CN111352429A

CN111352429A - Automatic working system and control method thereof

Info

Publication number: CN111352429A
Application number: CN202010360724.2A
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: 2020-06-30
Also published as: CN111352428A; CN107305391B; CN111352428B; CN107305391A; WO2017181995A1

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 a boundary signal 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, and adjusts the current level of the boundary signal according to the distance from the automatic walking equipment to the boundary line. The invention has the beneficial effects that: 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.

Description

Automatic working system and control method thereof

Technical Field

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

Background

With the development of scientific technology, intelligent automatic walking equipment is well known, and because the automatic walking equipment can automatically execute preset related tasks by a preset program without manual operation and intervention, the intelligent automatic walking equipment is widely applied to industrial application and household products. The intelligent automatic walking equipment greatly saves time of people and brings great convenience to industrial production and home life.

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

The automatic walking equipment detects boundary line signals in work, and simultaneously can detect interference signals, the interference signals can be from radiation signals sent by other equipment nearby the automatic working system, and can also be from boundary line signals sent by other nearby automatic working systems, and especially when the automatic working systems produced by the same manufacturer exist nearby, interference is easily caused to the walking of the automatic walking equipment due to the similar forms of the boundary line signals, so that misjudgment of the automatic walking equipment is caused.

The signal generating device continuously generates the electric signals, a large amount of electric energy is consumed, when the working area of the automatic walking equipment is large, the boundary signals are attenuated in the center of the working area, and in order to ensure that the automatic walking equipment can detect the boundary signals in the working area, the signal generating device needs to generate the high-strength electric signals, so that the electric energy consumption is overlarge.

Disclosure of Invention

The technical problem solved by the invention is as follows: an automatic operation system capable of effectively avoiding the influence of an interference signal on a boundary 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 generates and transmits 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-guide signal generator which sends a non-wire-guide signal; the time interval of the signal station for generating the boundary signal and the time interval of the automatic walking device for detecting the boundary signal are associated with the non-conducting wire signal, so that the time interval of the signal station for generating the boundary signal is within the time interval of the automatic walking device for detecting the boundary signal.

Preferably, the signal station determines the time interval for generating the boundary signal, with reference to the time when the non-conductive signal generator transmits the non-conductive signal.

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

Preferably, the data of the non-conductive signal includes first interval time data.

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

Preferably, the automatic traveling apparatus determines a time interval for detecting the boundary signal, with a time when the non-conductive signal generator transmits the non-conductive signal as a time reference.

Preferably, the automatic traveling apparatus determines a time interval for detecting the boundary signal based on data of the non-conductive signal.

Preferably, the time interval during which the signal station generates the boundary signal is not fixed with respect to the time interval during which the autonomous traveling apparatus detects the boundary signal.

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

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

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

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

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

The invention has the beneficial effects that: 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 boundary signal is correspondingly detected by the automatic walking equipment, so that the automatic working system can effectively avoid the influence of interference signals in a working environment.

The invention solves another technical problem that: a method for controlling an automatic operation system is provided, which can effectively avoid the influence of an interference signal on a boundary signal.

a method of controlling an automatic working system, the automatic working system comprising a signal station, a boundary line, an automatic traveling apparatus and a non-guide signal generator; the method for controlling the automatic working system includes the steps of: the signal station generates and transmits 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 so that a time interval during which the signal station generates the boundary signal and a time interval during which the automatic traveling apparatus detects the boundary signal are associated with the non-wire signal, and the time interval during which the signal station generates the boundary signal is within the time interval during which the automatic traveling apparatus detects the boundary signal.

The invention has the beneficial effects that: 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 boundary signal is correspondingly detected by the automatic mower, so that the automatic working system can effectively avoid being influenced by interference signals in a working environment.

The invention solves another technical problem that: an automatic operation system capable of further avoiding the 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 generates and transmits 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-guide signal generator which sends a non-wire-guide signal; the time when the signal station generates the boundary signal and the time when the automatic walking equipment detects the boundary signal are associated with the non-conductor signal; the automatic working system also comprises a non-conductive signal receiver for receiving non-conductive signals; the non-conductive signal receiver is paired with the non-conductive signal generator.

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

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

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

The invention has the beneficial effects that: the non-conductive signal generator is paired with the non-conductive signal receiver, so that signal stations in different automatic working systems and the automatic mower avoid mutual interference.

The invention solves another technical problem that: a method of controlling an automatic operation system is provided which can further avoid the influence of an interference signal on a boundary line signal.

a method of controlling an automatic working system, the automatic working system comprising a signal station, a boundary line, an automatic traveling apparatus, a non-conductive signal generator, and a non-conductive signal receiver; the method for controlling the automatic working system includes the steps of: the signal station generates and transmits 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 and the non-wire signal receiver are in exclusive non-wire signal transmission, so that a time interval of the signal station generating the boundary signal and a time interval of the automatic walking equipment detecting the boundary signal are related to the non-wire signal.

The invention solves another technical problem that: provided is an automatic work system which can effectively avoid the influence of an interference signal on a boundary signal and can ensure stable work.

an automatic working system comprises a signal station, a boundary line and automatic walking equipment; the signal station generates and transmits 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-guide signal generator which sends a non-wire-guide signal; the automatic working system can selectively work in a first working mode or a second working mode; in a first working mode, the time of generating the boundary signal by the signal station and the time of detecting the boundary signal by the automatic walking equipment are associated with the non-conducting wire signal; and in the second working mode, the time of generating the boundary signal by the signal station and the time of detecting the boundary signal by the automatic walking equipment are not related to the non-conducting wire signal.

