CN106341196B - Breaking point detection device and method - Google Patents
Breaking point detection device and method Download PDFInfo
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- CN106341196B CN106341196B CN201510418739.9A CN201510418739A CN106341196B CN 106341196 B CN106341196 B CN 106341196B CN 201510418739 A CN201510418739 A CN 201510418739A CN 106341196 B CN106341196 B CN 106341196B
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Abstract
The present invention relates to a kind of breaking point detection device and method.Breaking point detection equipment includes signal source, signal supervisory instrument and warning device, signal source is used in safe voltage be electrically connected with detection line and sends detection signal to detection line, signal supervisory instrument and warning device communicate to connect, signal supervisory instrument obtains processing signal for receiving detection signal within the specified scope and handling, and warning device is for receiving processing signal.Detection signal is sent to boundary line by signal source, the detection line of breakpoint is disconnected due to the other side and signal source, therefore signal supervisory instrument does not receive detection signal in the other side of breakpoint, to detect the detection signal around detection line by signal supervisory instrument and send processing signal to warning device, it according to the received processing signal of warning device, that is, can determine whether detection line with the presence or absence of breakpoint, do not need to will test line and dig out, the time is saved, easy to operate and efficiency is higher.
Description
Technical field
The present invention relates to wireline inspection technical fields, more particularly to a kind of breaking point detection device and method.
Background technique
When carrying out turf-mown to places such as family's garden, public lawns, intelligent grass-removing is usually used.Intelligence is mowed
Function realizes that the automatically walk within the scope of defined mowing to realize automatic mowing, is not necessarily to manual operation, considerably reduces
Labor intensity.The mowing range of intelligent grass-removing is surrounded by boundary line, and boundary line connects charging station, when boundary line somewhere disconnects
When, 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
Replace the original boundary line in part, whether the boundary line signal for observing charging station restores normally, if it is not, then continuing next part
Boundary line replacement；If so, showing that breakpoint at the boundary line position being replaced, reduces replacement length and continues to replace, until determination
Until at breakpoint.The method of this breaking point detection is cumbersome, needs the time longer, inefficiency.
Summary of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing easy to operate, the higher breaking point detection equipment of efficiency of one kind and side
Method.
A kind of breaking point detection equipment, including signal source, signal supervisory instrument and warning device, the signal source is for pacifying
It is electrically connected in full voltage with detection line and sends detection signal to the detection line, the signal supervisory instrument and the alarm fill
Communication connection is set, the signal supervisory instrument obtains processing letter for receiving the detection signal within the specified scope and handling
Number, the warning device is for receiving the processing signal.
A kind of breaking point detection method, includes the following steps:
Signal source sends detection signal to detection line in safe voltage；
Signal supervisory instrument, which receives the detection signal within the specified scope and handles, obtains processing signal；
Warning device receives the processing signal.
A kind of above-mentioned breaking point detection device and method send detection signal, the inspection of breakpoint to detection line by signal source
For survey line since the other side and signal source disconnect, signal supervisory instrument does not receive detection signal in the other side of breakpoint, from
And the detection signal around detection line is received by signal supervisory instrument and sends processing signal to warning device, it is filled according to alarm
Received processing signal is set, that is, can determine whether that detection line with the presence or absence of breakpoint, does not need will test line from digging out, saves the time, grasp
It is higher to make easy and efficiency.
Detailed description of the invention
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 for detecting signal；
Fig. 4 is the connection schematic diagram of signal supervisory instrument and mobile terminal in an embodiment；
Fig. 5 is the specific schematic diagram of signal supervisory instrument shown in Fig. 1 in an embodiment；
Fig. 6 is the specific 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 specific flow chart of a wherein 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, signal detection dress
120 and warning device 130 are set, signal source 110 is used in safe voltage be electrically connected with detection line 200 and send out to detection line 200
Signal is surveyed in inspection, and signal supervisory instrument 120 and warning device 130 communicate to connect, and signal supervisory instrument 120 is used in prescribed limit
Interior reception, which detects signal and handles, obtains processing signal, and warning device 130 is for receiving processing signal.Specifically, detection line 200
For boundary line, breaking point detection equipment is for detecting boundary line with the presence or absence of breakpoint.
