CN106341196A - Breakpoint detection equipment and method - Google Patents
Breakpoint detection equipment and method Download PDFInfo
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- CN106341196A CN106341196A CN201510418739.9A CN201510418739A CN106341196A CN 106341196 A CN106341196 A CN 106341196A CN 201510418739 A CN201510418739 A CN 201510418739A CN 106341196 A CN106341196 A CN 106341196A
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Abstract
The invention relates to breakpoint detection equipment and a breakpoint detection method. The breakpoint detection equipment comprises a signal source, a signal detecting device and an alarming device, wherein the signal source is used for being electrically connected with a detection line within a safe voltage and sending a detection signal to the detection line; the signal detecting device is in communication connection with the alarming device, and the signal detecting device is used for receiving the detection signal within a predetermined range and processing to obtain a processed signal; and the alarming device is used for receiving the processing signal. According to the breakpoint detection equipment and the breakpoint detection method, the detection signal is sent to the detection line by means of the signal source, since another side of the detection line with a breakpoint is disconnected from the signal source, the signal detecting device cannot receive the detection signal at the other side of the breakpoint, therefore, the signal detecting device detects the detection signal around the detection line and sends the processed signal to the alarming device, whether the detection line has a breakpoint can be judged according to the processed signal received by the alarming device without digging out the detection line, the time is saved, the operation is simple and convenient, and the efficiency is high.
Description
Technical field
The present invention relates to wireline inspection technical field, more particularly to a kind of breaking point detection equipment and method.
Background technology
When turf-mown is carried out to places such as family's garden, public lawns, intelligent grass-removing generally to be used.
Intelligent grass-removing enable regulation mowing in the range of automatically walk to realize automatically mowing, need not be artificial
Operation, considerably reduces labor intensity.The mowing scope of intelligent grass-removing is surrounded by boundary line, boundary line
Connect charging station, when boundary line somewhere disconnects, need manually to carry out the detection of breakpoint.
Existing boundaries line breaking point detection method, needs user to dig boundary line from the ground, and with intact
Boundary line replaces partly original boundary line, and whether the boundary line signal observing charging station recovers normal, if it is not,
The boundary line then continuing next part is replaced；If so, then show that breakpoint, at the boundary line position being replaced, contracts
Little replacement length continues to replace, till determining at breakpoint.The method complex operation of this breaking point detection,
Require time for longer, inefficiency.
Content of the invention
Based on this it is necessary to be directed to the problems referred to above, provide a kind of easy and simple to handle, breaking point detection that efficiency is higher
Equipment and method.
A kind of breaking point detection equipment, including signal source, signal supervisory instrument and alarm device, described signal source
Send detection signal, described signal inspection for electrically connecting with detection line in safe voltage and to described detection line
Survey device with described alarm device communication connection, described signal supervisory instrument is used for receiving institute in prescribed limit
State detection signal and process and obtain process signal, described alarm device is used for receiving described process signal.
A kind of breaking point detection method, comprises the steps:
Signal source sends detection signal to detection line in safe voltage；
Signal supervisory instrument receives described detection signal in prescribed limit and processes and obtain process signal；
Alarm device receives described process signal.
A kind of above-mentioned breaking point detection equipment and method, send detection signal by signal source to detection line, break
The detection line of point is disconnected with signal source due to opposite side, and therefore signal supervisory instrument receives in the opposite side of breakpoint
Less than detection signal, thus receive detection signal the transmission processe around detection line by signal supervisory instrument
Signal is to alarm device, the process signal being received according to alarm device, you can judge that detection line whether there is disconnected
Point is it is not necessary to by detection line from digging out, time-consuming, easy and simple to handle and efficiency is higher.
Brief description
Fig. 1 is the module diagram of breaking point detection equipment preferred embodiment of the present invention；
Fig. 2 is the topology layout schematic diagram of breaking point detection equipment shown in Fig. 1；
Fig. 3 is the carrier signal schematic diagram of detection signal；
Fig. 4 is the connection diagram of signal supervisory instrument and mobile terminal in an embodiment；
Fig. 5 is the concrete schematic diagram of signal supervisory instrument shown in Fig. 1 in an embodiment；
Fig. 6 is the concrete schematic diagram of signal supervisory instrument shown in Fig. 1 in another embodiment；
Fig. 7 is the flow chart of breaking point detection method preferred embodiment of the present invention；
Fig. 8 is the particular flow sheet of wherein one step shown in Fig. 7.
