CN112134314A

CN112134314A - Charging station, automatic control system and method

Info

Publication number: CN112134314A
Application number: CN201910553787.7A
Authority: CN
Inventors: 王月红
Original assignee: Bao Shi De Technology China Co ltd
Current assignee: Bao Shi De Technology China Co ltd; Positec Technology China Co Ltd
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2020-12-25

Abstract

The application relates to a charging station, an automatic control system and a method, which belong to the technical field of automatic control, wherein the charging station is connected with a boundary line; this charging station includes: the information acquisition component is used for acquiring relevant information of the boundary signal on the boundary line; the control component determines the regulation mode of the boundary current according to the relevant information; the output end of the signal stabilizing assembly is connected with the boundary line, so that the signal stabilizing assembly adjusts the boundary current of the boundary line according to the control of the control assembly; the problem that the intelligent mower possibly cannot work normally along with the extension of the boundary line in the prior art can be solved; the intelligent mower can still work normally along with the extension of the boundary line under the condition that the boundary line is not broken.

Description

Charging station, automatic control system and method

Technical Field

The application relates to a charging station, an automatic control system and an automatic control method, and belongs to the technical field of automatic control.

Background

An intelligent lawn mower is a device capable of automatically mowing and charging grass in a user's lawn without user intervention. Currently, a charging station that interfaces with an intelligent lawn mower is provided with a boundary line, which is drawn from the charging station, then laid on a corresponding working boundary of the intelligent lawn mower, and finally returned to the charging station to enclose a working area that forms the intelligent lawn mower.

In the related art, the intelligent mower needs to detect boundary signals on a boundary line in real time to determine the current position in the mowing process; if no boundary signal is detected, the operation needs to be stopped.

However, as the working area of the smart lawn mower increases, the boundary line length increases. At this time, when the voltage is constant, the boundary current on the boundary line decreases, which may cause the signal intensity of the boundary signal on the boundary line to decrease, and the intelligent lawn mower may not detect the boundary signal, which may cause the intelligent lawn mower to not operate normally.

Disclosure of Invention

The application provides a charging station, an automatic control system and a method, which can solve the problem that an intelligent mower can not work normally along with the extension of a boundary line in the prior art. The application provides the following technical scheme:

in a first aspect, a charging station is provided, which is connected to a boundary line and provides a boundary current for the boundary line, so that an intelligent lawn mower can determine a current working position and/or working state according to a boundary signal on the boundary line, and the charging station includes:

the information acquisition component is used for acquiring relevant information of the boundary signal on the boundary line; the related information comprises the current boundary current on the boundary line and/or the length of the boundary line;

the control component determines the adjusting mode of the boundary current according to the related information;

and the output end of the signal stabilizing assembly is connected with the boundary line, so that the signal stabilizing assembly adjusts the boundary current of the boundary line according to the control of the control assembly.

Optionally, the information acquisition assembly comprises a current detection circuit;

the current detection circuit is connected with the boundary line to detect the current boundary current on the boundary line in real time.

Optionally, the control component is configured to control the signal stabilizing component to operate to raise the boundary current of the boundary line when the present boundary current is lower than a preset current value.

Optionally, the control component is further configured to control the signal stabilizing component to operate to reduce the boundary current of the boundary line when the boundary current is higher than a preset current value.

Optionally, the signal stabilizing component is configured to adjust the boundary current to be within a preset range.

Optionally, the information acquisition component includes a wireless communication unit, and the wireless communication unit is configured to obtain a length of a boundary line acquired based on a human-computer interaction technology;

the control assembly is used for controlling the signal stabilizing assembly to adjust the boundary current of the boundary line to a current value corresponding to the length of the boundary line.

Optionally, the signal stabilizing component is a buck-boost module.

In a second aspect, an automatic control system is provided, which includes an intelligent mower and a charging station, wherein the charging station is connected to a boundary line and provides a boundary current for the boundary line, so that the intelligent mower can determine a current working position and/or working state according to a boundary signal on the boundary line;

the intelligent mower comprises a boundary signal detection module, and the boundary signal detection module is used for detecting boundary signals on the boundary line in real time;

the charging station includes: the control component is in signal connection with the boundary signal detection module and determines a regulation mode of the boundary current based on a detection result of the intelligent mower;

Optionally, the signal detection module is configured to send a first detection result to the control component, where the first detection result is used to indicate a signal strength of the boundary signal;

the control assembly is used for controlling the signal stabilizing assembly to work to improve the boundary current of the boundary line when the signal intensity of the boundary signal is lower than a preset intensity value.

Optionally, the signal detection module is configured to send a second detection result to the control component, where the second detection result is used to indicate whether the boundary signal detection module detects a boundary signal;

the control component is used for controlling the signal stabilizing component to work to improve the boundary current of the boundary line when the boundary signal detecting module does not detect the boundary signal.

