goes up the square-wave signal (R2 is the equivalents of external cord) that produces 7.8kHz.
Pulse signal radiating portion as shown in Figure 2, square wire frame are current detection circuit with the lower part.Resistance R 36 is a sampling resistor, and R36 is transported to late-class circuit capacitor C 15 after the pulsed current signal in the loop is converted into the pulse voltage letter; Capacitor C 15 is converted into d. c. voltage signal with aforementioned pulse voltage signal and is transported to amplifier U3B; Amplification that said amplifier U3B is suitable with the direct current signal that receives and the Icheck signal conveys after capacitor C 16 filtering are to single-chip microcomputer (MCU); Said single-chip microcomputer (MCU) through adjusting the frequency of the PWMTJ signal of exporting, makes current in loop be stabilized to a predefined threshold values after receiving the Icheck signal.
Signal receive section as shown in Figure 3, square box inside are divided into wireless pulse signals sensing part circuit.Said circuitous resistance R101, R102 form bleeder circuit, and the 1/2VCC d. c. voltage signal of dividing potential drop gained is outputed to amplifier U101A two input ends; Coil inductance L 102 is used for the induction wireless pulse signal in the said circuit, when near signal emitting-source, can produce an induction electromotive force on the coil inductance, and this induction electromotive force is coupled to amplifier U101A reverse input end through capacitor C 103; Said amplifier U101A amplifies the signal that obtains with specific enlargement factor, and outputs to the amplifier U104A in the late-class circuit through capacitive coupling, and wherein capacitor C 135 is used for eliminating the high-frequency self-excitation of amplifier; Said amplifier U104A, U104B have formed the second order bandwidth-limited circuit with relevant resistance capacitance; Said bandwidth-limited circuit is selected CF in the signal that receives signal is transported to single-chip microcomputer (MCU) after capacitor C 122 is filtered into d. c. voltage signal.Said single-chip microcomputer (MCU) is judged the distance on automatic mowing robot and border through the power of the voltage signal that obtains.
Claims (2)
1. fence system that is used to draw a circle to approve the automatic mower working range; Comprise pulse signal radiating portion that is positioned at the base station and the signal receive section that is positioned at the mower main frame; It is characterized in that; By extending the zone that a circle is surrounded by electric wire on the base station, the pulse signal radiating portion of base station produces pulse signal and outputs on the electric wire; Described signal receive section is in series by the inductive coil that is used for the inductive impulse signal, input amplifying circuit, second order bandwidth-limited circuit, rectification circuit and single-chip microcomputer successively.
2. the fence system that is used to draw a circle to approve the automatic mower working range according to claim 1; It is characterized in that; Described pulse signal radiating portion comprises constant current output circuit, frequency control circuit, current detection circuit and single-chip microcomputer; This single-chip microcomputer output square-wave signal is given frequency control circuit, and output pwm signal is given constant current output circuit, and current detection circuit output dc voltage signal is given single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120562356 CN202383462U (en) | 2011-12-29 | 2011-12-29 | Electronic fence system for defining working range of automatic mower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120562356 CN202383462U (en) | 2011-12-29 | 2011-12-29 | Electronic fence system for defining working range of automatic mower |
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| Publication Number | Publication Date |
|---|---|
