CN111352428B

CN111352428B - Automatic working system and control method thereof

Info

Publication number: CN111352428B
Application number: CN202010360425.9A
Authority: CN
Inventors: 达维德·多尔夫
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2016-04-21
Filing date: 2017-04-21
Publication date: 2023-07-14
Anticipated expiration: 2037-04-21
Also published as: CN111352429A; WO2017181995A1; CN111352428A; CN107305391B; CN107305391A

Abstract

The invention relates to an automatic working system and a control method thereof, wherein the automatic working system comprises a signal station, a boundary line and automatic walking equipment, wherein the signal station generates and transmits boundary signals in the boundary line and generates an electromagnetic field; the automatic walking equipment detects the electromagnetic field, walks and works in a working area limited by the boundary line; the time interval at which the signal station generates the boundary signal is correlated with the intensity of the electromagnetic field detected by the autonomous device. The beneficial effects of the invention are as follows: according to the intensity of the electromagnetic field of the boundary signal detected by the automatic walking equipment or according to the distance from the automatic walking equipment to the boundary line, the frequency of the signal station for generating the boundary signal is adjusted, so that the power consumption of the boundary signal is reduced.

Description

Automatic working system and control method thereof

Technical Field

The invention relates to an automatic working system and a control method thereof.

Background

Along with the development of science and technology, intelligent automatic walking equipment is well known, and because the automatic walking equipment can automatically preset programs to execute preset related tasks without manual operation and intervention, the intelligent automatic walking equipment has very wide application in industrial application and household products. Industrial applications such as robots for performing various functions, household products such as mowers and dust collectors, etc., the intelligent automatic walking equipment greatly saves time of people and brings great convenience to industrial production and household life.

In order to ensure that the automatic walking equipment works within a preset working range, an automatic working system is generally adopted to control the working range of the automatic walking equipment. The automatic working system comprises a boundary line laid on the ground surface, a signal generating device connected with the boundary line, a signal detection unit on the automatic walking equipment and a control unit for processing the signal and controlling the walking path of the automatic walking equipment. The control unit confirms the distance from the boundary line of the automatic walking equipment according to the electric signal transmitted by the boundary line, so that the automatic walking equipment is controlled to switch the walking direction when approaching the boundary line, and the automatic walking equipment is prevented from walking outside the boundary line, so that the automatic walking equipment always works in the boundary line.

The boundary line signals are detected by the automatic walking equipment during working, meanwhile, interference signals can be detected, the interference signals can be from radiation signals sent by other equipment nearby the automatic working system, and the interference signals can also be from boundary line signals sent by other nearby automatic working systems, particularly when the automatic working systems produced by the same manufacturer exist nearby, the interference is easy to cause the walking of the automatic walking equipment due to the fact that the boundary line signals are similar in form, and misjudgment of the automatic walking equipment is caused.

The continuous generation of the electrical signal by the signal generating device consumes a large amount of electrical energy, and when the working area of the automatic walking equipment is large, the boundary signal is attenuated in the center of the working area, so that the boundary signal can be detected by the automatic walking equipment in the working area, and the signal generating device needs to generate a high-strength electrical signal, so that the electrical energy consumption is overlarge.

Disclosure of Invention

The technical problems solved by the invention are as follows: an automatic operation system capable of effectively avoiding influence of an interference signal on a boundary line signal is provided.

In order to solve the technical problems, the technical scheme of the invention is as follows:

an automatic working system comprises a signal station, a boundary line and automatic walking equipment; the signal station generating and transmitting boundary signals in the boundary line; the automatic walking equipment detects boundary signals, walks and works in a working area limited by the boundary lines; the automatic working system also comprises a non-wire signal generator for transmitting a non-wire signal; the time interval of the signal station generating the boundary signal and the time interval of the automatic walking equipment detecting the boundary signal are associated with the non-wire signal, so that the time interval of the signal station generating the boundary signal is within the time interval of the automatic walking equipment detecting the boundary signal.

Preferably, the signal station determines a time interval for generating the boundary signal with respect to a time at which the non-wire signal generator transmits the non-wire signal as a time reference.

Preferably, a first time interval is formed between the time interval during which the signal station generates the boundary signal and the time reference, said first time interval being not fixed.

Preferably, the data of the non-wire signal comprises first interval time data.

Preferably, the signal station determines the time interval for generating the boundary signal based on the data of the non-wire signal.

Preferably, the automatic walking device judges a time interval for detecting the boundary signal by taking the time of the non-wire signal generator for transmitting the non-wire signal as a time reference.

Preferably, the automatic walking device judges the time interval for detecting the boundary signal according to the data of the non-wire signal.

Preferably, the time interval in which the signal station generates the boundary signal is not fixed with respect to the time interval in which the autonomous device detects the boundary signal.

Preferably, a second time interval is formed between two adjacent times of sending the non-wire signal by the non-wire signal generator, and the second time interval is not fixed.

Preferably, the non-wire signal generator is arranged on the self-walking equipment and is communicated with the self-walking equipment, and the signal station receives the non-wire signal.

Preferably, the non-wire signal generator is arranged on the signal station and is communicated with the signal station, and the automatic walking equipment receives the non-wire signal.

Preferably, the non-wire signal generator is disposed outside the self-walking device and the signal station, and the self-walking device and the signal station receive the non-wire signal.

Preferably, the non-wire signal is a radio signal, or an audio signal, or an optical signal.

The beneficial effects of the invention are as follows: the automatic walking equipment sends a request signal to the signal station, the signal station responds to the request signal of the automatic walking equipment to generate a boundary signal, and the automatic walking equipment correspondingly detects the boundary signal, so that the automatic working system can effectively avoid being influenced by interference signals in a working environment.

Another technical problem solved by the present invention is: a method for controlling an automatic operation system capable of effectively avoiding influence of an interference signal on a boundary signal is provided.

a method of controlling an automatic working system comprising a signal station, a boundary line, an automatic walking device and a non-wire signal generator; the method for controlling the automatic working system comprises the following steps: the signal station generating and transmitting boundary signals in the boundary line; the automatic walking equipment detects boundary signals, walks and works in a working area limited by the boundary lines; the non-wire signal generator transmits a non-wire signal such that a time interval in which the signal station generates a boundary signal and a time interval in which the autonomous walking device detects the boundary signal are associated with the non-wire signal, and a time interval in which the signal station generates the boundary signal is within the time interval in which the autonomous walking device detects the boundary signal.

The beneficial effects of the invention are as follows: the automatic mower sends a request signal to the signal station, the signal station responds to the request signal of the automatic mower to generate a boundary signal, and the automatic mower correspondingly detects the boundary signal, so that the automatic working system can effectively avoid being influenced by interference signals in a working environment.

Another technical problem solved by the present invention is: an automatic operation system capable of further avoiding influence of an interference signal on a boundary line signal is provided.

an automatic working system comprises a signal station, a boundary line and automatic walking equipment; the signal station generating and transmitting boundary signals in the boundary line; the automatic walking equipment detects boundary signals, walks and works in a working area limited by the boundary lines; the automatic working system also comprises a non-wire signal generator for transmitting a non-wire signal; the time of the signal station generating the boundary signal and the time of the automatic walking equipment detecting the boundary signal are related to the non-wire signal; the automatic working system further comprises a non-wire signal receiver for receiving a non-wire signal; the non-wire signal receiver is paired with the non-wire signal generator.

Preferably, one of the non-wire signal generator and the non-wire signal receiver is arranged on the automatic walking equipment, and the other is arranged on the signal station.

Preferably, the non-wire signal generator is arranged outside the self-walking device and the signal station, and the non-wire signal receiver is arranged on the self-walking device and the signal station.

Preferably, the time interval during which the signal station generates the non-wire signal is located within the time interval during which the self-walking device detects the boundary signal.

The beneficial effects of the invention are as follows: the non-wire signal generator is paired with a non-wire signal receiver so that signal stations and robotic lawnmowers in different robotic work systems avoid interference with each other.