Boundary line can be connect with charging station 210, and therefore, signal source 110 may be disposed in charging station 210 and be electrically connected with boundary line
It connects.It is appreciated that in other embodiments, signal source 110 can exist independently of charging station 210.
Specifically, safe voltage is 36 volts, i.e., signal source 110 and boundary line are powered the voltage connected as not higher than 36V.?
The overtension connected in boundary line easily causes safety accident, and therefore, the connection voltage of signal source 110 and boundary line is not
Higher than 36 volts.
Specifically, it is specified that range is 2 meters, i.e., signal supervisory instrument 120 is used to receive detection signal within the scope of 2 meters.It is logical
It crosses by the way of receiving the near field radio of detection signal of air transmission within the specified scope, air can be excluded substantially
The influence of temperature, electrostatic or humidity, therefore can also carry out carrying out breaking point detection to boundary line in outdoor environment.
Wherein in an embodiment, signal source 110 send detection signal for using the signal wave of predeterminated frequency as modulated signal,
Using the first different signal wave of frequency and second signal wave as the electrical signal wave of carrier signal.Modulated signal and carrier signal can be with
For square wave, or triangular wave.As shown in figure 3, sending the carrier signal of detection signal for signal source 110.Specifically, carrier wave
Sigtnal interval sends the first signal wave and second signal wave, and the second of the first frequency f1 of the first signal wave and second signal wave
Frequency f2 is at multiple proportion, n times (n is the positive integer greater than 1) that specially second frequency f2 is first frequency f1, more specifically
Ground, the frequency of modulated signal are 0.5-2HZ, and the first frequency f1 of the first signal wave of carrier signal is tens of KHZ, modulated signal
Detection signal is obtained by AM (Amplitude Modulation amplitude modulation) modulation with carrier signal.By using frequency at multiple
Two kinds of square waves of relationship are as carrier signal and are spaced transmission, can widen the reception frequency range of signal supervisory instrument 120, when single
When frequency range is interfered by other strong interferers, signal supervisory instrument 120 can switch to other UHF band receptions detection signal, therefore,
Breaking point detection equipment is increased to the anti-interference ability of external environment.
Warning device 130 is used to send or not send prompt information according to processing signal.Wherein in an embodiment, alarm
Device 130 is set on signal supervisory instrument 110 or mobile terminal.Warning device 130 can be LED display or buzzing
Device, as long as prompt information can be issued to user.
Warning device 130 is set in the embodiment of mobile terminal, and specifically, warning device 130 can be mobile terminal
On APP (Application application program).Mobile terminal can be the intelligent terminals such as mobile phone or tablet computer, prompt letter
Breath can be any one in voice signal, vibration and the voice broadcast of APP transmission, the voice signal for example, " to tick ".
Warning device 130 is set in the embodiment on mobile terminal, and signal supervisory instrument 120 is connect with mobile terminal line
Or interface connection, it can specifically be connect by connecting line 125 with mobile terminal, as shown in Figure 1, mobile terminal can be passed through
Earphone jack connection, as shown in Figure 4.It is appreciated that in other embodiments, signal supervisory instrument 120 and mobile terminal can also
To pass through wireless connection, such as bluetooth connection or WIFI connection.
With reference to Fig. 5, signal supervisory instrument 120 includes signal receiver 121 and signal processor 123, signal receiver 121
For receiving detection signal within the specified scope, signal processor 123 to received detection signal for carrying out handling everywhere
Manage signal.
Specifically, signal receiver 121 includes receiver (not shown) and loader (not shown), and receiver is for receiving
Signal is detected, loader selects the detection signal needed to be sent to signal processor 123 from received signal.More specifically,
Receiver is receiving antenna.Receiving antenna is fixedly connected on one end of signal supervisory instrument 120.