| CN202383462U true CN202383462U (en) | 2012-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201120562356 Expired - Lifetime CN202383462U (en) | 2011-12-29 | 2011-12-29 | Electronic fence system for defining working range of automatic mower |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103676945A (en) * | 2012-08-31 | 2014-03-26 | 科沃斯机器人科技(苏州)有限公司 | Method for intelligently controlling robot to move into signal range |
| CN104867314A (en) * | 2014-02-20 | 2015-08-26 | 深圳市恒润晖光电科技有限公司 | Electronic fence generation apparatus |
| CN105334859A (en) * | 2015-11-28 | 2016-02-17 | 宁波市德霖机械有限公司 | Self-walking equipment system |
| CN106134616A (en) * | 2015-04-28 | 2016-11-23 | 中弘智能高科技（深圳）有限公司 | The sideband signal being provided from away hay mover identification border produces and Winder |
| WO2016184398A1 (en) * | 2015-05-19 | 2016-11-24 | 苏州宝时得电动工具有限公司 | Boundary line pulse signal identification system and method, and intelligent mowing system |
| CN109032147A (en) * | 2018-09-10 | 2018-12-18 | 扬州方棱机械有限公司 | The method for generating grass-removing robot virtual boundary based on satellite positioning signal |
| CN109870954A (en) * | 2019-02-26 | 2019-06-11 | 南京工业职业技术学院 | A kind of fence sender unit |
| CN109946646A (en) * | 2019-03-18 | 2019-06-28 | 北斗万春（重庆）智能机器人研究院有限公司 | Intelligent grass-removing robot electronic fence 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 |
| 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 |
| CN112385429A (en) * | 2020-11-23 | 2021-02-23 | 广东电网有限责任公司佛山供电局 | Branches of tall trees saw |
-
2011
- 2011-12-29 CN CN 201120562356 patent/CN202383462U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103676945A (en) * | 2012-08-31 | 2014-03-26 | 科沃斯机器人科技(苏州)有限公司 | Method for intelligently controlling robot to move into signal range |
| CN104867314A (en) * | 2014-02-20 | 2015-08-26 | 深圳市恒润晖光电科技有限公司 | Electronic fence generation apparatus |
| CN106134616A (en) * | 2015-04-28 | 2016-11-23 | 中弘智能高科技（深圳）有限公司 | The sideband signal being provided from away hay mover identification border produces and Winder |
| WO2016184398A1 (en) * | 2015-05-19 | 2016-11-24 | 苏州宝时得电动工具有限公司 | Boundary line pulse signal identification system and method, and intelligent mowing system |
| CN105334859A (en) * | 2015-11-28 | 2016-02-17 | 宁波市德霖机械有限公司 | Self-walking equipment system |
| CN109032147A (en) * | 2018-09-10 | 2018-12-18 | 扬州方棱机械有限公司 | The method for generating grass-removing robot virtual boundary based on satellite positioning signal |
| CN109870954A (en) * | 2019-02-26 | 2019-06-11 | 南京工业职业技术学院 | A kind of fence sender unit |
| CN109946646A (en) * | 2019-03-18 | 2019-06-28 | 北斗万春（重庆）智能机器人研究院有限公司 | Intelligent grass-removing robot electronic fence 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 |
| CN112385429A (en) * | 2020-11-23 | 2021-02-23 | 广东电网有限责任公司佛山供电局 | Branches of tall trees saw |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: ZHEJIANG HUAMAO INDUSTRY CO., LTD. Free format text: FORMER OWNER: NINGBO SHUNYUN ELECTRONIC CO., LTD. Effective date: 20130820 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 315472 NINGBO, ZHEJIANG PROVINCE TO: 311241 HANGZHOU, ZHEJIANG PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20130820 Address after: 311241 Hangzhou Xiaoshan Zhejiang economic and Technological Development Zone Lingang matching Park Patentee after: Zhejiang Huamao Industrial Co., Ltd. Address before: 315472, No. 96, Sihai Avenue, Si Zhen Town Industrial Zone, Ningbo, Zhejiang, Yuyao Patentee before: Ningbo Shunyun Electronic Co., Ltd. |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Jincheng Inventor after: Wang Guomin Inventor before: Yao Guoxiang Inventor before: Wang Guomin |
|
| COR | Change of bibliographic data | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160902 Address after: Hangzhou City, Zhejiang province 311209 Yaqian town Xiaoshan District of Zhoucun Xin Lin Patentee after: HANGZHOU FAVOR ROBOT TECHNOLOGY CO., LTD. Address before: 311241 Hangzhou Xiaoshan Zhejiang economic and Technological Development Zone Lingang matching Park Patentee before: Zhejiang Huamao Industrial Co., Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20120815 |
|
| CX01 | Expiry of patent term |