Another technical problem solved by the present invention is: a method of controlling an automatic operation system capable of further avoiding influence of an interference signal on an edge signal is provided.

a method of controlling an automatic working system comprising a signal station, a boundary line, an automatic walking device, a non-wire signal generator and a non-wire signal receiver; the method for controlling the automatic working system comprises the following steps: the signal station generating and transmitting boundary signals in the boundary line; the automatic walking equipment detects boundary signals, walks and works in a working area limited by the boundary lines; and the non-wire signal generator and the non-wire signal receiver perform exclusive non-wire signal transmission, so that the time interval of the signal station generating the boundary signal and the time interval of the automatic walking equipment detecting the boundary signal are associated with the non-wire signal.

Another technical problem solved by the present invention is: provided is an automatic working system capable of effectively avoiding the influence of an interference signal on a boundary signal and ensuring stable operation.

an automatic working system comprises a signal station, a boundary line and automatic walking equipment; the signal station generating and transmitting boundary signals in the boundary line; the automatic walking equipment detects boundary signals, walks and works in a working area limited by the boundary lines; the automatic working system also comprises a non-wire signal generator for transmitting a non-wire signal; the automatic working system can selectively work in a first working mode or a second working mode; in the first working mode, the time of the signal station generating the boundary signal and the time of the automatic walking equipment detecting the boundary signal are related to the non-wire signal; in the second mode of operation, the time at which the signal station generates the boundary signal and the time at which the autonomous walk device detects the boundary signal are uncorrelated with the non-conductor signal.

Preferably, when the automatic working system works in the first working mode, if the working of the automatic working system meets the preset condition, the automatic working system is switched from the first working mode to the second working mode.

Preferably, the preset condition is that the sending or receiving of the non-wire signal is unreliable.

Preferably, the preset condition is that the automatic walking device does not detect the boundary signal within a preset time.

Preferably, the preset condition is that the signal station does not generate the boundary signal within a preset time.

Preferably, the preset condition is that the automatic walking device or the signal station judges that no non-wire signal is sent within a preset time.

Preferably, in the first operation mode, the time interval in which the signal station generates the boundary signal is located within the time interval in which the automatic walking device detects the boundary signal.

Preferably, when the automatic working system works in the first working mode, the automatic walking equipment does not detect the boundary signal in the time interval of detecting the boundary signal, and the automatic working system is switched from the first working mode to the second working mode.

Preferably, in the second operation mode, the signal station continuously generates a boundary signal, and the automatic walking device continuously detects the boundary signal.

Preferably, the non-wire signal generator is disposed on one of the self-propelled device and the signal station, and in the first mode of operation, the other of the self-propelled device and the signal station receives the non-wire signal.

Preferably, the non-wire signal generator is disposed externally of the self-propelled device and the signal station, and in the first mode of operation, the self-propelled device and the signal station receive the non-wire signal.

The beneficial effects of the invention are as follows: the automatic working system can selectively work in a first working mode or a second working mode, and in the first working mode, the time for generating the boundary signal by the signal station and the time for detecting the boundary signal by the automatic mower are related to the non-wire signal, so that the detection of the boundary signal by the automatic walking equipment can be effectively prevented from being influenced by interference signals in a working environment; when judging that the non-wire signal is unreliable, the automatic working system is switched to a second working mode, and the time for generating the boundary signal by the signal station and the time for detecting the boundary signal by the automatic mower are not related to the non-wire signal, so that the automatic working system can work stably.

Another technical problem solved by the present invention is: a method for controlling an automatic operation system is provided which can effectively avoid the influence of an interference signal on a boundary signal and can ensure stable operation.

a method of controlling an automated work system, the automated work system comprising: a signal station generating a boundary signal; the boundary line is electrically connected with the signal station and is used for transmitting boundary signals; the automatic walking equipment detects boundary signals, walks in a working area limited by the boundary lines and works; a non-wire signal generator for transmitting a non-wire signal; the method for controlling the automatic working system comprises the following steps: the automatic working system is enabled to work in a first working mode, so that the time when the signal station generates the boundary signal and the time when the automatic walking equipment detects the boundary signal are related to the non-conducting signal; when judging that the non-wire signal is unreliable, the automatic working system is switched from the first working mode to the second working mode, so that the time for generating the boundary signal by the signal station and the time for detecting the boundary signal by the automatic walking equipment are not related to the non-wire signal.

Preferably, when the sending or receiving of the non-wire signal is not reliable, the automatic working system is switched from the first working mode to the second working mode.

Preferably, if the automatic walking device does not detect the boundary signal within the preset time, judging that the non-wire signal is unreliable.

Preferably, the signal station does not generate a boundary signal within a preset time, and judges that the non-wire signal is unreliable.

Preferably, the automatic walking device or the signal station judges that no non-wire signal is transmitted within the preset time, and judges that the non-wire signal is unreliable.

Preferably, in the first operation mode, the self-walking device is configured to receive the non-wire signal, and if the self-walking device does not receive the non-wire signal within a preset time, the non-wire signal is judged to be unreliable.

Preferably, the signal station is configured to receive the non-wire signal, and if the signal station does not receive the non-wire signal within a preset time, the non-wire signal is judged to be unreliable.

Preferably, the automatic walking device does not detect the boundary signal in the time interval of detecting the boundary signal, and judges that the non-wire signal is unreliable.

Another technical problem solved by the present invention is: an automatic operation system capable of reducing power consumption of a boundary signal is provided.

an automatic working system comprises a signal station, a boundary line and automatic walking equipment; the signal station generates a boundary signal; the boundary line transmits the boundary signal and generates an electromagnetic field; the automatic walking equipment detects the electromagnetic field, walks and works in a working area limited by the boundary line; the automatic walking device adjusts the current level of the boundary signal according to the distance from the automatic walking device to the boundary line.

Preferably, when the distance from the self walking device to the boundary line is judged to be reduced, the current level of the boundary signal is reduced; when the automatic walking equipment judges that the distance from the automatic walking equipment to the boundary line is increased, the current level of the boundary signal is increased.

Preferably, the autonomous walk device communicates with the signal station to adjust the current level of the boundary signal.

Preferably, the autonomous walking device transmits its own distance signal to the borderline to the signalling station.

Preferably, the automatic walking device determines the distance from itself to the boundary line based on the intensity of the detected electromagnetic field.

Preferably, the automatic working system stores a mapping relationship between a distance of the automatic walking device to the boundary line and a target value of the current level of the boundary signal.

Preferably, the automatic walking device transmits a distance signal from itself to the boundary line to the signal station, and the signal station judges a target value of the current level of the boundary signal according to the distance signal and the mapping relation and adjusts the current level of the boundary signal according to the target value.

Preferably, the automatic walking device determines a target value of the current level of the boundary signal according to the distance from itself to the boundary line and the mapping relation, and transmits the target value to the signal station.

Preferably, the automatic walking device transmits the intensity signal of the detected electromagnetic field to the signal station, and the signal station judges the distance from the automatic walking device to the boundary line according to the intensity signal of the electromagnetic field detected by the automatic walking device.

The beneficial effects of the invention are as follows: and adjusting the intensity of the boundary signal generated by the signal station according to the distance from the automatic walking equipment to the boundary line, so as to reduce the power consumption of the boundary signal.

Another technical problem solved by the present invention is: a method of controlling an automatic operation system capable of reducing power consumption of a boundary signal is provided.

a control method of an automatic working system, the automatic working system comprising a signal station, a boundary line, and an automatic walking device; the control method of the automatic working system comprises the following steps: the signal station generates a boundary signal; the boundary line transmits the boundary signal and generates an electromagnetic field; the automatic walking equipment detects the electromagnetic field, walks and works in a working area limited by the boundary line; the automatic walking device adjusts the current level of the boundary signal according to the distance from the automatic walking device to the boundary line.

an automatic working system comprises a signal station, a boundary line and automatic walking equipment; the signal station generates a boundary signal; the boundary line transmits the boundary signal and generates an electromagnetic field;

the automatic walking equipment detects the electromagnetic field, walks and works in a working area limited by the boundary line; the time interval at which the signal station generates the boundary signal is correlated with the intensity of the electromagnetic field detected by the autonomous device.

Preferably, the intensity of the electromagnetic field detected by the automatic walking device is reduced, and the time interval for generating the boundary signal by the signal station is increased; the intensity of the electromagnetic field detected by the autonomous traveling device increases and the time interval at which the signal station generates the boundary signal decreases.