Specific embodiment
With reference to Fig. 1 and Fig. 2, the breaking point detection equipment of present pre-ferred embodiments, including signal source 110, letter
Number detection means 120 and alarm device 130, signal source 110 be used in safe voltage with detection line 200 electricity
Connect and send detection signal, signal supervisory instrument 120 and alarm device 130 communication link to detection line 200
Connect, signal supervisory instrument 120 is used for receiving detection signal in prescribed limit and processing and obtain process signal,
Alarm device 130 is used for reception processing signal.Specifically, detection line 200 is boundary line, and breaking point detection sets
It is ready for use on detection boundary line and whether there is breakpoint.
Boundary line can be connected with charging station 210, therefore, signal source 110 may be disposed in charging station 210 with
Boundary line electrically connects.It is appreciated that in other embodiments, signal source 110 can be independent of charging station 210
Exist.
Specifically, safe voltage is 36 volts, and the voltage that is, signal source 110 is connected with boundary line energising is not high
In 36v.The overtension connected in boundary line, easily causes security incident, therefore, signal source 110
It is not higher than 36 volts with the connection voltage of boundary line.
Specifically it is stipulated that scope is 2 meters, that is, signal supervisory instrument 120 is used in the range of 2 meters receiving inspection
Survey signal.By adopting by way of receiving the near field radio of detection signal of air transmission in prescribed limit,
Substantially the impact of temperature, electrostatic or the humidity of air can be excluded, can also carry out therefore in outdoor environment
Breaking point detection is carried out to boundary line.
In wherein one embodiment, the detection signal that signal source 110 sends is with the signal wave of predeterminated frequency for adjusting
Signal processed, the electrical signal wave with frequency different the first signal wave and secondary signal ripple as carrier signal.Modulation
Signal and carrier signal can be square wave or triangular wave.As shown in figure 3, being signal source 110
Send the carrier signal of detection signal.Specifically, carrier signal interval sends the first signal wave and secondary signal ripple,
And first the first frequency f1 of signal wave become multiple proportion with the second frequency f2 of secondary signal ripple, specially
Two frequencies f2 are n times (n is the positive integer more than 1) of first frequency f1, more specifically, modulated signal
Frequency is 0.5-2hz, and the first frequency f1 of the first signal wave of carrier signal is tens of khz, modulated signal
Pass through am (amplitude modulation amplitude modulation) modulation with carrier signal and obtain detection signal.By making
As carrier signal and it is spaced transmission with two kinds of square waves that frequency becomes multiple proportion, signal detection dress can be widened
Put 120 reception frequency range, when single frequency band is subject to other strong interferers to disturb, signal supervisory instrument 120
Switch to other UHF band reception detection signals, therefore, increased the anti-of breaking point detection equipment environment to external world
Interference performance.
Alarm device 130 is used for being sent according to process signal or does not send information.Wherein one embodiment
In, alarm device 130 is arranged on signal supervisory instrument 110 or mobile terminal.Alarm device 130 is permissible
For led display screen or buzzer, as long as information can be sent to user.
Alarm device 130 is arranged in the embodiment of mobile terminal, and specifically, alarm device 130 can be
App (application application program) on mobile terminal.Mobile terminal can be mobile phone or panel computer
Deng intelligent terminal, information can be any in acoustical signal, vibration and the voice broadcast that app sends
One kind, the acoustical signal for example, " ticking ".
Alarm device 130 is arranged in the embodiment on mobile terminal, and signal supervisory instrument 120 is whole with mobile
End line connects or interface connects, and specifically can be connected with mobile terminal by connecting line 125, as shown in figure 1,
Or can be connected by the earphone jack of mobile terminal, as shown in Figure 4.It is appreciated that in other embodiment
In, signal supervisory instrument 120 can also be by being wirelessly connected with mobile terminal, such as bluetooth connection or wifi
Connect.
With reference to Fig. 5, signal supervisory instrument 120 includes signal receiver 121 and signal processor 123, signal
Receptor 121 is used for receiving detection signal in prescribed limit, and signal processor 123 is used for the inspection receiving
Survey signal carries out process and obtains process signal.