Optionally, the intelligent mower is further configured to stop when the boundary signal is not detected after the boundary current is raised.

Optionally, the system further comprises at least one signal amplification component; the input end of the signal amplification assembly is connected with the boundary line, and the output end of the signal amplification assembly is connected with a boundary extension line; the signal amplification assembly is used for amplifying the boundary current on the boundary line and outputting the amplified boundary current to the boundary extension line; the boundary extension line is in a working area surrounded by the boundary lines.

Optionally, the working area is divided into n sub-areas by the boundary extension line, where n is an integer greater than 1.

In a third aspect, an automatic control system is provided, the system comprising a charging station and at least one signal amplification assembly; the charging station is connected with the boundary line and provides boundary current for the boundary line so as to ensure that the intelligent mower can determine the current working position and/or working state according to the boundary signal on the boundary line,

the charging station comprises the charging station provided by the first aspect;

the input end of the signal amplification assembly is connected with the boundary line, and the output end of the signal amplification assembly is connected with a boundary extension line; the signal amplification assembly is used for amplifying the boundary current on the boundary line and outputting the amplified boundary current to the boundary extension line; the boundary extension line is in a working area surrounded by the boundary lines.

In a fourth aspect, an automatic control method is provided, where the method is applied to the charging station of the first aspect or the automatic control system of the third aspect, and the method includes:

acquiring relevant information of a boundary signal on a boundary line, wherein the relevant information comprises current boundary current on the boundary line and/or the length of the boundary line;

and controlling a signal stabilizing component to adjust the boundary current of the boundary line according to the related information.

Optionally, the acquiring information about the boundary signal on the boundary line includes:

controlling a current detection circuit to detect the current boundary current on the boundary line in real time;

acquiring the current boundary current detected by the current detection circuit;

the controlling a signal stabilizing component to adjust the boundary current of the boundary line according to the related information comprises:

and when the current boundary current is lower than a preset current value, controlling the signal stabilizing assembly to work so as to improve the boundary current of the boundary line.

Optionally, when the current boundary current is higher than a preset current value, the signal stabilizing component is controlled to operate to reduce the boundary current of the boundary line.

acquiring the length of a boundary line acquired based on a man-machine interaction technology through a wireless communication unit;

and controlling the signal stabilizing assembly to adjust the boundary current of the boundary line to a current value corresponding to the length of the boundary line.

In a fifth aspect, an automatic control method is provided, which is applied to the automatic control system of the second aspect, and includes:

controlling the boundary signal detection module to detect the boundary signal on the boundary line in real time;

acquiring a detection result of the boundary signal detection module on the boundary signal;

and controlling a signal stabilizing assembly to adjust the boundary current of the boundary line according to the detection result.

Optionally, the detection result includes a first detection result, and the first detection result is used for indicating the signal strength of the boundary signal;

the controlling a signal stabilizing assembly to adjust the boundary current of the boundary line according to the detection result comprises:

and when the signal intensity of the boundary signal is lower than a preset intensity value, controlling the signal stabilizing assembly to work so as to improve the boundary current of the boundary line.

Optionally, the detection result includes a second detection result, where the second detection result is used to indicate whether the boundary signal detection module detects a boundary signal;

and when the boundary signal detection module does not detect the boundary signal, controlling the signal stabilizing component to work so as to improve the boundary current of the boundary line.

The beneficial effect of this application lies in: collecting relevant information of the boundary signal on the boundary line by setting an information collection assembly; sending the relevant information to a control component; the control component controls the signal stabilizing component to adjust the boundary current of the boundary line according to the relevant information; the problem that the intelligent mower possibly cannot work normally along with the extension of the boundary line in the prior art can be solved; because the signal stabilizing assembly can stabilize the boundary current on the boundary line within a certain range, the intelligent mower can detect the boundary signal on the boundary line under the condition that the boundary line is not broken, and the intelligent mower can still work normally along with the extension of the boundary line.

The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clear and clear, and to implement the technical solutions according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present application and the accompanying drawings.

Drawings

FIG. 1 is a schematic diagram of an automated control system according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a charging station provided in an embodiment of the present application;

fig. 3 is a circuit schematic diagram of a buck-boost circuit provided by an embodiment of the present application;

FIG. 4 is a circuit schematic diagram of a Buck converter provided in one embodiment of the present application;

fig. 5 is a circuit schematic diagram of a Boost converter provided in an embodiment of the present application;

fig. 6 is a schematic structural diagram of a charging station according to another embodiment of the present application;

fig. 7 is a schematic structural diagram of a charging station according to another embodiment of the present application;

FIG. 8 is a flow chart of an automatic control method provided by one embodiment of the present application;

FIG. 9 is a flow chart of an automatic control method provided by another embodiment of the present application;

FIG. 10 is a flow chart of an automated control method provided by another embodiment of the present application;

FIG. 11 is a schematic diagram of an automated control system according to another embodiment of the present application;

FIG. 12 is a schematic diagram of an automated control system according to another embodiment of the present application;

FIG. 13 is a flow chart of an automated control method provided by another embodiment of the present application;

fig. 14 is a schematic structural diagram of an automatic control system according to another embodiment of the present application.