Wherein in an embodiment, processing signal includes preprocessed signal, and warning device 130 includes that (figure is not for signal identifier
Show) and information notifying device (not shown), signal identifier identification preprocessed signal obtains identification signal, and information notifying device, which receives, to be known
Level signal.Specifically, information notifying device judges whether identification signal matches with detection signal, specially whether judges identification signal
For the modulated signal in detection signal.If so, indicating to receive detection signal, illustrate that boundary line connection herein is normal, without disconnected
Point；Otherwise, to be not received by detection signal, illustrate that boundary line herein and signal source 110 disconnect, that is, there is breakpoint.
Warning device 130 issues successfully prompt information and/or the hair when not receiving processing signal according to preprocessed signal
Fail prompt information out.Therefore, if boundary line connection is normal, signal supervisory instrument 120 receives detection signal and handles and obtains
Corresponding successful preprocessed signal, warning device 130 receive the successful preprocessed signal of the correspondence, issue successfully prompt information or
Person is failure to actuate.If there are breakpoint, signal supervisory instruments 120 not to receive detection signal for boundary line, then without preprocessed signal, that is, report
Alarm device 130 fails to receive preprocessed signal, is failure to actuate or issues failure prompt information.Therefore, staff can pass through
Judge that warning device 130 issues the classification of prompt information to judge boundary line with the presence or absence of breakpoint, so that it is determined that the position of breakpoint.
Specifically, signal processor 123 include frequency mixer 1231, in put device 1232 and wave detector 1233, frequency mixer 1231
For being handled to obtain mixed frequency signal to detection signal, in put device 1232 for being sent to inspection after amplifying to mixed frequency signal
Wave device 1233, wave detector 1233 is used to carry out detection to amplified mixed frequency signal to obtain demodulated signal, and can be used for according to solution
Signal is adjusted to obtain the preprocessed signal that warning device 130 can identify.Specifically, the demodulated signal that wave detector 1233 obtains is can
Square wave with the digital signal handled by digit chip.In put device 1232 mixed frequency signal amplified, realize signal detection
The detection signal that device 120 sends the signal source 110 in safe voltage detects.
Wherein in an embodiment, in put and connect automatic gain control unit between device 1232 and wave detector 1233, be used for root
Device 1232 is put in demodulated signal pair according to wave detector 1233 carries out automatic growth control.Wave detector 1233 will after obtaining demodulated signal
The demodulated signal puts device 1232 in feeding back to so that in put device 1232 according to range-adjusting itself amplification factor of demodulated signal,
Guarantee that the demodulated signal amplitude that wave detector 1233 exports controls within limits.
It is appreciated that in other embodiments, after signal supervisory instrument 120 can also judge detection signal at transmission
Signal is managed to warning device 130, without preprocessed signal is directly sent to warning device 130.For example, a wherein embodiment
In, with reference to Fig. 6, signal processor 123 includes controller 1235 and communicator 1237, and processing signal includes control signal, control
Device 1235 obtains control signal according to detection signal, and communicator 1237 sends control signals to warning device 130.Specifically,
After controller 1235 receives the demodulated signal of wave detector 1233, judge whether demodulated signal matches with detection signal, specially sentences
Whether disconnected demodulated signal is identical as the detection modulated signal of signal and obtains control signal, if so, indicating to receive detection letter
Number, illustrate that boundary line connection is normal, no breakpoint obtains control warning device 130 and issues successfully prompt information or be failure to actuate
Signal is controlled, otherwise, to be not received by detection signal, control warning device 130 is obtained and is failure to actuate or issues and unsuccessfully prompt
The control signal of information.Communicator 1237 sends control signals to warning device 130, and control warning device 130 is sent accordingly
Prompt information.Therefore, whether staff can issue the type of prompt information by judging warning device 130 or issue
Prompt information is to determine whether there are breakpoints.
With continued reference to Fig. 4, wherein breaking point detection equipment further includes operating stick 150, signal supervisory instrument in an embodiment
120 are fixed on one end of operating stick 150.Specifically, connecting line 125 is located in operating stick 150.Operating stick 150 is used for work people
The hand-held signal supervisory instrument 120 of member, so that operation signal detection device 120 moves around boundary line.