Specifically, signal receiver 121 includes receptor (not shown) and loader (not shown), receives
Device is used for receiving detection signal, and loader selects the detection signal needing to send to signal from the signal receiving
Processor 123.More specifically, receptor is reception antenna.Reception antenna is fixedly connected on signal supervisory instrument
120 one end.
In wherein one embodiment, process signal includes preprocessed signal, and alarm device 130 includes signal identification
Device (not shown) and information notifying device (not shown), signal identifier identification preprocessed signal is identified letter
Number, information notifying device receives identification signal.Specifically, information notifying device judges identification signal and detection signal
Whether mate, specially judge to identify that whether signal is the modulated signal in detection signal.If then it represents that
Receive detection signal, illustrate that boundary line connects normal, no breakpoint herein；Otherwise, for being not received by examining
Survey signal, illustrate that boundary line and signal source 110 disconnect herein, that is, there is breakpoint.
Alarm device 130 sends successfully information according to preprocessed signal and/or is not receiving process signal
When send unsuccessfully information.Therefore, if boundary line connects normally, signal supervisory instrument 120 receives inspection
Survey signal processing and obtain corresponding successful preprocessed signal, it is successfully pre- that alarm device 130 receives this correspondence
Process signal, sends successfully information or is failure to actuate.If there is breakpoint, signal supervisory instrument in boundary line
120 do not receive detection signal, then no preprocessed signal, and that is, alarm device 130 fails to receive preprocessed signal,
It is failure to actuate or sends unsuccessfully information.Therefore, staff can be by judging alarm device 130
Go out the classification of information and whether there is breakpoint judging boundary line, so that it is determined that the position of breakpoint.
Specifically, signal processor 123 include frequency mixer 1231, in put device 1232 and cymoscope 1233,
Frequency mixer 1231 is used for carrying out process to detection signal and obtaining mixed frequency signal, in put device 1232 for mixing
Signal sends after being amplified to cymoscope 1233, and cymoscope 1233 is used for the mixed frequency signal after amplifying is carried out
Detection obtains demodulated signal, and can be used for obtaining, according to demodulated signal, the pre- place that alarm device 130 can identify
Reason signal.Specifically, the demodulated signal that cymoscope 1233 obtains is the numeral letter that can be processed by digit chip
Number square wave.In put device 1232 and mixed frequency signal be amplified it is achieved that signal supervisory instrument 120 is to safety
The detection signal that signal source 110 in voltage sends is detected.
In wherein one embodiment, in put and be connected automatic gain control unit between device 1232 and cymoscope 1233,
Carry out automatic growth control for device 1232 is put according to the demodulated signal centering of cymoscope 1233.Cymoscope 1233
Put device 1232 in this demodulated signal being fed back to after obtaining demodulated signal so that in put device 1232 according to demodulation letter
Number range-adjusting itself amplification it is ensured that cymoscope 1233 output demodulated signal amplitude control certain
Within the scope of.
It is appreciated that in other embodiment, signal supervisory instrument 120 can also judge to detection signal
Transmission processe signal is to alarm device 130 afterwards, and directly do not send preprocessed signal to alarm device 130.
For example, in wherein one embodiment, with reference to Fig. 6, signal processor 123 includes controller 1235 and communicator
1237, process signal includes control signal, and controller 1235 obtains control signal according to detection signal, communication
Device 1237 sends control signals to alarm device 130.Specifically, controller 1235 receives cymoscope 1233
Demodulated signal after, judge whether demodulated signal is mated with detection signal, specially whether judge demodulated signal
Identical with the modulated signal of detection signal and obtain control signal, if then it represents that receiving detection signal,
Normal, the no breakpoint that illustrates that boundary line connects, obtain controlling alarm device 130 send successfully information or
The control signal being failure to actuate, otherwise, for being not received by detection signal, obtains controlling alarm device 130 not
Action or the control signal sending unsuccessfully information.Communicator 1237 sends control signals to dress of reporting to the police
Put 130, control alarm device 130 to send corresponding information.Therefore, staff can be by judging
Alarm device 130 sends the type of information or whether sends information and to judge whether breakpoint.
With continued reference to Fig. 4, in wherein one embodiment, breaking point detection equipment also includes action bars 150, and signal is examined
Survey one end that device 120 is fixed on action bars 150.Specifically, connecting line 125 is located in action bars 150.