Preferably, the autonomous walk device communicates with the signal station to adjust the time interval at which the signal station generates the boundary signal.

Preferably, the autonomous walking device transmits to the signalling station the intensity signal of the electromagnetic field detected by itself, the signalling station adjusting the time interval at which the boundary signal is generated according to said intensity signal of the electromagnetic field.

Preferably, the signal station judges the distance from the automatic walking equipment to the boundary line according to the intensity signal of the electromagnetic field, and adjusts the time interval for generating the boundary signal according to the distance from the automatic walking equipment to the boundary line.

Preferably, the signal station calculates a maximum time interval for generating the boundary signal according to the distance from the automatic walking device to the boundary line, and generates the boundary signal such that the time interval for generating the boundary signal is not greater than the maximum time interval.

Preferably, the autonomous walking device transmits a distance signal from itself to the boundary line to the signal station, and the signal station adjusts the time interval for generating the boundary signal according to the distance signal.

Preferably, the distance from the automatic walking device to the boundary line is reduced, and the time interval for the signal station to generate the boundary signal is reduced; the distance of the robot from the boundary line increases and the time interval at which the signal station generates the boundary signal increases.

Preferably, the self-walking device comprises a non-wire signal generator for transmitting a non-wire signal, and the signal station receives the non-wire signal to generate the boundary signal.

Preferably, the autonomous walking device adjusts the time interval for transmitting the non-wire signal according to the intensity of the detected electromagnetic field.

Preferably, the automatic walking device judges the distance from itself to the boundary line according to the intensity of the detected electromagnetic field, and adjusts the time interval for transmitting the non-wire signal according to the distance from itself to the boundary line.

Preferably, the automatic walking device calculates a maximum time interval for transmitting the non-wire signal according to the intensity of the detected electromagnetic field, and transmits the non-wire signal such that the time interval for transmitting the non-wire signal is not greater than the maximum time interval.

Preferably, the automatic walking device calculates a maximum time interval of the boundary signal generated by the signal station according to the intensity of the detected electromagnetic field, and transmits the maximum time interval signal to the signal station, and the signal station receives the maximum time interval signal and generates the boundary signal, so that the time interval of the boundary signal is not more than the maximum time interval.

The beneficial effects of the invention are as follows: according to the intensity of the electromagnetic field of the boundary signal detected by the automatic walking equipment or according to the distance from the automatic walking equipment to the boundary line, the frequency of the signal station for generating the boundary signal is adjusted, so that the power consumption of the boundary signal is reduced.

a control method of an automatic working system, the automatic working system comprising a signal station, a boundary line, and an automatic walking device; the control method of the automatic working system comprises the following steps: the signal station generates a boundary signal; the boundary line transmits the boundary signal and generates an electromagnetic field; the automatic walking equipment detects the electromagnetic field, walks and works in a working area limited by the boundary line; the time interval at which the signal station generates the boundary signal is correlated with the intensity of the electromagnetic field detected by the autonomous device.

Drawings

The technical problems, technical solutions and advantageous effects that the present invention solves as described above can be clearly obtained by the following detailed description of the preferred embodiments capable of realizing the present invention while being described with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of an automated work system of a first embodiment of the present invention;

FIG. 2 is a schematic diagram of a process for generating and detecting boundary signals of the automated work system of FIG. 1;

FIG. 3 is a diagram of the process steps for generating and detecting boundary signals for the automated work system of FIG. 1;

FIG. 4 is a schematic view of the working area of an automated working system according to another embodiment of the present invention;

FIG. 5 is a graph comparing boundary signals of different operating areas of the automatic operating system shown in FIG. 4;

FIG. 6 is a step diagram of a process for regulating boundary signals of the automated work system shown in FIG. 4;

fig. 7 is a schematic view of a working area of an automatic working system according to another embodiment of the present invention.

1. Automatic working system 3. Signal station 5. Boundary line

7. Automatic mower 9. Non-wire signal generator

Detailed Description

Fig. 1 is a schematic view of an automatic working system according to a first embodiment of the present invention. The automatic working system 1 comprises a signalling station 3, a borderline 5 and an automatic walking device. The signal station 3 generates a boundary signal, and the boundary line 5 is electrically connected to the signal station 3, transmits the boundary signal, and generates an electromagnetic field. The boundary line 5 divides the working plane of the walking device into an inside and an outside of the working area. The automatic walking equipment walks and works in the working area. The automatic walking equipment detects boundary signals, specifically, electromagnetic fields in the environment, and judges that the automatic walking equipment is positioned in or out of a working area according to the detected electromagnetic fields.

In the present embodiment, the automatic walking device is the automatic mower 7, and performs mowing work. In other embodiments, the self-propelled device may also be an unattended device such as an automatic vacuum cleaner, an automatic spray device, or the like. When the automatic walking device is the automatic mower 7, the automatic mower comprises a walking module, a cutting module, a detecting module, an energy module, a control module and the like. The walking module drives the automatic mower 7 to walk and turn in the working area, the cutting module executes mowing work, the energy module supplies energy for the automatic mower 7, the detection module detects boundary signals, the control module is electrically connected with other modules, and the automatic mower 7 is controlled to walk and work according to a preset program. The control module may include a timer that generates an indication signal when the trigger signal temporarily begins timing and the timing reaches a preset time.

The signal station 3 comprises a control module for controlling the generation of the boundary signal, including the generation time, duration and current level of the boundary signal, etc. In this embodiment, the boundary signal generated by the signal station 3 is a pulse signal, and the automatic walking device detects the rising edge and the falling edge of the boundary signal and determines that the automatic walking device is located in or outside the working area. In other embodiments, the boundary signal may also be sinusoidal, saw tooth, etc. The control module of the signal station 3 may comprise a timer which generates an indication signal when the timing reaches a preset time when the trigger signal temporarily starts the timing.

In this embodiment, the automatic working system 1 further includes a non-wire signal generator 9 for transmitting a non-wire signal. A non-wire signal generator 9 is provided on the robotic lawnmower 7 in communication with the robotic lawnmower 7. Specifically, the non-wire signal generator 9 is electrically connected to the robotic mower 7, and the robotic mower 7 is capable of reading the sending time of the non-wire signal and the data of the non-wire signal. The sending time of the non-wire signal, including the time interval, the data of the non-wire signal, etc. may be pre-stored in the non-wire signal generator 9, may be randomly generated by the non-wire signal generator 9 during operation, or may be pre-stored or generated by the robotic mower 7 and transmitted to the non-wire signal generator 9. The signal station 3 receives the non-wire signal, and determines the time of generating the boundary signal, the current level of the boundary signal, and the like based on the time of receiving the non-wire signal, the data of the non-wire signal, and the like.

In this embodiment, the automatic walking device operates in a non-wire signal-based operation mode, the time when the signal station generates the boundary signal is associated with the non-wire signal, the time when the automatic walking device detects the boundary signal is associated with the non-wire signal, and the time when the signal station generates the boundary signal is within the time when the automatic walking device detects the boundary signal.

The process of generating and detecting boundary signals for an automated working system is described below in conjunction with fig. 2.

After the robotic lawnmower begins to operate, the non-wire signal generator will send a non-wire signal, and the signal station receives the non-wire signal and generates a boundary signal in response to the non-wire signal. The robotic lawnmower is ready to detect boundary signals based on the transmission of the non-wire signal. When the signal station generates a boundary signal, the automatic mower detects the boundary signal and judges that the automatic mower is positioned in or out of the working area according to the boundary signal. After the signal station stops generating the boundary signal, the robotic lawnmower immediately stops detecting the boundary signal until the next non-wire signal is sent. The robotic lawnmower does not detect the boundary signal during the period when the signal station is not generating the boundary signal. By adopting the method, the influence of the interference signal on the automatic working system, for example, the period that the signal station does not generate the boundary signal, the interference signal in the environment cannot be detected by the automatic mower, so that the misjudgment of the automatic mower cannot be caused.