When carrying out breaking point detection using boundary line of the above-mentioned breaking point detection equipment to grass trimmer, staff holds signal detection
Device 120 is enclosed around boundary line one within the specified scope, if boundary line normally connects, warning device 130 can receive processing
Signal, otherwise, warning device 130 cannot receive processing signal.It therefore can be by judging whether warning device 130 receives
Signal is handled to determine whether there are breakpoints.
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 send detection signal, the detection line of breakpoint to detection line 200
200 since the other side and signal source 110 disconnect, and signal supervisory instrument does not receive detection signal in the breakpoint other side, from
And the detection signal around detection line 200 is detected by signal supervisory instrument 120 and sends processing signal to warning device 130,
According to the received processing signal of warning device 130, that is, it can determine whether that detection line 200 with the presence or absence of breakpoint, does not need to will test line 200
It digs out, saves the time, easy to operate and efficiency is higher.
With reference to Fig. 7, a kind of preferred embodiment of breaking point detection method of the present invention, including step S110- step S130.
S110: signal source sends detection signal to detection line in safe voltage.Specifically, detection line is boundary line.
Wherein in an embodiment, signal source is electrically connected with boundary line in safe voltage and sends detection letter to boundary line
Number.Specifically, safe voltage is 36 volts, i.e., signal source and boundary line are powered the voltage connected as not higher than 36V.In boundary line
The overtension of connection easily causes safety accident, and therefore, the connection voltage of signal source and boundary line is not higher than 36 volts.Side
Boundary line can be connect with charging station, and therefore, signal source may be disposed in charging station and be electrically connected with boundary line.It is appreciated that at other
In embodiment, signal source can exist independently of charging station.
Wherein in an embodiment, signal source send detection signal for using the signal wave of predeterminated frequency as modulated signal, with
The first different signal wave of frequency and second signal wave are the electrical signal wave of carrier signal.Modulated signal and carrier signal can be with
For square wave, or triangular wave.With reference to Fig. 3, the carrier signal sent for signal source.Specifically, carrier signal interval is sent
First signal wave and second signal wave, and the first frequency of the first signal wave and the second frequency of second signal wave are closed at multiple
System, specially second frequency are n times (n is the positive number greater than 1) of first frequency.Specifically, the frequency of modulated signal is 0.5-
The first frequency of 2HZ, the first signal wave of carrier signal are tens of KHZ, and modulated signal and carrier signal modulate to obtain by AM
Detect signal.Transmission as carrier signal and is spaced at two kinds of square waves of multiple proportion by using frequency, detection can be widened
The reception frequency range of signal can switch to other UHF band receptions detection signal when single frequency band is interfered by other strong interferers,
Therefore, the anti-interference ability to external environment is increased.
S120: signal supervisory instrument, which receives detection signal within the specified scope and handles, obtains processing signal.
Specifically, it is specified that range is 2 meters, i.e., signal supervisory instrument is used to receive detection signal within the scope of 2 meters.By adopting
The mode that the near field radio of the detection signal of air transmission is received in prescribed limit, can exclude the temperature of air substantially
The influence of degree, electrostatic or humidity, therefore can also carry out carrying out breaking point detection to boundary line in outdoor environment.
Signal supervisory instrument includes signal receiver and signal processor, and signal receiver for receiving within the specified scope
Signal is detected, signal processor is used to be handled received detection signal to obtain processing signal.
S130: warning device receives processing signal.
Warning device is used to send or not send prompt information according to processing signal.Wherein in an embodiment, alarm dress
It installs and is placed in signal supervisory instrument.In this embodiment, warning device can be LED display or buzzer, as long as can be to use
Family issues prompt information.
Wherein in an embodiment, warning device is set on signal supervisory instrument or mobile terminal.Specifically, warning device
It is set in the embodiment on mobile terminal, warning device can be APP (the Application application journey on mobile terminal
Sequence).Mobile terminal can be for the intelligent terminals such as mobile phone or tablet computer, prompt information APP transmission voice signal,
Vibration is with any one in voice broadcast, the voice signal for example, " to tick ".