Preferably, when the automatic working system works in the first working mode, if the work 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 transmission or reception of the non-conductive 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 equipment or the signal station judges that no non-conducting wire signal is sent within the preset time.

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

Preferably, when the automatic operating system operates in the first operating mode, the automatic traveling device does not detect the boundary signal within a time interval during which the boundary signal is detected, and the automatic operating system is switched from the first operating mode to the second operating mode.

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

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

Preferably, the non-conductive signal generator is disposed outside the automatic walking device and the signal station, and the automatic walking device and the signal station receive the non-conductive signal in the first operation mode.

The invention has the beneficial effects that: 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 of generating the boundary signal by the signal station and the time of detecting the boundary signal by the automatic mower are related to the non-conducting 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; and when the non-conducting signal is judged to be unreliable, the automatic working system is switched to a second working mode, and the time for generating the boundary signal and the time for detecting the boundary signal by the automatic mower are not related to the non-conducting signal, so that the automatic working system can work stably.

The invention solves another technical problem that: 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 automatic work system, the automatic work system comprising: a signal station generating a boundary signal; the boundary line is electrically connected with the signal station and transmits a boundary signal; the automatic walking device detects the boundary signal, walks and works in a working area limited by the boundary line; a non-conductive signal generator for transmitting a non-conductive signal; the method for controlling the automatic working system includes the steps of: enabling the automatic working system to work in a first working mode, and enabling the time of the signal station generating the boundary signal and the time of the automatic walking equipment detecting the boundary signal to be related to the non-conductor signal; and when the non-conducting wire signal is judged to be 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-conducting wire signal.

Preferably, when it is determined that the transmission or reception of the non-wire signal is unreliable, the automatic operating system is switched from the first operating mode to the second operating mode.

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

Preferably, if the signal station does not generate the boundary signal within the preset time, the non-conductor signal is determined to be unreliable.

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

Preferably, in the first operating mode, the automatic walking device is configured to receive a non-conducting signal, and if the automatic walking device does not receive the non-conducting signal within a preset time, it is determined that the non-conducting signal is unreliable.

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

Preferably, if the automatic walking device does not detect the boundary signal within the time interval of detecting the boundary signal, it is determined that the non-wire signal is unreliable.

The invention solves another technical problem that: provided is an automatic operation system capable of reducing power consumption of a boundary signal.

an automatic working system comprises a signal station, a boundary line and automatic walking equipment; the signal station generating 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; and the automatic walking equipment adjusts the current level of the boundary signal according to the distance from the automatic walking equipment to the boundary line.

Preferably, when the automatic walking device judges that the distance from the automatic walking device to the boundary line is reduced, the current level of the boundary signal is reduced; and 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 self-propelled device communicates with the signaling station to adjust the current level of the boundary signal.

Preferably, the autonomous traveling apparatus transmits a distance signal from itself to the boundary line to the signal station.

Preferably, the automatic traveling apparatus determines a distance from itself to the boundary line based on the intensity of the detected electromagnetic field.

Preferably, the automatic work system stores a mapping relationship between a distance from 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 sends a distance signal from the automatic walking device 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 traveling device determines a target value of the current level of the boundary signal according to the distance from the automatic traveling device to the boundary line and the mapping relationship, and transmits the target value to the signal station.

Preferably, the automatic traveling apparatus transmits the intensity signal of the detected electromagnetic field to the signal station, and the signal station determines the distance from the automatic traveling apparatus to the boundary line based on the intensity signal of the electromagnetic field detected by the automatic traveling apparatus.

The invention has the beneficial effects that: 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.

The invention solves another technical problem that: a method of controlling an automatic operating system capable of reducing power consumption of a boundary signal is provided.

a control method of an automatic working system comprises a signal station, a boundary line and automatic walking equipment; the control method of the automatic working system comprises the following steps: the signal station generating 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; and the automatic walking equipment adjusts the current level of the boundary signal according to the distance from the automatic walking equipment to the boundary line.

an automatic working system comprises a signal station, a boundary line and automatic walking equipment; the signal station generating 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; a time interval during which the signal station generates a boundary signal is correlated with the strength of the electromagnetic field detected by the autonomous walking 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 walking device increases and the time interval during which the signal station generates the boundary signal decreases.

Preferably, the autonomous walking device communicates with the beacon to adjust the time interval during which the beacon generates the boundary signal.

Preferably, the automatic walking device sends the intensity signal of the electromagnetic field detected by the automatic walking device to the signal station, and the signal station adjusts the time interval for generating the boundary signal according to the intensity signal of the electromagnetic field.

Preferably, the signal station judges the distance from the automatic walking device 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 device to the boundary line.

Preferably, the signal station calculates a maximum time interval for generating the boundary signal according to a distance from the automatic traveling apparatus 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 automatic walking device sends a distance signal from the automatic walking device 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 generating the boundary signal by the signal station is reduced; the distance from the automatic traveling apparatus to 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-conductive signal generator for transmitting a non-conductive signal, and the signal station receives the non-conductive signal and generates the boundary signal.

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

Preferably, the automatic traveling apparatus determines a distance from itself to the boundary line according to the intensity of the detected electromagnetic field, and adjusts a 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-conductive signal according to the intensity of the detected electromagnetic field, and transmits the non-conductive signal such that the time interval for transmitting the non-conductive signal is not greater than the maximum time interval.