As shown in fig. 2, (Ta, tb) is a time period in which the signal station generates the boundary signal, and (Tc, td) is a time period in which the robotic lawnmower detects the boundary signal. The time interval during which the signal station generates the boundary signal is determined by the start time Ta and the duration of the signal station generating the boundary, for example, the boundary signal generated by the signal station may include one pulse or may include 2 or more pulses. The time difference between the time the non-wire signal generator transmits the non-wire signal and the time the non-wire signal is received by the signal station is negligible. As shown in fig. 2, there is a time interval between the time when the non-wire signal generator transmits the non-wire signal and the time when the signal station generates the boundary signal, which is referred to as a first time interval, and the time interval may also be referred to as a waiting time of the signal station, that is, the signal station receives the non-wire signal and starts to generate the boundary signal after the first time interval. In this embodiment, the first time interval is a time interval between a transmission time of the non-wire signal and a start time Ta of the signal station generating the boundary signal. As shown in fig. 2, there is a time interval between two adjacent times of sending the non-wire signal by the non-wire signal generator, and the above time interval is referred to as a second time interval.

In this embodiment, the sending time of the non-wire signal and the data of the non-wire signal are controlled by the automatic mower, and specifically, the automatic mower sends a trigger signal to the non-wire signal generator to trigger the non-wire signal generator to send the non-wire signal. The robotic lawnmower transmits data to the non-wire signal generator to set the data of the non-wire signal.

Of course, in other embodiments, the time of transmission of the non-wire signal and the data of the non-wire signal may also be generated by the non-wire signal generator. When the non-wire signal generator sends a non-wire signal, a trigger signal is sent to the automatic mower, and the automatic mower starts timing after receiving the trigger signal. And, the robotic lawnmower can actively or passively read the data of the non-wire signal.

In a first embodiment, the first time interval is determined by the data of the non-wire signal. The data of the non-wire signal includes first time interval data, the signal station reads the first time interval data while receiving the non-wire signal, and generates a boundary signal after the first time interval relative to the transmission time of the non-wire signal. In this embodiment, the first time interval data is a non-fixed value, specifically, the first time interval data is random data generated by the robotic lawnmower.

In this embodiment, the time interval in which the signal station generates the boundary signal is not fixed with respect to the time interval in which the robotic lawnmower detects the boundary signal. As shown in fig. 2, the sections (Ta, tb) are movable within the sections (Tc, td). The time at which the non-wire signal generator sends the non-wire signal is known to the robotic lawnmower, and the data of the non-wire signal is also known to the robotic lawnmower, so that the robotic lawnmower can determine the start time of the signal station to generate the boundary signal, and in the case of the duration of the known boundary signal, can also determine the end time of the signal station to generate the boundary signal. Of course, the robotic lawnmower may also terminate in response to the detected boundary signal and determine the end time of the signal station generating the boundary signal. Accordingly, the automatic mower judges the time interval for detecting the boundary signal, so that the time interval for generating the boundary signal by the signal station falls within the time interval for detecting the boundary signal by the automatic mower. The time interval during which the signal station generates the boundary signal may be non-fixed relative to the time interval during which the robotic mower detects the boundary signal, e.g., the robotic mower may be able to selectively set the start time of detecting the boundary signal earlier than the start time of the signal station generating the boundary signal. Nevertheless, the time for detecting the boundary signal by the robotic lawnmower is set with respect to the time of transmission of the non-wire signal as a time reference. For example, the robot lawnmower determines a time interval between the time of itself detecting the boundary signal and the transmission time of the non-wire signal, called a third time interval, based on the waiting time of the known signal station to generate the boundary signal, and starts detecting the boundary signal after determining that the non-wire signal is transmitted and waiting for the third time interval.

In this embodiment, the time interval between two adjacent transmissions of the non-wire signal by the non-wire signal generator is not fixed, i.e., the second time interval is not fixed. The time interval between the time of transmission of the non-wire signal and the time when the robotic lawnmower last detected the boundary signal is referred to as the fourth time interval, as shown in fig. 2. The second time interval varies with the variation of the fourth time interval, and when the fourth time interval is not fixed, the second time interval is not fixed accordingly. In this embodiment, the fourth time interval is adjusted by the automatic mower according to the working condition of the automatic mower, specifically, after the automatic mower detects the boundary signal, the data of the fourth time interval is calculated, and the time for triggering the non-wire signal generator to send the non-wire signal is judged according to the data of the fourth time interval. In this embodiment, the second time interval/the fourth time interval is controlled to be not greater than a specific value, so as to prevent the robotic mower from walking outside the working area without detecting the boundary signal for a long time.

Whether the first time interval is not fixed, the time interval of the signal station generating the boundary signal is not fixed relative to the time interval of the automatic mower detecting the boundary signal, or the second time interval is not fixed, the influence of the interference signal on the automatic working system can be effectively reduced, and the probability of the interference signal when the automatic mower detects the boundary signal is further reduced.

As shown in fig. 3, in this embodiment, the process of generating and detecting the boundary signal of the automatic working system includes the following steps:

s1: the automatic mower starts working, and generates first time interval data and third time interval data;

s2: the automatic mower transmits first time interval data to the non-wire signal generator;

s3: the automatic mower sends a trigger signal to a non-wire signal generator, and the non-wire signal generator sends a non-wire signal;

s4: the signal station receives the non-wire signal, reads the data of the non-wire signal, acquires the first time interval data, and starts timing at the same time;

s5: the signal station judges that the timing time reaches a first time interval and generates a boundary signal;

s6 (last step S3): starting timing by the automatic mower;

s7: judging that the timing time reaches a third time interval by the automatic mower, and detecting a boundary signal;

s8: calculating data of a fourth time interval by the automatic mower and starting timing;

s9: regenerating the first time interval data and the third time interval data by the automatic mower;

s10: the automatic mower transmits first time interval data to the non-wire signal generator;

S11: the automatic mower judges that the timing time reaches the fourth time interval, and returns to the step S3.

Of course, in other embodiments, the second time interval may be determined directly after the robotic lawnmower detects the boundary signal. The robotic lawnmower begins to time since the last time the non-wire signal was sent, and triggers the non-wire signal generator to send the non-wire signal when the time reaches a second time interval. That is, the timer is continued in step S7, the data of the second time interval is calculated in step S8, and it is determined in step S11 that the timer time reaches the second time interval.

In the first embodiment, the non-wire signal may be a radio signal, or an audio signal, or an optical signal, or the like. Specifically, in this embodiment, the non-wire signal is a radio frequency signal, the non-wire signal generator is a radio frequency signal generator, and the non-wire signal is transmitted/received through a radio frequency channel.

In this embodiment, the automatic working system further includes a non-wire signal receiver disposed on the signal station, and the non-wire signal generator is paired with the non-wire signal receiver, and exclusive non-wire signal transmission is performed between the non-wire signal generator and the non-wire signal receiver. Specifically, a non-wire signal receiver on the signal station identifies the non-wire signal generator and the signal station generates a boundary signal based on the non-wire signal transmitted by the identified non-wire signal generator. Specifically, the non-wire signal sent by the non-wire signal generator includes a verification code, and the non-wire signal receiver identifies the verification code. In this embodiment, the non-wire signal receiver pre-stores the verification code, after the non-wire signal receiver receives the non-wire signal, the verification code of the non-wire signal is compared with the pre-stored verification code, if the verification code of the non-wire signal is matched with the pre-stored verification code, the signal station is enabled to respond to the non-wire signal to generate the boundary signal, if the verification code of the non-wire signal is not matched with the pre-stored verification code, the received non-wire signal is judged to be invalid, and the signal station is enabled not to generate the boundary signal. By adopting the scheme, the signal station can effectively avoid responding to the non-wire signal outside the automatic working system by mistake, so that unnecessary energy consumption is caused. When another same or similar automatic working system exists nearby the automatic working system, because the non-wire signal generators in different automatic working systems correspond to different verification codes, the signal stations in adjacent automatic working systems can be effectively prevented from responding to the non-wire signals by mistake and generating interference signals, and misjudgment of the automatic mower is caused.

It will be appreciated that the automated work system may include more than one non-wire signal generator, each corresponding to a verification code, that the non-wire signals transmitted by different non-wire signal generators include different verification codes, and that the non-wire signals transmitted by the same non-wire signal generator include the same verification code. The signal station pre-stores the verification code corresponding to the valid non-wire signal generator in the automatic working system, so that the signal station can only respond to the non-wire signal sent by the valid non-wire signal generator in the automatic working system.