Warning device is set in the embodiment on mobile terminal, and signal supervisory instrument connect or connects with mobile terminal line
Mouthful connection, can specifically be connect, as shown in Figure 1, can pass through the earphone jack of mobile terminal with mobile terminal by connecting line
Connection, as shown in Figure 4.It is appreciated that in other embodiments, signal supervisory instrument 120 and mobile terminal can also pass through nothing
Line connection, such as bluetooth connection or WIFI connection.
Wherein in an embodiment, processing signal includes preprocessed signal, and warning device includes that signal identifier and information are logical
Know device.The step S130 that warning device receives processing signal includes that signal identifier identification preprocessed signal obtains identification information
The step of step and information notifying device receive identification information.Therefore, warning device can directly receive the pre- place of signal supervisory instrument
Reason signal simultaneously identifies, judges whether preprocessed signal matches with detection signal, specially judges whether preprocessed signal is detection
Modulated signal in signal.If so, indicating to receive detection signal, illustrate that boundary line connection herein is normal, no breakpoint；It is no
Then, to be not received by detection signal, illustrate that boundary line herein and signal source disconnect, that is, there is breakpoint.
Signal processor include frequency mixer, in put device and wave detector.Processing signal includes in the embodiment of preprocessed signal,
With reference to Fig. 8, handling signal includes in the embodiment of preprocessed signal, and step S120 includes step S121- step S124.
S121: frequency mixer, which receives detection signal and handles, obtains mixed frequency signal.
S122: in put device processing amplified to mixed frequency signal.
S123: wave detector carries out detection processing to amplified mixed frequency signal, obtains demodulated signal, and according to demodulated signal
Obtain preprocessed signal.
Corresponding, step S130 is the step of receiving preprocessed signal.Demodulation by signal processor to detection signal,
Preprocessed signal is obtained, so that warning device can determine whether to receive detection signal according to preprocessed signal, and then determination is
It is no that there are breakpoints.
Further include wave detector wherein in an embodiment, after step S123 by demodulated signal feed back in put device, in put device
The step of according to the range-adjusting amplification factor of demodulated signal, to guarantee the amplitude of amplified demodulated signal in a certain range
It is interior.
It further include that warning device according to preprocessed signal issues successfully prompt letter wherein in an embodiment, after step S123
The step of ceasing and/or issuing failure prompt information when not receiving processing signal.Therefore, if boundary line connection is normal, signal
Detection device receives detection signal and handles and obtains corresponding to successful preprocessed signal, and it is successful that warning device receives the correspondence
Preprocessed signal issues successfully prompt information or is failure to actuate.If there are breakpoint, signal supervisory instruments not to receive inspection for boundary line
Signal is surveyed, then without preprocessed signal, i.e. warning device fails to receive preprocessed signal, is failure to actuate or issues unsuccessfully prompt letter
Breath.Therefore, staff can judge that boundary line 200 whether there is by judging the classification of warning device sending prompt information
Breakpoint, so that it is determined that the position of breakpoint.
Wherein in an embodiment, signal processor includes controller and communicator.In this embodiment, processing signal includes control
Signal processed, accordingly, step S120 include above-mentioned steps S121 and step S122, further include that wave detector believes amplified mixing
Number carrying out detection processing, the step of obtaining demodulated signal and controller obtains control signal according to demodulated signal, and communicator will be controlled
The step of signal processed is sent to warning device.Corresponding, step S130 is to receive control signal.
Controller obtains the detailed process of control signal according to demodulated signal are as follows: controller judges that demodulated signal and detection are believed
Number whether match, obtains control signal.Specially judge whether demodulated signal is identical as the detection modulated signal of signal and obtains
Control signal.If so, indicating to receive detection signal, illustrate that boundary line connection is normal, no breakpoint obtains control warning device
Otherwise the control signal for issuing successfully prompt information or being failure to actuate to be not received by detection signal, obtains control alarm dress
Set the control signal for being failure to actuate or issuing failure prompt information.Communicator sends control signals to warning device, control report
Alarm device sends corresponding prompt information.Therefore, staff can be by judging that warning device issues the type of prompt information
Or whether prompt information is issued to determine whether there are breakpoints.