Preferably, the automatic walking device calculates a maximum time interval for the signal station to generate the boundary signal 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 for generating the boundary signal is not greater than the maximum time interval.

The invention has the beneficial effects that: and adjusting the frequency of the boundary signal generated by the signal station according to the intensity of the electromagnetic field of the boundary signal detected by the automatic walking equipment or the distance from the automatic walking equipment to the boundary line, thereby realizing the reduction of the power consumption of the boundary signal.

a control method of an automatic working system comprises a signal station, a boundary line and automatic walking equipment; the control method of the automatic working system comprises the following steps: the signal station generating 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; a time interval during which the signal station generates a boundary signal is correlated with the strength of the electromagnetic field detected by the autonomous walking device.

Drawings

The technical problems, technical solutions, and advantages of the present invention described above will be clearly understood from the following detailed description of preferred embodiments of the present invention, which is to be read in connection with the accompanying drawings.

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

FIG. 2 is a schematic diagram of a boundary signal generation and detection process of the automatic work system of FIG. 1;

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

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

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

FIG. 6 is a diagram of the process steps for adjusting the boundary signals of the automatic operating system shown in FIG. 4;

fig. 7 is a schematic view of the 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-conducting signal generator

Detailed Description

Fig. 1 is a schematic view of an automatic working system of a first embodiment of the present invention. The automatic working system 1 includes a signal station 3, a boundary line 5, and an automatic traveling apparatus. 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 automatic walking device into a working area and an area outside 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 whether the automatic walking equipment is located in a working area or outside the working area according to the detected electromagnetic fields.

In this embodiment, the automatic traveling device is an automatic mower 7, and performs mowing work. In other embodiments, the automatic walking device can also be an automatic dust collector, an automatic spraying device and other devices suitable for unattended operation. When the automatic walking equipment is the automatic mower 7, the automatic walking equipment comprises a walking module, a cutting module, a detection module, an energy module, a control module and the like. The walking module drives the automatic mower 7 to walk and turn in a working area, the cutting module executes mowing work, the energy module provides energy for the automatic mower 7, the detection module detects boundary signals, and the control module is electrically connected with other modules and controls the automatic mower 7 to walk and work according to a preset program. The control module can comprise a timer, and the timer is used for temporarily starting timing when the trigger signal reaches the preset time and generating an indication signal when the timing reaches the 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. In this embodiment, the boundary signal generated by the signal station 3 is a pulse-shaped signal, and the automatic traveling device detects a rising edge and a falling edge of the boundary signal and determines that the automatic traveling device is located in the working area or outside the working area. In other embodiments, the boundary signal may also be sinusoidal, sawtooth, etc. The control module of the signal station 3 may include a timer, and generate the indication signal when the trigger signal temporarily starts timing and the timing reaches a preset time.

In this embodiment, the automatic working system 1 further includes a non-conductive signal generator 9 that transmits a non-conductive signal. The non-conducting signal generator 9 is arranged on the automatic mower 7 and is communicated with the automatic mower 7. Specifically, the non-conductive signal generator 9 is electrically connected to the robotic lawnmower 7, and the robotic lawnmower 7 is capable of reading the transmission time of the non-conductive signal and the data of the non-conductive signal. The transmission time of the non-conducting signal, including the time interval, and the data of the non-conducting signal, etc. may be pre-stored in the non-conducting signal generator 9, may be randomly generated by the non-conducting signal generator 9 during operation, or may be pre-stored or generated by the robotic lawnmower 7 and transmitted to the non-conducting signal generator 9. The signal station 3 receives the non-conductor signal, and determines the time at which the boundary signal is generated, the current level of the boundary signal, and the like from the time at which the non-conductor signal is received, the data of the non-conductor signal, and the like.

In this embodiment, the automatic walking device operates in an operating mode based on the non-conductive signal, the time when the signal station generates the boundary signal is associated with the non-conductive signal, the time when the automatic walking device detects the boundary signal is associated with the non-conductive 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 the boundary signal of the automatic operation system is described below with reference to fig. 2.

After the automatic mower starts working, the non-conductive signal generator sends a non-conductive signal, and the signal station receives the non-conductive signal and generates a boundary signal in response to the non-conductive signal. The automatic mower prepares for detecting the boundary signal according to the transmission of the non-conducting signal. When the signal station generates the boundary signal, the automatic mower detects the boundary signal and judges whether the automatic mower is located in the working area or outside the working area according to the boundary signal. After the signal station stops generating the boundary signal, the automatic mower immediately stops detecting the boundary signal until the next non-conducting signal is sent. During the period when the signal station does not generate the boundary signal, the robotic lawnmower does not detect the boundary signal. By adopting the method, the influence of the interference signal on the automatic working system can be effectively avoided, for example, the interference signal in the environment cannot be detected by the automatic mower during the period that the signal station does not generate the boundary signal, so that the misjudgment of the automatic mower cannot be caused.

As shown in fig. 2, (Ta, Tb) is a time interval during which the signal station generates the boundary signal, and (Tc, Td) is a time interval during which the automatic lawnmower detects the boundary signal. The time interval during which the signal station generates the boundary signal is determined by the starting 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-conductive signal generator transmits the non-conductive signal and the time the signal station receives the non-conductive signal is negligible. As shown in fig. 2, there is a time interval between the time when the non-conductive signal generator transmits the non-conductive 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-conductive 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 the transmission time of the non-wire signal and the 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 transmitting the non-conducting signal by the non-conducting signal generator, and the time interval is referred to as a second time interval.