Action bars 150 be used for the hand-held signal supervisory instrument of staff 120 so that operation signal detection means 120 around
Move around boundary line.
When carrying out breaking point detection using above-mentioned breaking point detection equipment to the boundary line of hay mover, staff holds letter
Number detection means 120 is enclosed around boundary line one in prescribed limit, if boundary line normally connects, alarm device
130 can receive process signal, and otherwise, alarm device 130 can not receive process signal.Therefore permissible
Judge whether breakpoint by judging whether alarm device 130 receives process signal.
It is appreciated that above-mentioned breaking point detection equipment, can be also used for the breaking point detection of other lines.
A kind of above-mentioned breaking point detection equipment, signal source 110 sends detection signal, breakpoint to detection line 200
Detection line 200 disconnected with signal source 110 due to opposite side, therefore signal supervisory instrument is in breakpoint opposite side
Do not receive detection signal, thus detect the detection letter around detection line 200 by signal supervisory instrument 120
Number and send process signal to alarm device 130, the process signal being received according to alarm device 130, you can sentence
Disconnected detection line 200 whether there is breakpoint it is not necessary to dig out detection line 200, time-consuming, easy and simple to handle
And efficiency is higher.
With reference to Fig. 7, a kind of preferred embodiment of present invention breaking point detection method, including step s110- step
s130.
S110: signal source sends detection signal to detection line in safe voltage.Specifically, detection line is side
Boundary line.
In wherein one embodiment, signal source is electrically connected with boundary line in safe voltage and sends inspection to boundary line
Survey signal.Specifically, safe voltage is 36 volts, and the voltage that is, signal source is connected with boundary line energising is not high
In 36v.The overtension connected in boundary line, easily causes security incident, therefore, signal source and side
The connection voltage in boundary line is not higher than 36 volts.Boundary line can be connected with charging station, and therefore, signal source can be arranged
Electrically connect with boundary line in charging station.It is appreciated that in other embodiments, signal source can be independent of filling
Power station exists.
In wherein one embodiment, the detection signal that signal source sends is with the signal wave of predeterminated frequency for modulation letter
Number, with the first different signal wave of frequency and secondary signal ripple as carrier signal electrical signal wave.Modulation letter
Number and carrier signal can be square wave or triangular wave.With reference to Fig. 3, it is the carrier wave letter that signal source sends
Number.Specifically, carrier signal interval sends the first signal wave and secondary signal ripple, and the of the first signal wave
One frequency becomes multiple proportion with the second frequency of secondary signal ripple, and specially second frequency is the n of first frequency
Again (n is the positive number more than 1).Specifically, the frequency of modulated signal is 0.5-2hz, the first of carrier signal
The first frequency of signal wave is tens of khz, and modulated signal and carrier signal obtain detection letter by am modulation
Number.As carrier signal and it is spaced transmission by using two kinds of square waves that frequency becomes multiple proportion, can widen
The reception frequency range of detection signal, when single frequency band is subject to other strong interferers to disturb, switches to other frequencies
Section receives detection signal, therefore, increased the capacity of resisting disturbance of environment to external world.
S120: signal supervisory instrument receives detection signal in prescribed limit and processes and obtain process signal.
Specifically it is stipulated that scope is 2 meters, that is, signal supervisory instrument is used in the range of 2 meters receiving detection letter
Number.By adopting by way of receiving the near field radio of detection signal of air transmission in prescribed limit, substantially
The impact of temperature, electrostatic or the humidity of air can be excluded, opposite side can also be carried out therefore in outdoor environment
Boundary line carries out breaking point detection.
Signal supervisory instrument includes signal receiver and signal processor, and signal receiver is used in prescribed limit
Interior reception detection signal, signal processor obtains process signal for carrying out process to the detection signal receiving.
S130: alarm device reception processing signal.
Alarm device is used for being sent according to process signal or does not send information.In wherein one embodiment,
Alarm device is arranged at signal supervisory instrument.In this embodiment, alarm device can for led display screen or
Buzzer, as long as information can be sent to user.
In wherein one embodiment, alarm device is arranged on signal supervisory instrument or mobile terminal.Specifically,
Alarm device is arranged in the embodiment on mobile terminal, and alarm device can be the app on mobile terminal
(application application program).Mobile terminal can be the intelligent terminal such as mobile phone or panel computer, point out
Information can be any one in acoustical signal, vibration and the voice broadcast that app sends, and for example, " ticks
Tick " acoustical signal.