In another embodiment of the present invention, after the automatic mower transmits the trigger signal to the non-wire signal, if the boundary signal is not detected within a preset time or if the boundary signal is not detected within a time interval in which the automatic walking device detects the boundary signal, the trigger signal is transmitted to the non-wire signal generator again, so that the non-wire signal generator transmits the non-wire signal.

In another embodiment of the present invention, the automatic operation system can switch from an operation mode based on the non-wire signal to an operation mode not based on the non-wire signal to prevent the malfunction of the non-wire signal from causing the operation malfunction of the automatic operation system. Specifically, if the robotic lawnmower fails to detect the boundary signal for a long period of time, the robotic work system is deemed to have failed in the non-wire signal and is switched to a mode of operation that is not based on the non-wire signal. In the working process of the automatic working system, because of the existence of an obstacle in the working environment or other reasons, the transmission or the reception of the non-wire signal may fail, so that no boundary signal is generated, and if the automatic mower cannot detect the boundary signal for a long time, the automatic mower may walk out of the working area, thereby causing accidents. In order to avoid the operation failure of the automatic working system caused by the failure of the non-wire signal, the stability and the reliability of the automatic working system are improved, and the automatic working system is controlled to be switched to the working mode not based on the non-wire signal under the condition that the automatic mower cannot detect the boundary signal for a long time. Specifically, the condition for controlling the automatic working system to switch to the working mode not based on the non-wire signal is that the automatic mower does not detect the boundary signal within the preset time. Specifically, if the time from the last time the automatic mower detected the boundary signal reaches or exceeds the preset time, the automatic mower does not detect the boundary signal, and the automatic working system is controlled to switch to a working mode not based on the non-wire signal. The preset time can be adjusted in real time according to the intensity of the boundary signal detected by the automatic walking equipment last time. The condition for controlling the automatic working system to switch to the working mode not based on the non-wire signal can also be that the signal station does not generate a boundary signal within the preset time; or the automatic mower judges that no non-wire signal is sent within the preset time; or the signal station judges that the non-wire signal is not received within the preset time, namely the signal station judges that the non-wire signal is not transmitted within the preset time; or after the automatic mower judges that the non-wire signal is sent, the boundary signal is not detected within the preset time; alternatively, during a time interval when the robotic lawnmower detects a boundary signal, the robotic lawnmower does not detect a boundary signal, and so on. When the automatic working system is switched to a working mode which is not based on the non-wire signal, the time of generating the boundary signal by the signal station is not related to the non-wire signal any more, and specifically, the signal station continuously generates the boundary signal; the time that the robotic lawnmower detects the boundary signal is no longer associated with the non-wire signal, and in particular, the robotic lawnmower continues to detect the boundary signal.

In another embodiment of the invention, the values of the first time interval, the second/fourth time interval and the third time interval are fixed values that are pre-stored in the robotic lawnmower, or in the non-wire signal generator, or in the signal station.

In another embodiment of the present invention, the values of the first time interval, the second/fourth time interval and the third time interval are a predetermined sequence, for example, the values of the first time interval may be 3ms,5ms and 7ms in sequence. Thus, the above-mentioned time intervals, although not fixed, are still known to be pre-stored in the robotic lawnmower, or in the non-wire signal generator, or in the signal station.

In another embodiment of the present invention, the signal station generates the boundary signal immediately after receiving the non-wire signal, and the robotic lawnmower detects the boundary signal immediately after determining that the non-wire signal is transmitted.

In other embodiments of the invention, the values of the first time interval, the second/fourth time interval and the third time interval may alternatively be random values, or fixed values, or sequential values. Wherein the first time interval or the third time interval may also be selected to be zero.

In another embodiment of the present invention, the time at which the signal station generates the boundary signal and the time at which the robotic lawnmower detects the boundary signal are determined based on the data of the non-wire signal, the data of the non-wire signal generating the boundary signal for the designated signal station, and the data of the time at which the robotic lawnmower detects the boundary signal. Specifically, both the robotic lawnmower and the signal station include a clock unit that determines when to generate the boundary signal, or detect the boundary signal, based on the data of the non-wire signal.

In another embodiment of the invention, the non-wire signal generator comprises two or more domains, transmitting the non-wire signal, one of which comprises the first time interval data, and the other of which comprises the number of pulses generated by the signal station.

It will be appreciated that in other embodiments, the generation of the data for the first time interval may also be done in the signal station, for example when the third time interval is a fixed value. The data for the first time interval, the second/fourth time interval, the third time interval, and the number of pulses may be optionally generated in a non-wire signal generator or in a robotic mower that may communicate with the non-wire signal generator. In addition, the automatic mower can also be in bidirectional communication with the signal station, so that the generation of the data is more flexible.

In another embodiment of the invention, the signal station generates and transmits in the boundary line a boundary signal, and the signal station does not transmit a feedback signal through the radio frequency channel.

In a second embodiment of the present invention, the boundary signal generation and detection of the automated work system is substantially the same as the first embodiment, except that the non-wire signal generator is disposed on the signal station, in communication with the signal station, and the automated mower receives the non-wire signal. In this embodiment, the first time interval data, the second time interval data, and the third time interval data are generated by the non-wire signal generator, wherein the data of the non-wire signal includes the third time interval data. In this embodiment, the first time interval data, the second time interval data, and the third time interval data are all random data, and the data of the third time interval is not greater than the data of the first time interval. The automatic mower receives the non-wire signal, reads the data of the non-wire signal, acquires the data of the third time interval, starts timing at the same time, and detects the boundary signal after judging that the timing time reaches the third time interval. The signal station communicates with the non-wire signal generator, reads the first time interval data, starts timing after judging that the non-wire signal is sent, and generates a boundary signal after judging that the timing time reaches the first time interval. The non-wire signal generator starts timing after sending the non-wire signal, and sends the non-wire signal again after judging that the timing time reaches the second time interval.

In this embodiment, the automatic working system further includes a non-wire signal receiver disposed on the automatic mower, and the non-wire signal generator is paired with the non-wire signal receiver, and exclusive non-wire signal transmission is performed between the non-wire signal generator and the non-wire signal receiver. Specifically, a non-wire signal receiver on the automatic walking equipment pre-stores verification codes. After the non-wire signal receiver receives the non-wire signal, comparing the verification code of the non-wire signal with a pre-stored verification code, if the verification code of the non-wire signal is matched with the pre-stored verification code, enabling the automatic mower to respond to the non-wire signal to detect the boundary signal, and if the verification code of the non-wire signal is not matched with the pre-stored verification code, judging that the received non-wire signal is invalid, and enabling the automatic mower not to detect the boundary signal. When another identical or similar robotic work system is present in the vicinity of the robotic work system, false responses of the robotic mower to non-wired signals in adjacent robotic work systems, resulting in misjudgments of the robotic mower, can be effectively avoided.

In another embodiment of the present invention, the structure of the automatic working system is substantially the same as that of the second embodiment, and the difference is that when the non-wire signal is judged to be faulty, the automatic working system can switch from the working mode based on the non-wire signal to the working mode not based on the non-wire signal, specifically, the switching condition is that the automatic mower does not receive the non-wire signal within the preset time.

In another embodiment of the invention, since the signal station is always preferably arranged on the stop of the automatic working system, the automatic mower can judge the general direction of the signal station according to the direction of the non-wire signal in the process of returning to the stop for charging, so as to adjust the driving direction, and then the automatic mower returns to the stop along the boundary line after encountering the boundary line.

In a third embodiment of the invention, the generation and detection of boundary signals for an automated work system is substantially the same as the first embodiment, except that the non-wire signal generator is disposed external to the robotic lawnmower and the signal station, which receive the non-wire signals. In particular, the non-wire signal generator may be fixed within the working area or outside the working area. The non-wire signal generator generates first time interval data, which may be random data. Wherein the data of the non-wire signal comprises first time interval data. The signal station receives the non-wire signal, reads the data of the non-wire signal and acquires the first time interval data. And the signal station starts timing after receiving the non-wire signal, and generates a boundary signal after judging that the timing time reaches a first time interval. The automatic mower receives the non-wire signal, reads the data of the non-wire signal, acquires the first time interval data and generates the third time interval data. And after the automatic mower receives the non-wire signal, starting timing, and detecting the boundary signal after judging that the timing time reaches a third time interval. The non-wire signal generator also generates second time interval data, which may be random data. And after the non-wire signal generator sends the non-wire signal, starting to count time, and after judging that the counted time reaches the second time interval, sending the non-wire signal again.