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

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

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

In this embodiment, the time interval during which the signal station generates the boundary signal is not fixed relative to the time interval during 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 when the non-conductive signal generator sends the non-conductive signal is known by the robotic lawnmower, and the data of the non-conductive signal is also known by the robotic lawnmower, so the robotic lawnmower can determine the start time when the signal station generates the boundary signal, and when the duration of the boundary signal is known, can also determine the end time when the signal station generates the boundary signal. Of course, the robotic lawnmower may also determine the end time at which the signal station generates the boundary signal based on the detected termination of 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 not be fixed relative to the time interval during which the robotic lawnmower detects the boundary signal, e.g., the robotic lawnmower can selectively set the start time for detecting the boundary signal to be earlier than the start time for the signal station to generate the boundary signal. However, the timing at which the boundary signal is detected by the lawnmower is set based on the transmission timing of the non-conductive signal. For example, the robotic lawnmower determines, based on the latency of the known signal station to generate the boundary signal, the time interval between the time of detecting the boundary signal itself and the transmission time of the non-conductor signal, referred to as a third time interval, and starts detecting the boundary signal after determining that the non-conductor signal is transmitted and waiting for the third time interval.

In this embodiment, the time interval between two adjacent non-conducting signal transmissions of the non-conducting signal generator is not fixed, i.e. the second time interval is not fixed. The time interval between the transmission time of the non-conductor signal and the last time the robotic lawnmower detected the boundary signal is referred to as the fourth time interval, as shown in FIG. 2. The second time interval varies with a 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 robotic lawnmower according to the working condition of the robotic lawnmower, specifically, after the robotic lawnmower 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 determined according to the data of the fourth time interval. In this embodiment, the second time interval/the fourth time interval is controlled not to be greater than a specific value, so as to prevent the robotic lawnmower from walking outside the work 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 for generating the boundary signal is not fixed relative to the time interval of the automatic mower for 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 appearing 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 work system includes the following steps:

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

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

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

s4: the signal station receives the non-conducting wire signal, reads the data of the non-conducting wire signal, acquires 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): the automatic mower starts to time;

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

s8: the automatic mower calculates the data of the fourth time interval and starts 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-conductive signal generator;

s11: the robotic lawnmower determines that the timed time has reached the fourth time interval and returns to step S3.

Of course, in other embodiments, the second time interval may also be determined directly after the robotic lawnmower detects the boundary signal. The automatic mower starts to time from the time when the non-conducting wire signal is sent last time, and triggers the non-conducting wire signal generator to send the non-conducting wire signal when the time reaches a second time interval. That is, the timer is continuously counted in the above step S7, the data of the second time interval is calculated in step S8, and it is judged that the counted time reaches the second time interval in step S11.

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

In this embodiment, the automatic working system further includes a non-conductive signal receiver disposed at the signal station, the non-conductive signal generator is paired with the non-conductive signal receiver, and exclusive non-conductive signal transmission is performed between the non-conductive signal generator and the non-conductive signal receiver. Specifically, the non-conductive signal receiver on the signal station identifies the non-conductive signal generator, and the signal station generates the boundary signal according to the non-conductive signal sent by the identified non-conductive signal generator. Specifically, the non-conductive signal transmitted by the non-conductive signal generator comprises a verification code, and the non-conductive signal receiver identifies the verification code. In this embodiment, the non-conductive signal receiver prestores a verification code, after the non-conductive signal receiver receives the non-conductive signal, the verification code of the non-conductive signal is compared with the prestore verification code, if the verification code of the non-conductive signal matches the prestore verification code, the signal station is made to respond to the non-conductive signal to generate a boundary signal, and if the verification code of the non-conductive signal does not match the prestore verification code, it is determined that the received non-conductive signal is invalid, and the signal station does not generate the boundary signal. By adopting the scheme, the signal station can be effectively prevented from mistakenly responding to the non-conducting signal outside the automatic working system, so that unnecessary energy consumption is avoided. When another same or similar automatic working system exists near the automatic working system, because the non-conducting 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 mistakenly responding to the non-conducting signals to generate interference signals, and the misjudgment of the automatic mower is caused.

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

In another embodiment of the invention, after the automatic mower sends the trigger signal to the non-conducting signal, the boundary signal is not detected within the preset time, or the boundary signal is not detected within the time interval of the boundary signal detection of the automatic walking equipment, the trigger signal is sent to the non-conducting signal generator again, so that the non-conducting signal generator sends the non-conducting signal.