Alarm device is arranged in the embodiment on mobile terminal, and signal supervisory instrument is connected with mobile terminal line
Or interface connects, and specifically can be connected with mobile terminal by connecting line, as shown in figure 1, or can pass through
The earphone jack of mobile terminal connects, as shown in Figure 4.It is appreciated that in other embodiments, signal is examined
Surveying device 120 can also be by being wirelessly connected with mobile terminal, and such as bluetooth connection or wifi connect.
In wherein one embodiment, process signal includes preprocessed signal, alarm device include signal identifier and
Information notifying device.Step s130 of alarm device reception processing signal includes signal identifier identification pretreatment letter
Number it is identified the step that the step of information and information notifying device receive identification information.Therefore, alarm device can
Directly receive the preprocessed signal of signal supervisory instrument and identify, judge whether are preprocessed signal and detection signal
Coupling, specially judges that whether preprocessed signal is the modulated signal in detection signal.If then it represents that connecing
Receive detection signal, illustrate that boundary line connects normal, no breakpoint herein；Otherwise, for being not received by detecting
Signal, illustrates that boundary line and signal source disconnect herein, that is, there is breakpoint.
Signal processor include frequency mixer, in put device and cymoscope.Process signal includes the reality of preprocessed signal
Apply in example, with reference to Fig. 8, process signal is included in the embodiment of preprocessed signal, and step s120 includes step
S121- step s124.
S121: frequency mixer receives detection signal and processes and obtain mixed frequency signal.
S122: in put device mixed frequency signal is amplified process.
S123: cymoscope carries out detection process to the mixed frequency signal after amplifying, and obtains demodulated signal, and according to
Demodulated signal obtains preprocessed signal.
Corresponding, step s130 is the step receiving preprocessed signal.By signal processor to detection signal
Demodulation, obtain preprocessed signal, thus alarm device can determine whether to receive inspection according to preprocessed signal
Survey signal, and then determine whether there is breakpoint.
In wherein one embodiment, also include after step s123 putting device during demodulated signal is fed back to by cymoscope,
In put the step according to the range-adjusting amplification of demodulated signal for the device, thus ensure amplify after demodulated signal
Amplitude within the specific limits.
In wherein one embodiment, also include alarm device after step s123 and sent successfully according to preprocessed signal
Information and/or the step sending unsuccessfully information when not receiving process signal.Therefore, if border
Line connects normal, and signal supervisory instrument receives detection signal and processes and obtain corresponding successful preprocessed signal,
Alarm device receives the successful preprocessed signal of this correspondence, sends successfully information or is failure to actuate.If side
There is breakpoint in boundary line, signal supervisory instrument does not receive detection signal, then no preprocessed signal, that is, dress of reporting to the police
Put and fail to receive preprocessed signal, be failure to actuate or send unsuccessfully information.Therefore, staff is permissible
By judge alarm device send information classification judge boundary line 200 whether there is breakpoint, thus
Determine the position of breakpoint.
In wherein one embodiment, signal processor includes controller and communicator.In this embodiment, process letter
Number include control signal, accordingly, step s120 includes above-mentioned steps s121 and step s122, also includes
Cymoscope carries out detection process to the mixed frequency signal after amplifying, obtain the step of demodulated signal and controller according to
Demodulated signal obtains control signal, the step that communicator sends control signals to alarm device.It is corresponding,
Step s130 is to receive control signal.
Controller according to the detailed process that demodulated signal obtains control signal is: controller judge demodulated signal with
Whether detection signal mates, and obtains control signal.It is specially the tune judging demodulated signal whether with detection signal
Signal processed is identical and obtains control signal.If then it represents that receiving detection signal, illustrate that boundary line connects
Normally, no breakpoint, obtains controlling alarm device to send successfully information or the control signal being failure to actuate,
Otherwise, for being not received by detection signal, obtain controlling alarm device to be failure to actuate or send unsuccessfully prompting letter
The control signal of breath.Communicator sends control signals to alarm device, controls alarm device to send corresponding
Information.Therefore, staff can by judge alarm device send information type or
No send information to judge whether breakpoint.