Of course, in this embodiment, the non-wire signal generator may also generate the third time interval data, where the non-wire signal includes the first time interval data and the third time interval data, and by setting different identification codes for the first time interval data and the third time interval data, the first time interval data and the third time interval data can be respectively identified by the signal station and the robotic mower.

In this embodiment, the automatic working system further includes a non-wire signal receiver disposed on the automatic mower and the signal station, the non-wire signal generator being paired with the non-wire signal receiver, and exclusive non-wire signal transmission being performed between the non-wire signal generator and the non-wire signal receiver. Specifically, the verification codes are pre-stored in the signal station and the non-wire signal receiver on the automatic mower. After the non-wire signal receiver on the signal station and the automatic mower receives the non-wire signal, the verification code of the non-wire signal is compared with the pre-stored verification code. If the verification code of the non-wire signal is matched with the pre-stored verification code in the non-wire signal receiver on the signal station, the signal station responds to the non-wire signal to generate a boundary signal, and if the verification code of the non-wire signal is not matched with the pre-stored verification code, the received non-wire signal is judged to be invalid. If the verification code of the non-wire signal is matched with the pre-stored verification code in the non-wire signal receiver on the automatic mower, the automatic mower responds to the non-wire signal to detect the boundary signal, and if the verification code of the non-wire signal is not matched with the pre-stored verification code, the received non-wire signal is judged to be invalid.

By adopting the method for generating and detecting the boundary signal in the embodiment of the invention, the automatic working system can effectively avoid being influenced by the interference signal in the working environment, not only can avoid being interfered by the signal in the adjacent automatic working system, but also is suitable for the situation that the boundary lines are overlapped. Large-area lawns require the cooperation of a plurality of robotic lawnmowers that walk and operate in respective boundary systems, creating an overlap area between the boundary lines, as shown in fig. 7. By adopting the traditional boundary signal detection method, the boundary line in the overlapped area can generate serious interference to the work of the automatic working system, and by adopting the boundary signal detection method of the embodiment of the invention, the interference between adjacent boundary systems can be effectively avoided, so that the automatic working system can normally operate.

The invention also provides an automatic working system capable of reducing the power consumption of the boundary signal.

In a fourth embodiment of the invention, the boundary signal generation and detection process of the robotic work system is substantially the same as the first embodiment, except that the strength of the boundary signal generated by the signal station, and the frequency at which the boundary signal is generated by the signal station, are related to the strength of the electromagnetic field detected by the robotic mower. The intensity of the boundary signal generated by the signal station is related to the current level (or voltage level) of the boundary signal, that is, the current level of the boundary signal generated by the signal station is related to the intensity of the electromagnetic field detected by the robotic lawnmower. The frequency at which the signal station generates the boundary signal is related to the time interval at which the signal station generates the boundary signal, that is, the time interval at which the signal station generates the boundary signal is related to the strength of the electromagnetic field detected by the robotic lawnmower. In the case where the intensity of the boundary signal transmitted in the boundary line is constant, the intensity of the electromagnetic field detected by the robot mower is related to the distance from the robot mower to the boundary line, and therefore, in the present embodiment, the intensity of the boundary signal generated by the signal station and the frequency at which the signal station generates the boundary signal are related to the distance from the robot mower to the boundary line.

The following describes the adjustment process of the intensity and frequency of the boundary signal in the present embodiment with reference to fig. 4.

As shown in fig. 4, the work area of the robot lawnmower includes an area a that is farther from the boundary line and an area B that is closer to the boundary line. Since the intensity of the electromagnetic field generated by the boundary signal decreases with the increase of the distance from the boundary line, when the current level of the boundary signal transmitted through the boundary line is constant, the intensity of the electromagnetic field detected by the robot mower in the area a is weak, and the intensity of the electromagnetic field detected by the robot mower in the area B is strong. To limit the robotic lawnmower to walk within the work area, it is necessary to ensure that the robotic lawnmower detects the electromagnetic field of a certain strength generated by the boundary signal. When the working area is large, the intensity of the electromagnetic field detected by the robotic mower in the area a located in the center of the working area is much smaller than the intensity of the electromagnetic field detected in the area B near the boundary line. In case the current level of the boundary signal transmitted in the boundary line is constant, the current level of the boundary signal transmitted in the boundary line must be sufficiently large in order to ensure that the robotic lawnmower can detect an electromagnetic field having a strength that meets the operational requirements of the robotic lawnmower in any position of the operational area, e.g. in area a. However, when the robotic lawnmower is located in a working area that is closer to the boundary line, such as in area B, the intensity of the detected electromagnetic field is much greater than the intensity that meets the operating requirements of the robotic lawnmower, which would result in a waste of energy to generate the boundary signal.

In this embodiment, when the robotic mower is operating in a region farther from the boundary line, for example, in region a, the current level at which the signal station generates the boundary signal is made higher, so that the intensity of the electromagnetic field generated by the boundary signal transmitted in the boundary line is made stronger, and the robotic mower can detect the electromagnetic field having the intensity that meets the operation requirement of the robotic mower in the region farther from the boundary line. When the robot lawnmower is operated in a region closer to the boundary line, for example in region B, the current level at which the signal station generates the boundary signal is made lower, and the strength of the electromagnetic field generated by the boundary signal is sufficiently high to meet the operating requirements of the robot lawnmower in the region closer to the boundary line, despite the lower current level of the boundary signal, while the power consumption of the boundary signal is greatly reduced.

In this embodiment, the data of the non-wire signal includes distance data of the robotic lawnmower to the boundary line. The automatic mower detects an electromagnetic field generated by a boundary signal, judges the distance from the automatic mower to the boundary line according to the intensity of the detected electromagnetic field, and transmits the distance data to the non-wire signal generator, and the non-wire signal generator transmits a non-wire signal so that the non-wire signal comprises the distance data. The signal station receives the non-wire signal, reads the data of the non-wire signal and acquires the distance data from the automatic mower to the boundary line. The signal station judges the current level of the boundary signal to be generated according to the distance data from the automatic mower to the boundary line. If the distance data from the automatic mower to the boundary line reflects a larger distance from the automatic mower to the boundary line, the signal station generates a boundary signal with higher current level; if the distance data of the robot mower to the borderline reflects a smaller distance of the robot mower to the borderline, the signal station generates a borderline signal with a lower current level. In this embodiment, the information pre-stored in the automatic working system includes: and the mapping relation between the distance from the automatic mower to the boundary line and the target value of the current level of the boundary signal. Specifically, the mapping relation is stored in both the automatic mower and the signal station. The signal station determines a target value of the current level for generating the boundary signal according to the obtained distance data from the automatic mower to the boundary line by utilizing the mapping relation. The signal station generates the boundary signal such that the current level of the boundary signal corresponds to the target value. Meanwhile, the distance from the automatic mower to the boundary line is known, and the target value of the current level of the boundary signal generated by the signal station can be known by utilizing the mapping relation. When the signal station generates a boundary signal, and the robotic mower detects the boundary signal again, the distance data from itself to the boundary line at the time of the detection is obtained by the known target value of the current level of the boundary signal generated by the signal station and the intensity of the electromagnetic field detected in the detection. By adopting the method, the automatic mower can repeat the process just by knowing the current level of the boundary signal generated by the signal station for the first time, and the current level of the boundary signal generated by the signal station is regulated in the working process of the automatic working system. The value of the current level at which the signal station first generates the boundary signal may be preset. In this embodiment, the current level of the boundary signal generated by the signal station is adjusted in real time, and by adopting the method, the distance between the robotic mower and the boundary line can be calculated by using the current level of the boundary signal adjusted in real time.

In this embodiment, the robotic lawnmower communicates with the signal station via a non-wire signal using RSSI (radio signal strength indication), and the signal station adjusts the strength of the generated boundary signal based on the RSSI value.