In another embodiment of the present invention, the autonomous operating system is capable of switching from a non-conducting signal based mode of operation to prevent a failure of the non-conducting signal from causing a failure in the operation of the autonomous operating system. Specifically, if the boundary signal is not detected by the automatic mower for a long time, the non-conductive signal fault is considered to occur, and the automatic working system is switched to a working mode which is not based on the non-conductive signal. In the working process of the automatic working system, due to the existence of obstacles in the working environment or other reasons, the transmission or the reception of the non-wire signal can be failed, so that no boundary signal is generated, and if the boundary signal cannot be detected by the automatic mower for a long time, the automatic mower can walk out of the working area, thereby causing accidents. In order to avoid the operation fault of the automatic working system caused by the fault of the non-conducting signal, the stability and the reliability of the automatic working system are improved, and the automatic mower is controlled to switch to the working mode which is not based on the non-conducting signal under the condition that the boundary signal cannot be detected for a long time. Specifically, the condition for controlling the automatic working system to switch to the working mode not based on the non-conductive signal is that the automatic mower does not detect the boundary signal within the preset time. Specifically, if the boundary signal is not detected by the automatic mower within the time when the time from the last detection of the boundary signal by the automatic mower reaches or exceeds the preset time, the automatic working system is controlled to be switched to the working mode which is not based on the non-conducting signal. The preset time can be adjusted in real time according to the intensity of the boundary signal detected last time by the automatic walking equipment. The condition for controlling the automatic working system to switch to the working mode which is not based on the non-wire-guide signal can be that the signal station does not generate the boundary signal within the preset time; or the automatic mower judges that no non-conducting wire signal is sent within the preset time; or, the signal station judges that the non-conductive wire signal is not received within the preset time, that is, the signal station judges that no non-conductive wire signal is sent within the preset time; or after the automatic mower judges that the non-conducting signal is sent, the boundary signal is not detected within the preset time; alternatively, the robotic lawnmower does not detect the boundary signal during the time interval in which the robotic lawnmower detects the boundary signal, and so on. When the automatic working system is switched to a working mode which is not based on the non-conducting wire signal, the time for generating the boundary signal by the signal station is not related to the non-conducting wire signal any more, and specifically, the signal station continuously generates the boundary signal; the time at which 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 present 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-conductive 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 preset sequence, for example, the value of the first time interval may be 3ms,5ms and 7ms in sequence. Thus, the time interval, although not fixed, is known and is pre-stored in the robotic lawnmower, or in the non-conductive signal generator, or signal station.

In another embodiment of the invention, the signal station generates the boundary signal immediately after receiving the non-guide signal, and the automatic mower detects the boundary signal immediately after judging that the non-guide signal is sent.

In other embodiments of the present invention, the values of the first time interval, the second/fourth time interval and the third time interval are optionally random values, or fixed values, or sequence values. Wherein, the first time interval or the third time interval can also be selected to be zero.

In another embodiment of the 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 data from the non-wire signal, the data from the non-wire signal generating the boundary signal for the given signal station and the data from the moment at which the robotic lawnmower detects the boundary signal. Specifically, the robotic lawnmower and the signal station each include a clock unit that determines when to generate the boundary signal, or to detect the boundary signal, based on data from the non-conductor signal.

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

It will be appreciated that in other embodiments, the generation of 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 are all selectively generated in the non-conductive signal generator or the robotic lawnmower, which can communicate with the non-conductive signal generator. In addition, the automatic mower can also be in two-way communication with the signal station, so that the data can be generated more flexibly.

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

In a second embodiment of the invention, the boundary signal generation and detection of the robotic work system is substantially the same as the first embodiment except that a non-wire signal generator is provided on the signal station in communication with the signal station and the robotic lawnmower 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 all generated by the non-conductive signal generator, wherein the data of the non-conductive 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. And the automatic mower receives the non-conducting wire signals, reads the data of the non-conducting wire signals, acquires third time interval data, starts timing at the same time, and detects the boundary signals after judging that the timing time reaches the third time interval. The signal station communicates with the non-conductor signal generator, reads first time interval data, starts timing after judging that the non-conductor signal is sent, and generates a boundary signal after judging that the timing time reaches the first time interval. And the non-conducting signal generator starts timing after sending the non-conducting signal, and sends the non-conducting signal again after judging that the timing time reaches a second time interval.

In this embodiment, the automatic working system further includes a non-conductive signal receiver disposed on the robotic lawnmower, the non-conductive signal generator is paired with the non-conductive signal receiver, and exclusive non-conductive signal transmission is performed between the non-conductive signal generator and the non-conductive signal receiver. Specifically, the verification code is prestored in the non-conductive signal receiver on the automatic walking equipment. After the non-conductor signal receiver receives the non-conductor signal, the verification code of the non-conductor signal is compared with the prestored verification code, if the verification code of the non-conductor signal is matched with the prestored verification code, the automatic mower is enabled to respond to the non-conductor signal to detect the boundary signal, if the verification code of the non-conductor signal is not matched with the prestored verification code, the received non-conductor signal is judged to be invalid, and the automatic mower does not detect the boundary signal. When another same or similar automatic working system exists near the automatic working system, the misjudgment of the automatic mower caused by the automatic mower mistakenly responding to a non-conducting signal in an adjacent automatic working system 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, except that when it is determined that the non-conducting signal is faulty, the automatic working system can switch from the working mode based on the non-conducting signal to the working mode not based on the non-conducting signal, specifically, the switching condition is that the automatic mower does not receive the non-conducting signal within the preset time.

In another embodiment of the invention, since the signal station is always preferably arranged on the stop station of the automatic working system, the automatic mower judges the approximate direction of the signal station according to the direction of the non-conductor signal during the charging process of the return stop station to adjust the driving direction, and returns to the stop station along the boundary line after meeting the boundary line.

In a third embodiment of the present invention, the boundary signal generation and detection of the autonomous working system is substantially the same as the first embodiment, except that the non-wire signal generator is located outside the robotic lawnmower and the signal station, which receives the non-wire signal. Specifically, the non-conductive signal generator may be fixed within the working area or outside the working area. The non-conductive signal generator generates first time interval data, which may be random data. Wherein the data of the non-conductive signal includes first time interval data. The signal station receives the non-conducting wire signal, reads the data of the non-conducting wire signal and acquires first time interval data. And the signal station starts timing after receiving the non-wire-guide signal, and generates a boundary signal after judging that the timing time reaches a first time interval. The automatic mower receives the non-conducting wire signals, reads data of the non-conducting wire signals, obtains first time interval data and generates third time interval data. And the automatic mower starts to time after receiving the non-line-guide signal, and detects the boundary signal after judging that the time reaches a third time interval. The non-conductive signal generator also generates second time interval data, which may be random data. And the non-conducting signal generator starts to time after sending the non-conducting signal, and sends the non-conducting signal again after judging that the time reaches a second time interval.