Detailed Description

The following detailed description of embodiments of the present application will be described in conjunction with the accompanying drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.

First, a usage scenario of the charging station provided in the present application is described.

Referring to fig. 1, the automatic control system includes a smart mower 1, a charging station 2 that interfaces with the smart mower 1 to charge the smart mower 1, and a boundary line 3 that leads from the charging station 2. The boundary line 3 is led out from the charging station 2, laid on a corresponding working boundary of the intelligent mower 1, and finally returned to the charging station 2 to enclose a working area 4 of the intelligent mower 1.

In the running process of the intelligent mower 1, the charging station 2 outputs boundary current to the boundary line 3, and the boundary line 3 sends out a boundary signal based on the boundary current; the intelligent mower 1 detects the boundary signal in real time; when the boundary signal is detected, determining the current position or returning to the charging station 2 according to the boundary signal; and stopping the operation when the boundary signal is not detected. In other words, the charging station 2 is connected to the boundary line 3 and provides the boundary current to the boundary line 3 for the intelligent lawn mower 1 to determine the current working position and/or working state according to the boundary signal on the boundary line 3.

Alternatively, the boundary signal may be a magnetic signal; of course, the signal may be an optical signal or an acoustic signal, and the present embodiment does not limit the type of the boundary signal.

As can be seen from fig. 1, when the area of the working area 4 of the intelligent lawnmower 1 increases, the boundary line 3 needs to surround the larger working area 4, and therefore the length of the boundary line 3 needs to be increased. At this time, if the output voltage of the charging station 2 is kept constant, the length of the boundary line 3 increases, and the load of the charging station 2 increases and the boundary current output to the boundary line 3 decreases. Since the magnitude of the boundary current is in a positive correlation with the signal intensity of the boundary signal, the decrease in the boundary current decreases the signal intensity of the boundary signal, and the boundary signal is not detected by the intelligent lawnmower 1, which causes the intelligent lawnmower 1 to fail to operate normally even if the boundary line 3 is not broken.

Based on the technical problem, the charging station 2 provided by the application is provided with the signal stabilizing component, and the signal stabilizing component is used for adjusting the boundary current to a preset range and keeping the boundary current constant. This signal stabilizing assembly links to each other with boundary line 3, guarantees that boundary line 3 under the condition of not breaking, and the signal intensity of boundary line signal is stabilized in certain extent on boundary line 3 for intelligent lawn mower 1 still can normally work after 3 elongations on boundary line.

Alternatively, in other embodiments, the boundary signal stabilizing component may be installed in a device separate from the charging station 2, and the installation manner of the boundary signal stabilizing component is not limited in this embodiment.

Optionally, in the present application, the signal stabilizing component on the charging station 2 adjusts the boundary current of the boundary line according to the control of the control component in the charging station 2, and the control component determines the adjustment mode of the boundary current according to the current boundary current on the boundary line, the length of the boundary line, and/or the detection result of the boundary signal detection module on the intelligent lawn mower 1. The adjustment modes for determining the boundary current by the control module are described in detail below.

The first method comprises the following steps: the control component determines the adjustment mode of the boundary current according to the current boundary current on the boundary line and/or the length of the boundary line.

Fig. 2 is a schematic structural diagram of a charging station according to an embodiment of the present application, where the charging station shown in fig. 2 includes: the device comprises an information acquisition component 11, a control component 12 and a signal stabilizing component 13.

And the information acquisition component 11 is used for acquiring the relevant information of the boundary signal on the boundary line. The relevant information is used for the control component 12 to determine the signal strength of the boundary signal.

Illustratively, the related information of the boundary signal includes but is not limited to at least one of the following:

1. boundary current of the boundary line, wherein the boundary current and the signal intensity of the boundary signal are in positive correlation;

2. the length of the boundary line is inversely related to the signal strength of the boundary signal.

The input end of the control component 12 is connected with the output end of the information acquisition component 11 through signals. In this way, the information collection component 11 can send the relevant information to the control component 12 through the output end; accordingly, after receiving the relevant information through the input terminal, the control component 12 determines the adjustment mode of the boundary current according to the relevant information.

Optionally, the adjusting means includes: the boundary current is raised, lowered and kept unchanged.