When the robotic lawnmower is located in a working area further from the boundary line, for example in area a, the robotic lawnmower, after detecting the boundary signal, takes a longer time to travel to the boundary line from the robotic lawnmower, regardless of the travel strategy adopted, and therefore, the robotic lawnmower does not need to frequently detect the boundary signal to ensure itself is located in the working area. In this embodiment, when the robotic mower is located in a working area farther from the boundary line, the frequency of generating the boundary signal by the signal station is made lower to reduce the power consumption of generating the boundary signal. When the robot lawnmower is located in a work area closer to the boundary line, for example in work area B, the robot lawnmower runs the risk of exiting the work area, and therefore the robot lawnmower needs to detect the boundary signal more frequently to prevent itself from exiting the work area. In this embodiment, when the robotic lawnmower is located in a work area closer to the boundary line, such as in area B, the frequency at which the signal station generates the boundary signal is made higher to define that the robotic lawnmower walks and works within the work area.

In the embodiment, the automatic mower judges the distance from the automatic mower to the boundary line according to the intensity of the detected electromagnetic field; and judging the time interval of the signal station for generating the boundary signal according to the distance from the signal station to the boundary line, namely, judging the time interval between the time of the signal station for generating the boundary signal next time and the time of the signal station for generating the boundary signal this time. It will be appreciated that the greater the time interval in which the signal station generates the boundary signal, the lower the frequency at which the signal station generates the boundary signal is represented; the smaller the interval of time that the signal station generates the boundary signal, the higher the frequency that the signal station generates the boundary signal. In this embodiment, the automatic mower determines the maximum time interval for the signal station to generate the boundary signal according to the distance from the automatic mower to the boundary line. The maximum time interval may be estimated based on travel parameters, path characteristics, etc. of the robotic lawnmower. Since the signal station always generates the boundary signal in response to the non-wire signal and the time interval between the time at which the signal station generates the boundary signal and the transmission time of the non-wire signal is known to the robotic lawnmower, in this embodiment, the robotic lawnmower controls the time interval at which the signal station generates the boundary signal by controlling the time interval at which the non-wire signal generator transmits the non-wire signal and makes the time interval at which the non-wire signal generator transmits the non-wire signal no greater than the maximum time interval described above. In this embodiment, the greater the distance from the automatic mower to the boundary line, the greater the time interval for controlling the non-wire signal generator to transmit the non-wire signal; the smaller the distance from the automatic mower to the boundary line is judged, the smaller the time interval for controlling the non-wire signal generator to send the non-wire signal is.

Of course, the robotic lawnmower may also control the time interval at which the signal station generates the boundary signal by controlling the time interval between the time the non-wire signal generator next sends the non-wire signal and the time the robotic lawnmower currently detects the boundary signal. In this embodiment, the time interval between the time when the non-wire signal generator transmits the non-wire signal and the time when the signal station generates the boundary signal, i.e., the first time interval, is much smaller than the time interval when the signal station generates the boundary signal twice. Similarly, the first time interval is also much smaller than the time interval between two adjacent transmissions of the non-conductor signal by the non-conductor signal generator. In this embodiment, the first time interval may be 3ms, 5ms, 7ms, etc.

In this embodiment, there is a time interval between two adjacent times of generating the boundary signal by the signal station, and the current level of the boundary signal generated by the signal station is related to the distance from the robot mower to the boundary line when the signal station last generated the boundary signal. In this embodiment, the time interval at which the signal station generates the boundary signal twice adjacent to each other is controlled within a reasonable range, so that, although the time interval at which the signal station generates the boundary signal is large when the robotic lawnmower is in an area far from the boundary line, the displacement of the robotic lawnmower within the above time interval is small with respect to the distance of the robotic lawnmower from the boundary line. Thus, despite the fact that the distance of the robotic lawnmower from the boundary line varies during the above-mentioned time interval, the current level of the boundary signal generated by the signal station is still suitable for the robotic lawnmower's requirement to detect the boundary signal.

In the present embodiment, the distance data of the robotic lawnmower to the boundary line is obtained using RSSI (radio signal strength indication).

In other embodiments, the distance range of the plurality of robotic lawnmowers to the boundary line may be set such that the signal station generates the current level of the boundary signal and takes on a respective specific value for the time interval when the robotic lawnmower to boundary line distance is within the respective range.

Fig. 5 is a graph comparing boundary signals when the robotic lawnmower of the present embodiment is located in area a and area B.

Fig. 6 is a flowchart of the generation and detection of boundary signals of the automatic working system according to the present embodiment. In this embodiment, the adjustment process of the boundary signal of the automatic working system is as follows:

s0, the automatic mower sends a trigger signal to the non-wire signal generator and starts timing at the same time; the non-wire signal generator transmits a non-wire signal; the signal station receives the non-wire signal and judges the target value of the current level of the boundary signal to be generated;

s1: signal station generates a current level of I _x Boundary signal (I) _x A value that is not fixed);

s2: detecting an electromagnetic field generated by the boundary signal by the automatic mower, judging the distance from the automatic mower to the boundary line according to the intensity of the detected electromagnetic field, and sending a non-wire signal by the non-wire signal generator at intervals;

S3: the automatic mower transmits distance data from the automatic mower to the boundary line to the non-wire signal generator;

s4: the automatic mower judges that the timing time reaches the time interval, sends a trigger signal to the non-wire signal generator, and restarts timing;

s5: the non-wire signal generator sends a non-wire signal, and the data of the non-wire signal comprises the distance data;

s6: the signal station receives the non-wire signal, reads the data of the non-wire signal, acquires the distance data, judges the target value of the current level of the generated boundary signal according to the distance data, and returns to S1.

By adopting the method to adjust the current level and the frequency of the boundary signal generated by the signal station, the power consumption of the boundary signal is greatly reduced. According to the technical scheme, the problem of boundary signal attenuation in a large-area working area is solved, the electromagnetic field meeting the working requirement can be detected in the central area of the large-area working area by the automatic mower, and meanwhile, the current level of the boundary signal is reduced when the automatic mower operates to an area close to the boundary line, so that the power consumption level of the boundary signal is controlled.

It will be appreciated that in other embodiments, the determination of the distance of the robotic lawnmower to the boundary line based on the strength of the electromagnetic field detected by the robotic lawnmower may be accomplished in the robotic lawnmower, in the signal station, or even in the non-wired signal generator. Likewise, the process of determining the time interval in which the signal station generates the boundary signal, or the process of determining the time interval in which the non-wire signal generator transmits the non-wire signal, and the process of determining the current level in which the signal station generates the boundary signal, based on the distance from the robotic mower to the boundary line, may be performed in the robotic mower, may be performed in the signal station, or may even be performed in the non-wire signal generator. The current level and frequency of the generated boundary signal can be adjusted by allowing the signal station to know the approximate distance from the robot to the boundary line by allowing the robot mower to communicate with the signal station. The data included in the non-wire signal transmitted from the robot lawnmower to the signal station by the non-wire signal generator may be intensity data of an electromagnetic field detected by the robot lawnmower, distance data from the robot lawnmower to a boundary line, or target value data of a current level of a boundary signal to be generated by the signal station.

In other embodiments of the present invention, the method of adjusting the current level and frequency of the boundary signal generated by the signal station is not necessary, and the non-wire signal generator may be used as long as the robotic mower can communicate with the signal station, and the communication manner between the robotic mower and the signal station may be a wireless signal, an audio signal, an optical signal, or other non-wire signal, or may be a wired connection manner.

In another embodiment of the present invention, the time of the signal station generating the boundary signal is independent of the non-wire signal, the time of the robotic mower detecting the boundary signal is also independent of the non-wire signal, the distance signal from the robotic mower to the boundary line or the strength signal of the detected electromagnetic field is sent to the signal station in a non-wire signal mode immediately or after a delay time after the robotic mower detects the boundary signal, the signal station receives the non-wire signal, reads the data of the non-wire signal, judges the time interval for generating the boundary signal according to the data of the non-wire signal, and generates the boundary signal when the time limited by the time interval arrives. That is, the judgment of the time interval in which the signal station generates the boundary signal may be done in the signal station. In this embodiment, the robotic lawnmower may be always in a state of detecting the boundary signal. Of course, in other embodiments, the determination of the time interval in which the signal station generates the boundary signal may be accomplished in a non-wire signal generator.