Of course, in this embodiment, the non-conductive signal generator may also generate third time interval data, and the non-conductive signal includes the first time interval data and the third time interval data, wherein the first time interval data and the third time interval data are respectively identified by the signal station and the robotic lawnmower by setting different identification codes for the first time interval data and the third time interval data.

In this embodiment, the automatic working system further includes a non-conductive signal receiver disposed on the robotic lawnmower and the signal station, the non-conductive signal generator is paired with the non-conductive signal receiver, and exclusive non-conductive signal transmission is performed between the non-conductive signal generator and the non-conductive signal receiver. Specifically, the verification code is prestored in both the signal station and the non-conductor signal receiver on the automatic mower. And after the non-conductive wire signal receivers on the signal station and the automatic mower receive the non-conductive wire signal, comparing the verification code of the non-conductive wire signal with the pre-stored verification code. And if the verification code of the non-conductive wire signal is matched with the verification code prestored in the non-conductive wire signal receiver on the signal station, the signal station responds to the non-conductive wire signal to generate a boundary signal, and if the verification code of the non-conductive wire signal is not matched with the verification code prestored in the non-conductive wire signal receiver on the signal station, the received non-conductive wire signal is judged to be invalid. If the verification code of the non-conductive wire signal is matched with the verification code prestored in the non-conductive wire signal receiver on the automatic mower, the automatic mower responds to the non-conductive wire signal to detect the boundary signal, and if the verification code of the non-conductive wire signal is not matched with the verification code prestored in the non-conductive wire signal receiver, the received non-conductive 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 the influence of the interference signal in the working environment, not only can avoid the interference of the signal in the adjacent automatic working system, but also is suitable for the condition of overlapping boundary lines. Large-area lawns require multiple robotic mowers to work in concert, the robotic mowers travel and work within their respective boundary systems, forming overlapping regions between the boundary lines, as shown in fig. 7. By adopting the traditional boundary signal detection method, the boundary line in the overlapping area can generate serious interference to the work of the automatic working system, and by adopting the method of the embodiment of the invention to detect the boundary signal, the interference between adjacent boundary systems can be effectively avoided, so that the automatic working system can normally run.

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

In a fourth embodiment of the present invention, the boundary signal of the robotic work system is generated and detected in substantially the same manner as in 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, is related to the strength of the electromagnetic field detected by the robotic lawnmower. The strength 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 strength 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 robotic lawnmower is related to the distance of the robotic lawnmower from the boundary line, and therefore, in this 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 of the robotic lawnmower from the boundary line.

The adjustment process of the intensity and frequency of the boundary signal in this embodiment is described below with reference to fig. 4.

As shown in FIG. 4, the work area of the robotic lawnmower includes area A, which is farther from the boundary line, and area B, which is closer to the boundary line. Since the intensity of the electromagnetic field generated by the boundary signal decreases as the distance from the boundary line increases, when the current level of the boundary signal transmitted through the boundary line is constant, the intensity of the electromagnetic field detected by the robotic lawnmower in the area a is weak, and the intensity of the electromagnetic field detected by the robotic lawnmower in the area B is strong. In order to limit the automatic mower to walk in the working area, the automatic mower needs to ensure that the automatic mower detects a certain intensity of electromagnetic field generated by the boundary signal. When the working area is large, the electromagnetic field intensity detected by the robotic lawnmower in area a, which is located at the center of the working area, is much less than the electromagnetic field intensity detected in area B, which is close to the boundary line. In order to ensure that the robotic lawnmower can detect an electromagnetic field having a strength that meets the operating requirements of the robotic lawnmower at any location in the work area, such as area a, where 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 high. However, when the robotic lawnmower is located in a working area that is a relatively close distance from 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 results in a waste of energy that generates the boundary signal.

In this embodiment, when the robotic lawnmower is operating in a region remote from the boundary line, for example, in region a, the current level at which the signal station generates the boundary signal is high, so that the intensity of the electromagnetic field generated by the boundary signal transmitted in the boundary line is high, and the robotic lawnmower can detect the electromagnetic field having an intensity that meets the operating requirements of the robotic lawnmower in the region remote from the boundary line. When the automatic mower runs in a region close to the boundary line, for example, in the region B, the current level of the boundary signal generated by the signal station is low, although the current level of the boundary signal is low, the intensity of the generated electromagnetic field is weak, in the region close to the boundary line, the intensity of the electromagnetic field generated by the boundary signal is enough to meet the working requirement of the automatic mower, and meanwhile, the power consumption of the boundary signal is greatly reduced.