The input end of the signal stabilizing component 13 is connected with the output end of the control component 12 in a signal mode, and the output end of the signal stabilizing component 13 is connected with the boundary line, so that the signal stabilizing component 13 adjusts the boundary current of the boundary line according to the control of the control component 12.

Optionally, the control component 12 generates a control signal after determining the adjustment mode of the boundary current, and sends the control signal to the signal stabilizing component 13, and the control signal triggers the signal stabilizing component 13 to adjust the boundary current of the boundary line according to the adjustment mode.

Optionally, in the present application, the signal stabilizing component 13 is a buck-boost module, and the buck-boost module and the control component 12 are installed in the charging station. At this time, the signal stabilizing unit 13 adjusts the boundary current output to the boundary line by adjusting the output voltage of the charging station. At this time, the signal stabilizing unit 13 is installed at the output terminal of the charging station power supply, the voltage of the output terminal serves as the input voltage of the signal stabilizing unit 13, and the output voltage of the signal stabilizing unit 13 is the output voltage of the charging station.

Alternatively, the buck-boost module may be a chip including a buck-boost circuit. The Buck-Boost circuit may also be referred to as a Buck-Boost converter, etc., and the name of the Buck-Boost circuit is not limited in this embodiment.

Referring to fig. 3, the buck-boost circuit is a single-tube non-isolated dc converter with an output voltage lower or higher than the input voltage. The Buck-Boost converter can be regarded as being formed by connecting the Buck converter and the Boost converter in series, and only a switching tube is combined.

Buck converters (or Buck converters, Buck circuits, etc.) are single-tube non-isolated DC converters with output voltage less than input voltage. Referring to the Buck converter shown in fig. 4, Q is a switching tube, a driving voltage of the switching tube is generally a Pulse Width Modulation (PWM) signal, a period of the PWM signal is Ts, a signal frequency f is 1/Ts, an on time is Ton, an off time is Toff, Ts is Ton + Toff, and a duty ratio Dy is Ton/Ts. In fig. 4, the inductor Lf and the capacitor Cf form a low-pass filter, and the Buck converter adopts the step-down principle: the harmonic component of the input voltage is filtered by the low-pass filter, and the direct-current component of the input voltage is allowed to pass, so that the output voltage is the direct-current component of the input voltage and then a small ripple is added, namely, the output voltage is lower than the input voltage.

The Boost converter (or Boost converter, booster circuit, etc.) is a single-tube non-isolated dc converter with output voltage higher than input voltage. Referring to the Boost converter shown in fig. 5, the driving voltage of the switching tube Q is also a PWM signal, but the maximum duty ratio Dy needs to be limited, and Dy is not equal to 1. The inductor Lf is a boost inductor on the input side. The Boost principle of the Boost converter is as follows: when the switching tube A is conducted, the input voltage charges the inductor Lf, and the inductor Lf stores energy; when the switch tube a is turned off, the inductor Lf is discharged to charge the inductor Cf, and the input voltage is also charged to the inductor Cf, at which time the output voltage is higher than the input voltage.

In one example, the information related to the boundary signal includes a boundary current of the boundary line, and in this case, referring to the charging station shown in fig. 6, the information collecting assembly includes a current detecting circuit 61, and the current detecting circuit 61 is connected to the boundary line 62 to detect the current boundary current on the boundary line 62 in real time; the control component 12 is used for controlling the signal stabilizing component 13 to raise the boundary current of the boundary line 62 when the current boundary current is lower than the preset current value.

Optionally, the control component 12 is further configured to control the signal stabilizing component 13 to decrease the boundary current of the boundary line 62 when the current boundary current is greater than the current maximum value, so as to save power resources.

Optionally, the control component 12 is further configured to control the signal stabilizing component 13 to maintain the current boundary current of the boundary line 62 when the current boundary current is greater than or equal to a preset current value and less than or equal to a current maximum value.

Optionally, the signal intensity of the boundary signal corresponding to the preset current value is the signal intensity just unable to be detected by the intelligent mower; or slightly larger than the signal strength that the intelligent mower just cannot detect. The preset current value is stored in the charging station and read by the control unit 12.

Alternatively, the current detection circuit 61 is a current detection chip that is mounted in a circuit board of the charging station. Optionally, a control component 12 and a signal stabilizing component 13 are also mounted on the circuit board of the charging station. In fig. 6, the current detection circuit 61 is illustrated as being mounted in the charging station, but in actual implementation, the current detection circuit 61 may be mounted in another device independent of the charging station, and the mounting manner of the current detection circuit 61 is not limited in the present embodiment.

In another example, the related information of the boundary signal includes a length of the boundary line. At this time, referring to the charging station shown in fig. 7, the information collection assembly includes a wireless communication unit 71, and the wireless communication unit 71 is configured to acquire the length of the boundary line collected based on the human-computer interaction technology. The control component 12 is used for controlling the signal stabilizing component to adjust the boundary current of the boundary line to a current value corresponding to the length of the boundary line.