When carrying out breaking point detection using above-mentioned breaking point detection method to the boundary line of hay mover, staff holds letter
Number detection means is enclosed around boundary line one in prescribed limit, if boundary line normally connects, alarm device is permissible
Receive process signal, otherwise, alarm device can not receive process signal.It is appreciated that can also make
With breaking point detection method, breaking point detection is carried out to All other routes.
A kind of above-mentioned breaking point detection method, can achieve breaking point detection again without digging out detection line,
Simple operation, efficiency is higher.
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not right
The all possible combination of each technical characteristic in above-described embodiment is all described, as long as however, these skills
There is not contradiction in the combination of art feature, be all considered to be the scope of this specification record.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is more concrete and detailed,
But can not therefore be construed as limiting the scope of the patent.It should be pointed out that for this area
For those of ordinary skill, without departing from the inventive concept of the premise, can also make and some deform and change
Enter, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended power
Profit requires to be defined.
Claims (10)
1. a kind of breaking point detection equipment is it is characterised in that include signal source and signal supervisory instrument and dress of reporting to the police
Put, described signal source is used for being electrically connected with detection line in safe voltage and sends detection letter to described detection line
Number, described signal supervisory instrument is used on rule with described alarm device communication connection, described signal supervisory instrument
Determine to receive in scope described detection signal and process and obtain process signal, described alarm device is used for receiving described
Process signal.
2. breaking point detection equipment according to claim 1 it is characterised in that described detection signal be with
The signal wave of predeterminated frequency be modulated signal, with the first different signal wave of frequency and secondary signal ripple as carrier wave
The electrical signal wave of signal.
3. breaking point detection equipment according to claim 2 is it is characterised in that carrier signal interval sends
Described first signal wave and secondary signal ripple, and the first frequency of described first signal wave and described secondary signal
The second frequency of ripple becomes multiple proportion.
4. breaking point detection equipment according to claim 1 is it is characterised in that described alarm device is arranged
On described signal supervisory instrument or mobile terminal.
5. breaking point detection equipment according to claim 4 is it is characterised in that described signal supervisory instrument
It is connected with described mobile terminal line or interface connects.
6. breaking point detection equipment according to claim 1 is it is characterised in that described signal supervisory instrument
Including signal receiver and signal processor, described signal receiver is used for receiving described inspection in prescribed limit
Survey signal, described signal processor obtains described process letter for the described detection signal receiving is carried out with process
Number.
7. breaking point detection equipment according to claim 6 is it is characterised in that described signal processor bag
Include controller and communicator, described process signal includes control signal；Described controller is according to described detection letter
Number control obtains described control signal, and described communicator sends described control signal to described alarm device.
8. breaking point detection equipment according to claim 6 is it is characterised in that process signal includes pre- place
Reason signal, described alarm device includes signal identifier and information notifying device, and described signal identifier identifies institute
State preprocessed signal and be identified signal, described information notifying device receives described identification signal.
9. a kind of breaking point detection method is it is characterised in that comprise the steps:
Signal source sends detection signal to detection line in safe voltage；
Signal supervisory instrument receives described detection signal in prescribed limit and processes and obtain process signal；
Alarm device receives described process signal.
10. breaking point detection method according to claim 9 is it is characterised in that described signal source sends
Detection signal be with the signal wave of predeterminated frequency as modulated signal, be spaced send the first signal wave and second
The signal of signal wave is the electrical signal wave of carrier signal.
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| CN201510418739.9A CN106341196B (en) | 2015-07-16 | 2015-07-16 | Breaking point detection device and method |
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|---|---|---|---|
| CN201510418739.9A CN106341196B (en) | 2015-07-16 | 2015-07-16 | Breaking point detection device and method |
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| CN109247117A (en) * | 2017-07-14 | 2019-01-22 | 苏州宝时得电动工具有限公司 | The method, apparatus and intelligent grass-removing of automatic detection boundary line broken string |
| CN112462767A (en) * | 2020-11-24 | 2021-03-09 | 苏州大可机械有限公司 | Method and device for detecting breakpoint position of boundary line and self-walking equipment |
| SE544056C2 (en) * | 2018-08-09 | 2021-11-23 | Husqvarna Ab | Finding of a break in a wire of a robotic working tool system |
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| Publication number | Publication date |
|---|---|
| CN106341196B (en) | 2019-08-20 |
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