In this embodiment, the data of the non-guide signal includes data of the distance from 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-conductive signal generator, and the non-conductive signal generator sends a non-conductive signal so that the non-conductive signal comprises the distance data. And the signal station receives the non-conducting wire signals, reads the data of the non-conducting wire signals and obtains the distance data from the automatic mower to the boundary line. And 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 a higher current level; if the data of the distance from the automatic mower to the boundary line reflects a smaller distance from the automatic mower to the boundary line, the signal station generates a boundary signal with a lower current level. In this embodiment, the information pre-stored in the automatic work system includes: the distance from the automatic mower to the boundary line is mapped with a target value of the current level of the boundary signal. Specifically, the mapping relationship is stored in both the automatic mower and the signal station. And the signal station determines a target value of the current level for generating the boundary signal by utilizing the mapping relation according to the acquired distance data from the automatic mower to the boundary line. The signal station generates the boundary signal such that the current level of the boundary signal meets the target value. Meanwhile, the automatic mower knows the distance from the automatic mower to the boundary line, and can know the target value of the current level of the boundary signal generated by the signal station by using the mapping relation. When the signal station generates the boundary signal and the automatic mower detects the boundary signal again, the distance data from the signal station to the boundary line at the time of the detection is obtained through the target value of the current level of the boundary signal generated by the known signal station and the intensity of the electromagnetic field detected in the detection. By adopting the method, the automatic mower can repeat the process only 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 adjusted 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 using the above method, the distance between the robotic lawnmower and the boundary line can be calculated using the current level of the boundary signal adjusted in real time.

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

When the robotic lawnmower is located in a work area that is relatively far from the boundary line, such as area a, after the robotic lawnmower detects the boundary signal, no matter what driving strategy is adopted, the time taken for the robotic lawnmower to travel to the boundary line is relatively long, and therefore, the robotic lawnmower does not need to frequently detect the boundary signal to ensure that the robotic lawnmower is located within the work area. In this embodiment, when the robotic lawnmower is located in a work area that is relatively far from the boundary line, the frequency at which the signal station generates the boundary signal is made lower to reduce power consumption for generating the boundary signal. When the robotic lawnmower is located in a work area closer to the boundary line, such as in work area B, the robotic lawnmower is at risk of exiting the work area, and therefore, the robotic 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 that is 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 limit the robotic lawnmower to walk and work within the work area.

In the embodiment, the automatic mower judges the distance from the automatic mower to the boundary line according to the detected intensity of the 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 the time interval between the time of the signal station for generating the boundary signal next time and the time of generating the boundary signal this time. It is understood that the larger the time interval for which the signal station generates the boundary signal, the lower the frequency for which the signal station generates the boundary signal; the smaller the time interval for which the signal station generates the boundary signal, the higher the frequency at which 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 the travel parameters, path characteristics, etc. of the robotic lawnmower. Since the signal station always generates the boundary signal in response to the non-conductor signal, and the time interval between the time when the signal station generates the boundary signal and the transmission time of the non-conductor signal is known by the robotic lawnmower, in this embodiment, the robotic lawnmower controls the time interval when the signal station generates the boundary signal by controlling the time interval when the non-conductor signal generator transmits the non-conductor signal, and causes the time interval when the non-conductor signal generator transmits the non-conductor signal to be not more than the maximum time interval. In the embodiment, the larger the distance from the automatic mower to the boundary line is judged to be, the larger the time interval for controlling the non-conducting wire signal generator to send the non-conducting wire signal is; the smaller the distance from the automatic mower to the boundary line is judged to be, the smaller the time interval for controlling the non-conducting wire signal generator to send the non-conducting 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 at which the non-conductor signal generator next transmits the non-conductor signal and the time at which the robotic lawnmower detects the boundary signal this time. In this embodiment, the time interval between the time when the non-conductive signal generator sends the non-conductive signal and the time when the signal station generates the boundary signal, that is, the first time interval, is much smaller than the time interval between two adjacent times of generating the boundary signal by the signal station. Likewise, the first time interval is 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, and so on.

In this embodiment, a time interval exists 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 automatic mower to the boundary line when the signal station generates the boundary signal last time. In this embodiment, the time interval between two adjacent boundary signal generation of the signal station is controlled within a reasonable range, so that although the time interval between the boundary signal generation of the signal station is large when the robotic lawnmower is in a region far from the boundary line, the displacement of the robotic lawnmower within the time interval is small relative to the distance from the robotic lawnmower to the boundary line. Thus, despite the change in distance from the robotic lawnmower to the boundary line during the time interval, the current level of the boundary signal generated by the signal station is still appropriate for the requirements of the robotic lawnmower to detect the boundary signal.

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

In other embodiments, the range of distances from the robotic lawnmowers to the boundary line can be set such that the current level and the time interval at which the signal station generates the boundary signal take on respective specific values when the robotic lawnmowers are within the respective ranges.

FIG. 5 is a graph comparing boundary signals when the robotic lawnmower of this embodiment is located in area A and area B.

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

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

s1: signal station generating current level of I_xBoundary signal (I) of_xIs a non-fixed value);

s2: 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 the time interval of sending a non-conducting wire signal by a non-conducting wire signal generator;

s3: the automatic mower transmits the distance data from the automatic mower to the boundary line to the non-guide 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-conducting signal generator sends a non-conducting signal, and the data of the non-conducting signal comprises the distance data;

s6: the signal station receives the non-conductor signal, reads data of the non-conductor signal, acquires the distance data, determines a target value of a current level for generating the boundary signal based on the distance data, and returns to S1.

The current level and the frequency of the boundary signal generated by the signal station are adjusted by adopting the method, so that the power consumption of the boundary signal is greatly reduced. The scheme solves the problem of boundary signal attenuation in a large-area working area, so that the automatic mower can detect the electromagnetic field meeting the working requirement in the central area of the large-area working area, and simultaneously, the current level of the boundary signal is reduced when the automatic mower runs to the area close to the boundary line, thereby controlling the power consumption level of the boundary signal.