Optionally, the length of the boundary line acquired by the wireless communication unit 71 is acquired and transmitted by the client based on a human-computer interaction technology. The client has a function for a user to input the length of the boundary line, and the client can be a program module integrated in an existing client (for example, an applet integrated in a certain instant messaging client); alternatively, the Application may be an additionally developed Application (APP), and the implementation form of the client is not limited in this embodiment.

Of course, the charging station may also be provided with a length input control, and at this time, the charging station acquires the length of the boundary line based on the length input control.

Alternatively, the length input control may be a virtual input control displayed by a touch display screen; or, the length input control may also be an entity input control that realizes input through an external device (e.g., a keyboard), and the implementation manner of the length input control is not limited in this embodiment.

Optionally, the manner in which the control component controls the signal stabilizing component to adjust the boundary current of the boundary line to the preset current value corresponding to the length of the boundary line includes, but is not limited to, the following:

the first method comprises the following steps: the charging station stores a first corresponding relation between the length of the boundary line and the load and a current value range, and boundary signals corresponding to all current values in the current value range are boundary signals capable of being detected by the intelligent mower. After the control component 12 obtains the length of the boundary line, determining a corresponding load from the first corresponding relation; the control component 12 calculates an output voltage range according to the load and the current value range, and the control signal stabilizing component adjusts the output voltage of the charging station to the output voltage range, so that the boundary current is adjusted to a preset current value corresponding to the length of the boundary line.

And the second method comprises the following steps: a first corresponding relation between the length of the boundary line and the load and a second corresponding relation between the load and the boundary current are stored in the charging station. After the control component 12 obtains the length of the boundary line, determining a corresponding load from the first corresponding relation; after the control component 12 determines the load, determining a corresponding boundary current from the second corresponding relationship to obtain a current value corresponding to the length of the boundary line; the control component 12 controls the signal stabilizing component to adjust the output voltage of the charging station so that the boundary current is adjusted to a current value corresponding to the length of the boundary line.

And the third is that: a third corresponding relation between the length of the boundary line and the current before the boundary current can be stored in the charging station, and after the control component 12 obtains the length of the boundary line, a corresponding current value is directly determined from the third corresponding relation; the control component 12 controls the signal stabilizing component to adjust the output voltage of the charging station so that the boundary current is adjusted to a current value corresponding to the length of the boundary line.

Of course, the control module may adjust the boundary current to a current value corresponding to the length of the boundary line in other manners, which is not listed here.

In summary, in the charging station provided in this embodiment, the information acquisition component is arranged to acquire the relevant information of the boundary signal on the boundary line; sending the relevant information to a control component; the control component controls the signal stabilizing component to adjust the boundary current of the boundary line according to the relevant information; the problem that the intelligent mower possibly cannot work normally along with the extension of the boundary line in the prior art can be solved; because the signal stabilizing assembly can stabilize the boundary current on the boundary line within a certain range, the intelligent mower can detect the boundary signal on the boundary line under the condition that the boundary line is not broken, and the intelligent mower can still work normally along with the extension of the boundary line.

Alternatively, based on the charging station shown in fig. 2, fig. 6 and fig. 7, fig. 8 is a flowchart of an automatic control method provided in an embodiment of the present application, and as shown in fig. 8, the embodiment is described by taking as an example that the method is applied to the control component 12 in the charging station shown in fig. 2, fig. 6 and/or fig. 7, and the method at least includes the following steps:

step 801, acquiring relevant information of the boundary signal on the boundary line.

The related information is acquired by the information acquisition component. After the information acquisition component acquires the relevant information, the relevant information is sent to the control component; or, the control component acquires the related information acquired by the information acquisition component every preset time, and the embodiment does not limit the manner in which the control component acquires the related information.

The relevant information is used for the control component to determine the signal strength of the boundary signal. Illustratively, the related information of the boundary signal includes but is not limited to at least one of the following:

Step 802, controlling the signal stabilizing component to adjust the boundary current of the boundary line according to the related information.

Schematically, when the control assembly determines that the signal intensity of the boundary signal cannot be detected by the intelligent mower according to the related information, the signal stabilizing assembly is controlled to work to improve the boundary current of the boundary line; or the control component determines that the signal intensity of the boundary signal can be detected by the intelligent mower according to the related information, and controls the signal stabilizing component to reduce the boundary current of the boundary line when the signal intensity is greater than the intensity threshold value; or the control component determines that the signal intensity of the boundary signal can be detected by the intelligent mower according to the related information, and when the signal intensity is smaller than or equal to the intensity threshold value, the control signal stabilizing component maintains the boundary current of the boundary line unchanged.