When carrying out breaking point detection using boundary line of the above-mentioned breaking point detection method to grass trimmer, staff holds signal detection
Device is enclosed around boundary line one within the specified scope, if boundary line normally connects, warning device can receive processing signal, no
Then, warning device cannot receive processing signal.It is appreciated that breaking point detection method can also be used to break All other routes
Point detection.
Breaking point detection can be realized again without will test line and dig out in a kind of above-mentioned breaking point detection method, and operation is just
Victory, efficiency are higher.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (6)
1. a kind of breaking point detection equipment, which is characterized in that including signal source and signal supervisory instrument and warning device, the signal
Source is used in safe voltage be electrically connected with detection line and sends detection signal to the detection line, and the detection signal is with pre-
If the signal wave of frequency is modulated signal, using the first different signal wave of frequency and second signal wave as the electric signal of carrier signal
Wave；
Carrier signal interval sends first signal wave and second signal wave, and the first frequency of first signal wave and institute
The second frequency of second signal wave is stated into multiple proportion；
The signal supervisory instrument includes signal receiver and signal processor, and the signal processor and the warning device are logical
Letter connection；The signal receiver for receiving the detection signal within the specified scope, and the signal processor is for docking
The detection signal received is handled to obtain processing signal, and the warning device is for receiving the processing signal；Wherein, institute
State signal processor include sequentially connected frequency mixer, in put device and wave detector.
2. breaking point detection equipment according to claim 1, which is characterized in that the warning device is set to the signal inspection
It surveys on device or mobile terminal.
3. breaking point detection equipment according to claim 2, which is characterized in that the signal supervisory instrument and the movement are eventually
End line connection or interface connection.
4. breaking point detection equipment according to claim 1, which is characterized in that the signal processor further include controller and
Communicator, the processing signal include control signal；The frequency mixer is mixed for being handled the detection signal
Signal, it is described in put device for being sent to the wave detector after amplifying to the mixed frequency signal, the wave detector for pair
Amplified mixed frequency signal carries out detection and obtains demodulated signal, and the controller receives the demodulated signal and obtains the control
The control signal is sent to the warning device by signal, the communicator.
5. breaking point detection equipment according to claim 1, which is characterized in that processing signal includes preprocessed signal, described
Frequency mixer is used to be handled to obtain to the detection signal mixed frequency signal, it is described in put device for mixed frequency signal progress
Be sent to the wave detector after amplification, the wave detector be used to carry out amplified mixed frequency signal detection obtain demodulated signal,
And the identifiable preprocessed signal of the warning device is obtained according to the demodulated signal；
The warning device includes signal identifier and information notifying device, and the signal identifier identifies that the preprocessed signal obtains
To identification signal, the information notifying device receives the identification signal.
6. a kind of breaking point detection method, which comprises the steps of:
Signal source sends detection signal to detection line in safe voltage；The detection signal that the signal source is sent is with default frequency
The signal wave of rate is modulated signal, using the first different signal wave of frequency and second signal wave as the electrical signal wave of carrier signal；
The second frequency of the first frequency of first signal wave and the second signal wave is at multiple proportion；
The signal receiver receives the detection signal within the specified scope, and the signal processor is to the received detection
Signal is handled to obtain processing signal；Wherein, the signal processor include sequentially connected frequency mixer, in put device and detection
Device；
Warning device receives the processing 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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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109247117B (en) * | 2017-07-14 | 2021-02-09 | 苏州宝时得电动工具有限公司 | Method and device for automatically detecting boundary line breakage and intelligent mower |
| SE544056C2 (en) * | 2018-08-09 | 2021-11-23 | Husqvarna Ab | Finding of a break in a wire of a robotic working tool system |
| 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 |
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