It will be appreciated that in other embodiments, the process of determining 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 performed in the robotic lawnmower, in the signal station, or even in a non-conductive signal generator. Similarly, the process of determining the time interval for the signal station to generate the boundary signal, or the process of determining the time interval for the non-conductive signal generator to transmit the non-conductive signal, and the process of determining the current level for the signal station to generate the boundary signal, based on the distance from the robotic lawnmower to the boundary line, can be performed in the robotic lawnmower, the signal station, or even the non-conductive signal generator. As long as the automatic mower can communicate with the signal station, and the signal station can know the approximate distance from the automatic walking equipment to the boundary line, the current level and the frequency for generating the boundary signal can be adjusted. The data included in the non-conducting signal transmitted by the robotic lawnmower to the signal station via the non-conducting signal generator may be intensity data of an electromagnetic field detected by the robotic lawnmower, distance data from the robotic lawnmower to a boundary line, or target value data of a current level of the boundary signal to be generated by the signal station.

In other embodiments of the present invention, the non-conductive signal generator is not necessary to adjust the current level and frequency of the boundary signal generated by the signal station, as long as the robotic lawnmower can communicate with the signal station, which can be in the form of a non-conductive signal such as a radio signal, an audio signal, an optical signal, or a wired connection.

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

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

In another embodiment of the present 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 to the boundary line. A target value of the detected electromagnetic field intensity of the robotic lawnmower is set, and the current level of the boundary signal is adjusted based on the actual electromagnetic field intensity detected by the robotic lawnmower. When the intensity of the electromagnetic field detected by the automatic mower is greater than a target value, reducing the current level of the boundary signal; 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 present invention, the time interval during 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 from the robotic lawnmower to the boundary line. The intensity of the electromagnetic field detected by the automatic mower reflects the distance from the automatic mower to the boundary line, and the time interval of the boundary signal generated by the signal station can be adjusted directly through the intensity of the electromagnetic field detected by the automatic mower. Specifically, in this embodiment, the signal station does not adjust the current level of the generated boundary signal, and when the intensity of the electromagnetic field detected by the robotic lawnmower decreases, the time interval during which the signal station generates the boundary signal is increased, and when the intensity of the electromagnetic field detected by the robotic lawnmower increases, the time interval during which the signal station generates the boundary signal is decreased. Alternatively, the relationship between the intensity of the electromagnetic field detected by the robotic lawnmower and the time interval during which the signal station generates the boundary signal may be pre-stored in the robotic work system to adjust the time interval during which the signal station generates the boundary signal.

The above-mentioned technical solutions can be combined in any way, for example, whether the current level of the boundary signal or the time interval for generating the boundary signal is adjusted or not can be selected, and the adjusting method.

The present invention is not limited to the specific embodiments illustrated, and structures and methods based on the inventive concepts are intended to be within the scope of the present invention.

Claims

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

the signal station generating 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 preparation method is characterized in that,

and the automatic walking equipment adjusts the current level of the boundary signal according to the distance from the automatic walking equipment to the boundary line.

2. The automatic working system according to claim 1, wherein the automatic traveling apparatus decreases a current level of the boundary signal when judging that a distance from itself to the boundary line decreases; and 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.

3. The automated work system according to claim 1, wherein the automated walking device communicates with the signaling station to adjust the current level of the boundary signal.

4. The automatic working system according to claim 1, wherein the automatic traveling apparatus transmits a distance signal from itself to the boundary line to the signal station.

5. The automatic working system according to claim 1, wherein the automatic traveling apparatus judges a distance from itself to the boundary line based on the intensity of the detected electromagnetic field.

6. The automatic working system according to claim 1, wherein 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.

7. The automatic working system according to claim 6, wherein the automatic traveling apparatus 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 based on the distance signal and the mapping relation, and adjusts the current level of the boundary signal based on the target value.

8. The automatic working system according to claim 6, wherein the automatic traveling apparatus judges a target value of the current level of the boundary signal based on the distance from itself to the boundary line and the mapping relation, and transmits the target value to the signal station.

9. The automatic working system according to claim 1, wherein the automatic traveling apparatus transmits the intensity signal of the detected electromagnetic field to the signal station, and the signal station judges the distance from the automatic traveling apparatus to the boundary line based on the intensity signal of the electromagnetic field detected by the automatic traveling apparatus.

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

the signal station generating a boundary signal;

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

11. The control method of an automatic working system according to claim 10, wherein the automatic traveling apparatus decreases a current level of the boundary signal when judging that a distance from itself to the boundary line decreases; and 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.

12. The automated work system according to claim 10, wherein the automated walking device communicates with the signaling station to adjust the current level of the boundary signal.

13. The automatic working system according to claim 10, wherein the automatic traveling apparatus transmits a distance signal of itself to the boundary line to the signal station.

14. The automatic working system according to claim 10, wherein the automatic traveling apparatus judges a distance from itself to the boundary line based on the intensity of the detected electromagnetic field.

15. The automatic working system according to claim 10, wherein 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.

16. The automatic working system according to claim 15, wherein the automatic traveling apparatus 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 based on the distance signal and the mapping relation, and adjusts the current level of the boundary signal based on the target value.

17. The automatic working system according to claim 15, wherein the automatic traveling apparatus judges a target value of the current level of the boundary signal based on the distance from itself to the boundary line and the mapping relation, and transmits the target value to the signal station.

18. The automatic working system according to claim 10, wherein the automatic traveling apparatus transmits the intensity signal of the detected electromagnetic field to the signal station, and the signal station judges the distance from the automatic traveling apparatus to the boundary line based on the intensity signal of the electromagnetic field detected by the automatic traveling apparatus.