In one example: the information about the boundary signal includes a boundary current of the boundary line. Alternatively, based on the charging station shown in fig. 6, fig. 9 is a flowchart of an automatic control method provided in another embodiment of the present application, and as shown in fig. 9, this embodiment is described by taking as an example that the method is applied to the control component 12 of the charging station shown in fig. 6, and the method at least includes the following steps:

and step 901, controlling a current detection circuit to detect the current boundary current on the boundary line in real time.

And step 902, acquiring the current boundary current detected by the current detection circuit.

Optionally, after the current detection circuit detects the current boundary current, the current detection circuit sends the current boundary current to the control component in real time.

And step 903, controlling the signal stabilizing component to work to increase the boundary current of the boundary line when the current boundary current is lower than a preset current value.

Optionally, the control component is further configured to control the signal stabilizing component to reduce the boundary current of the boundary line when the current boundary current is greater than the current maximum value, so as to save power resources.

Optionally, the control component is further configured to control the signal stabilizing component to maintain the current boundary current of the boundary line when the current boundary current is greater than or equal to a preset current value and less than or equal to a current maximum value.

In the embodiment, the current boundary current on the boundary line is detected in real time through the current detection circuit; when the current boundary current is lower than a preset current value, controlling a signal stabilizing assembly to work so as to improve the boundary current of the boundary line; because the signal stabilizing assembly can stabilize the boundary current on the boundary line within a certain range, the intelligent mower can detect the boundary signal on the boundary line under the condition that the boundary line is not broken, and the intelligent mower can still work normally along with the extension of the boundary line.

In addition, the current detection circuit, the control assembly and the signal stabilizing assembly are arranged in the charging station, so that the charging station can provide boundary signals for boundary lines with longer lengths, and the application range of the charging station is expanded.

In another example, based on the charging station shown in fig. 7, fig. 10 is a flowchart of an automatic control method provided in another embodiment of the present application, and as shown in fig. 10, this embodiment is described by taking as an example that the method is applied to the control component 12 in the charging station shown in fig. 10, and the method at least includes the following steps:

and 1001, acquiring the length of the boundary line acquired based on the man-machine interaction technology through a wireless communication unit.

Step 1002, controlling the signal stabilizing assembly to adjust the boundary current of the boundary line to a current value corresponding to the length of the boundary line.

the first method comprises the following steps: the charging station stores a first corresponding relation between the length of the boundary line and the load and a current value range, and boundary signals corresponding to all current values in the current value range are boundary signals capable of being detected by the intelligent mower. After the control assembly obtains the length of the boundary line, determining a corresponding load from the first corresponding relation; the control component calculates an output voltage range according to the load and the current value range, and the control signal stabilizing component adjusts the output voltage of the charging station to the output voltage range so as to adjust the boundary current to a preset current value corresponding to the length of the boundary line.

And the second method comprises the following steps: a first corresponding relation between the length of the boundary line and the load and a second corresponding relation between the load and the boundary current are stored in the charging station. After the control assembly obtains the length of the boundary line, determining a corresponding load from the first corresponding relation; after the control assembly determines the load, determining corresponding boundary current from the second corresponding relation to obtain a current value corresponding to the length of the boundary line; the control component controls the signal stabilizing component to adjust the output voltage of the charging station so that the boundary current is adjusted to a current value corresponding to the length of the boundary line.

And the third is that: a third corresponding relation between the length of the boundary line and the current before the boundary current can be stored in the charging station, and after the control component obtains the length of the boundary line, a corresponding current value is directly determined from the third corresponding relation; the control component controls the signal stabilizing component to adjust the output voltage of the charging station so that the boundary current is adjusted to a current value corresponding to the length of the boundary line.

In the embodiment, the length of the boundary line is acquired through the wireless communication unit; the control assembly determines a corresponding current value according to the length and controls the signal stabilizing assembly to adjust the boundary current of the boundary line to the current value corresponding to the length; because the signal stabilizing assembly can stabilize the boundary current on the boundary line within a certain range, the intelligent mower can detect the boundary signal on the boundary line under the condition that the boundary line is not broken, and the intelligent mower can still work normally along with the extension of the boundary line.

In summary, in the automatic control method provided in this embodiment, the information acquisition component is arranged to acquire the relevant information of the boundary signal on the boundary line; sending the relevant information to a control component; the control component controls the signal stabilizing component to adjust the boundary current of the boundary line according to the relevant information; the problem that the intelligent mower possibly cannot work normally along with the extension of the boundary line in the prior art can be solved; because the signal stabilizing assembly can stabilize the boundary current on the boundary line within a certain range, the intelligent mower can detect the boundary signal on the boundary line under the condition that the boundary line is not broken, and the intelligent mower can still work normally along with the extension of the boundary line.