In another embodiment of the invention, the signal station continuously generates the boundary signal. The automatic mower feeds back the distance signal from the automatic mower to the boundary line or the strength signal of the detected electromagnetic field to the signal station in a non-wire signal mode, and the signal station adjusts the current level of the boundary signal in real time according to the received data of the non-wire signal.

In another embodiment of the invention, the current level at which the signal station generates the boundary signal is directly related to the strength of the electromagnetic field detected by the robotic lawnmower without calculating the distance of the robotic lawnmower from the boundary line. Setting a target value of the detected electromagnetic field intensity of the robotic mower, and adjusting the current level of the boundary signal according to the intensity of the actual electromagnetic field detected by the robotic mower. Reducing the current level of the boundary signal when the intensity of the electromagnetic field detected by the automatic mower is greater than a target value; when the intensity of the electromagnetic field detected by the robotic lawnmower is less than the target value, the current level of the boundary signal is increased.

In another embodiment of the invention, the time interval at which the signal station generates the boundary signal is directly related to the strength of the electromagnetic field detected by the robotic lawnmower without calculating the distance of the robotic lawnmower from the boundary line. The intensity of the electromagnetic field detected by the robotic mower reflects the distance of the robotic mower from the boundary line, and the time interval at which the signal station generates the boundary signal can be adjusted directly by the intensity of the electromagnetic field detected by the robotic mower. Specifically, in this embodiment, the signal station does not adjust the current level of the generated boundary signal, and increases the interval of time during which the signal station generates the boundary signal when the intensity of the electromagnetic field detected by the robotic mower decreases, and decreases the interval of time during which the signal station generates the boundary signal when the intensity of the electromagnetic field detected by the robotic mower increases. Alternatively, the relation between the intensity of the electromagnetic field detected by the automatic mower and the time interval of the boundary signal generated by the signal station can be pre-stored in the automatic working system, so that the time interval of the boundary signal generated by the signal station can be adjusted.

The above solutions may be combined arbitrarily, for example, the current level of the boundary signal or whether the time interval at which the boundary signal is generated is adjusted, and the method of adjustment may be selected.

The invention is not limited to the specific embodiments illustrated, but structures and methods based on the inventive concept fall within the scope of the invention.

Claims

1. An automatic working system comprises a signal station, a boundary line and automatic walking equipment;

the signal station generates a boundary signal;

the boundary line transmits the boundary signal and generates an electromagnetic field;

the automatic walking equipment detects the electromagnetic field, walks and works in a working area limited by the boundary line; it is characterized in that the method comprises the steps of,

the time interval of the signal station generating a boundary signal is related to the intensity of the electromagnetic field detected by the automatic walking equipment; the automatic walking equipment sends a strength signal of an electromagnetic field detected by the automatic walking equipment to the signal station, and the signal station adjusts the time interval for generating a boundary signal according to the strength signal of the electromagnetic field; wherein, the intensity of the electromagnetic field detected by the automatic walking equipment is reduced, and the time interval of the signal station for generating the boundary signal is increased; the intensity of the electromagnetic field detected by the autonomous traveling device increases and the time interval at which the signal station generates the boundary signal decreases.

2. The automated work system of claim 1, wherein the automated walking device communicates with the signal station to adjust a time interval at which the signal station generates the boundary signal.

3. The automatic working system according to claim 1, wherein the signal station judges the distance of the automatic walking device to the boundary line based on the intensity signal of the electromagnetic field, and adjusts the time interval for generating the boundary signal based on the distance of the automatic walking device to the boundary line.

4. An automatic working system according to claim 3, wherein the signal station calculates a maximum time interval for generating the boundary signal based on the distance of the automatic walking device from the boundary line, and generates the boundary signal such that the time interval for generating the boundary signal is not greater than the maximum time interval.

5. The automatic working system according to claim 1, wherein the automatic walking device judges its distance from the boundary line based on the intensity of the detected electromagnetic field.

6. The automatic working system according to claim 5, wherein the automatic walking device transmits a distance signal from itself to the boundary line to the signal station, and the signal station adjusts a time interval for generating the boundary signal according to the distance signal.

7. The automatic working system according to claim 3 or 5, wherein the distance from the automatic walking device to the boundary line is reduced, and the time interval at which the signal station generates the boundary signal is reduced; the distance of the robot from the boundary line increases and the time interval at which the signal station generates the boundary signal increases.

8. The automated work system of claim 1, wherein the automated walking device comprises a non-wire signal generator that transmits a non-wire signal and the signal station receives the non-wire signal to generate the boundary signal.

9. The automated work system of claim 8, wherein the automated walking device adjusts the time interval for transmitting the non-wire signal based on the strength of the detected electromagnetic field.

10. The automatic working system according to claim 9, wherein the automatic walking device judges a distance from itself to the boundary line based on the intensity of the detected electromagnetic field, and adjusts a time interval for transmitting the non-wire signal based on the distance from itself to the boundary line.

11. The automated work system of claim 9, wherein the automated walking device calculates a maximum time interval for transmitting the non-wire signal based on the strength of the detected electromagnetic field and transmits the non-wire signal such that the time interval for transmitting the non-wire signal is not greater than the maximum time interval.

12. The automated work system of claim 1, wherein the automated walking device calculates a maximum time interval for the signal station to generate the boundary signal based on the strength of the detected electromagnetic field and transmits the maximum time interval signal to the signal station, the signal station receives the maximum time interval signal and generates the boundary signal such that the time interval for generating the boundary signal is no greater than the maximum time interval.

13. A control method of an automatic working system, the automatic working system comprising a signal station, a boundary line, and an automatic walking device; the control method of the automatic working system is characterized by comprising the following steps:

the signal station generates a boundary signal;

the automatic walking equipment detects the electromagnetic field, walks and works in a working area limited by the boundary line;

14. The method of claim 13, wherein the automated walking device communicates with the signal station to adjust a time interval at which the signal station generates the boundary signal.

15. The control method of an automatic working system according to claim 13, wherein the signal station judges the distance of the automatic traveling device to the boundary line based on the intensity signal of the electromagnetic field, and adjusts the time interval for generating the boundary signal based on the distance of the automatic traveling device to the boundary line.

16. The control method of an automatic working system according to claim 15, wherein the signal station calculates a maximum time interval for generating the boundary signal based on a distance from the automatic walking device to the boundary line, and generates the boundary signal such that the time interval for generating the boundary signal is not greater than the maximum time interval.

17. The control method of an automatic working system according to claim 13, wherein the automatic traveling device judges its distance from the boundary line based on the intensity of the detected electromagnetic field.

18. The control method of an automatic working system according to claim 17, wherein the automatic walking device transmits a distance signal from itself to the boundary line to the signal station, and the signal station adjusts a time interval for generating the boundary signal according to the distance signal.

19. The control method of an automatic working system according to claim 15 or 17, wherein the distance from the automatic walking device to the boundary line is reduced, and the time interval at which the signal station generates the boundary signal is reduced; the distance of the robot from the boundary line increases and the time interval at which the signal station generates the boundary signal increases.

20. The method of claim 13, wherein the autonomous traveling device includes a non-conductive signal generator that transmits a non-conductive signal, and wherein the signal station receives the non-conductive signal and generates the boundary signal.

21. The control method of an automatic working system according to claim 20, wherein the automatic walking device adjusts a time interval for transmitting the non-wire signal according to the intensity of the detected electromagnetic field.

22. The control method of an automatic working system according to claim 20, wherein the automatic traveling device judges a distance from itself to the boundary line based on the intensity of the detected electromagnetic field, and adjusts a time interval for transmitting the non-wire signal based on the distance from itself to the boundary line.

23. The control method of an automatic working system according to claim 20, wherein the automatic walking device calculates a maximum time interval for transmitting the non-wire signal based on the intensity of the detected electromagnetic field, and transmits the non-wire signal such that the time interval for transmitting the non-wire signal is not greater than the maximum time interval.

24. The control method of an automatic operation system according to claim 13, wherein the automatic traveling device calculates a maximum time interval at which the signal station generates the boundary signal based on the intensity of the detected electromagnetic field, and transmits the maximum time interval signal to the signal station, and the signal station receives the maximum time interval signal and generates the boundary signal such that the time interval at which the boundary signal is generated is not greater than the maximum time interval.