And the second method comprises the following steps: the control component determines the adjusting mode of the boundary current according to the detection result of the boundary signal.

Fig. 11 is a schematic structural diagram of an automatic control system according to another embodiment of the present application, and as shown in fig. 11, the automatic control system includes: a smart lawn mower 111 and a charging station 112.

The charging station 112 is connected to the boundary line 113 and provides the boundary line 113 with a boundary current for the intelligent lawn mower 111 to determine the current working position and/or working state according to the boundary signal on the boundary line 113.

The intelligent lawn mower 111 includes a boundary signal detection module 1111, and the boundary signal detection module 1111 is configured to detect a boundary signal on the boundary line 113 in real time.

The charging station 112 includes: the control component 12 is in signal connection with the boundary signal detection module 1111; the input end of the signal stabilizing component 13 is connected with the output end of the control component 12 in a signal mode, and the control component 12 determines the adjusting mode of the boundary current based on the detection result of the intelligent mower 111; the output of the signal stabilizing assembly 13 is connected to the boundary line 113 so that the signal stabilizing assembly 13 adjusts the boundary current of the boundary line 113 according to the control of the control assembly 12.

In one example, the boundary signal detection module 1111 detects a boundary signal on the boundary line 113 in real time; and sends a first detection result to the control component 23, the first detection result being indicative of the signal strength of the boundary signal.

Accordingly, the control component 12 is configured to control the signal stabilizing component 13 to raise the boundary current of the boundary line when the signal strength of the boundary signal is lower than the preset strength value. The intelligent mower 111 stops when the boundary signal is not detected even after the boundary current is raised.

Optionally, the control component 12 is further configured to control the signal stabilizing component 13 to reduce the boundary current of the boundary line when the signal strength of the boundary signal is greater than the maximum strength value, so as to save power resources.

Optionally, the control component 12 is further configured to control the signal stabilizing component 13 to maintain the current boundary current of the boundary line 113 when the signal strength of the boundary signal is greater than or equal to the preset strength value and less than or equal to the maximum strength value.

Optionally, the preset intensity value is a signal intensity just undetectable by the intelligent lawn mower; or slightly larger than the signal strength that the intelligent mower just cannot detect.

In another example, the boundary signal detection module 1111 detects a boundary signal on the boundary line 113 in real time; and transmits a second detection result to the control component 12, the second detection result being used to indicate whether the boundary signal detection module 1111 detects the boundary signal.

Accordingly, the control component 12 is configured to control the signal stabilizing component 13 to raise the boundary current of the boundary line when the boundary signal is not detected by the boundary signal detecting module 1111.

Optionally, the control component 12 is further configured to control the signal stabilizing component 13 to maintain the present boundary current of the boundary line 113 when the boundary signal is detected by the boundary signal detecting module 1111.

Alternatively, since the voltage boosting capability of the signal stabilizing assembly 13 is limited, as the boundary line is extended, the charging station 112 may not be able to continue to stabilize the boundary current on the boundary line 113 within a certain range so that the intelligent mower 111 can detect the boundary signal on the boundary line 113. In order to satisfy the requirement that the intelligent mower 111 can work normally in a working area where a boundary line 113 with a longer length is laid, the system further comprises at least one signal amplification assembly 121 with reference to the automatic control system shown in fig. 12.

The input end of the signal amplification assembly 121 is connected to the boundary line 113, and the output end is connected to the boundary extension line 123. The signal amplification component 121 is configured to amplify the boundary current on the boundary line 113 and output the amplified boundary current to the boundary extension line 123; the extended boundary line 123 is within the operating region surrounded by the boundary line 113.

Alternatively, the signal amplification component 121 may also be referred to as a relay, a current amplifier, and the like, and the name of the signal amplification component 121 is not limited in this embodiment.

Alternatively, the frequency of the boundary signal on the boundary extension line 123 is the same as the frequency of the boundary signal on the boundary line 113; the amplitude of the boundary signal on the boundary extension line 123 is larger than the amplitude of the boundary signal on the boundary line 113.

Optionally, the boundary extension line 123 divides the working area surrounded by the boundary line 113 into n sub-areas. n is an integer greater than 1. Optionally, the n sub-regions are the same area.

It should be noted that fig. 12 only illustrates one signal amplification element 121, and the number of signal amplification elements 121 may be multiple in actual implementation, and the number of signal amplification elements 121 is not limited in this embodiment.

In summary, the automatic control system provided in this embodiment detects the boundary signal on the boundary line in real time through the boundary signal detection module in the intelligent lawn mower; the control component in the charging station controls the signal stabilizing component to work according to the detection result of the boundary signal so as to improve the boundary current of the boundary line; because the signal stabilizing assembly can stabilize the boundary current on the boundary line within a certain range, the intelligent mower can detect the boundary signal on the boundary line under the condition that the boundary line is not broken, and the intelligent mower can still work normally along with the extension of the boundary line.

In addition, by arranging the signal amplification assembly, the input end of the signal amplification assembly is connected with the boundary line, and the output end of the signal amplification assembly is connected with a boundary extension line; the signal amplification assembly amplifies the boundary current on the boundary line and outputs the amplified boundary current to a boundary extension line, and the boundary extension line is located in a working area defined by the boundary line, namely, the working area is divided into a plurality of parts; the distance of the intelligent mower for detecting the boundary signal is shortened, and the intelligent mower is ensured to normally work under the condition that the boundary line is longer and is not disconnected.

Alternatively, based on the automatic control systems shown in fig. 11 and 12, fig. 13 is a flowchart of an automatic control method provided in another embodiment of the present application, and as shown in fig. 13, the present embodiment is described by taking as an example that the method is applied to the automatic control system shown in fig. 11 and/or 12, and the execution subject of each step is the control component 12 in the charging station, and the method includes at least the following steps:

step 1301, controlling the boundary signal detection module to detect the boundary signal on the boundary line in real time.

Step 1302, obtaining a detection result of the boundary signal detection module on the boundary signal.

The detection result includes the first detection result or the second detection result. Wherein the first detection result is used for indicating the signal strength of the boundary signal; the second detection result is used for indicating whether the boundary signal detection module detects the boundary signal.

And step 1303, controlling the signal stabilizing assembly to adjust the boundary current of the boundary line according to the detection result.

In a first example, the detection result is a first detection result, and when the signal intensity of the boundary signal is lower than a preset intensity value, the control component controls the signal stabilizing component to operate to increase the boundary current of the boundary line.

Optionally, the control component is further configured to control the signal stabilizing component to reduce the boundary current of the boundary line when the signal strength of the boundary signal is greater than the maximum strength value, so as to save power resources.

Optionally, the control component is further configured to control the signal stabilizing component to maintain the current boundary current of the boundary line when the signal intensity of the boundary signal is greater than or equal to the preset intensity value and less than or equal to the maximum intensity value.

In a second example, the detection result is a second detection result, and the control component controls the signal stabilizing component to work to increase the boundary current of the boundary line when the boundary signal detection module does not detect the boundary signal.

Optionally, the control component is further configured to control the signal stabilizing component to maintain the present boundary current of the boundary line when the boundary signal is detected by the boundary signal detection module.

In summary, according to the automatic control method provided by the embodiment, the boundary signal on the boundary line is detected in real time by the boundary signal detection module in the intelligent mower; the control component in the charging station controls the signal stabilizing component to work according to the detection result of the boundary signal so as to improve the boundary current of the boundary line; because the signal stabilizing assembly can stabilize the boundary current on the boundary line within a certain range, the intelligent mower can detect the boundary signal on the boundary line under the condition that the boundary line is not broken, and the intelligent mower can still work normally along with the extension of the boundary line.

Optionally, based on the charging station of fig. 2, 6, and/or 7, with reference to fig. 14, the present application further provides an automatic control system including the charging station, the automatic control system including the charging station 1401 of fig. 2, 6, and/or 7 and at least one signal amplification assembly 1402; the charging station 1401 is connected to the boundary line 1403 and provides the boundary line 1403 with a boundary current for the intelligent lawn mower to determine the current working position and/or working state according to the boundary signal on the boundary line.

The input end of the signal amplification module 1402 is connected to the boundary line, and the output end is connected to a boundary extension line 1404; the signal amplification module 1402 is configured to amplify the boundary current on the boundary line 1403 and output the amplified current to the boundary extension line 1404; the extended boundary line 1404 is within the operating region surrounded by the boundary line 1403.

The related description of the signal amplification module 1402 refers to the related description of the signal amplification module 121 shown in fig. 12, and is not repeated herein.

Optionally, the present application further provides a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the automatic control method of the above method embodiment.

Optionally, the present application further provides a computer product, which includes a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the automatic control method of the above-mentioned method embodiment.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A charging station that is connected to a boundary line and provides a boundary current to the boundary line for an intelligent lawn mower to determine a current operating position and/or an operating state according to a boundary signal on the boundary line, the charging station comprising:

2. The charging station of claim 1, wherein the information collection assembly comprises a current detection circuit;

3. The charging station of claim 1, wherein the control component is configured to control the signal stabilizing component to operate to raise the boundary current of the boundary line when the present boundary current is lower than a preset current value.

4. The charging station of claim 1, wherein the control component is configured to control the signal stabilizing component to operate to reduce the boundary current of the boundary line when the boundary current is higher than a preset current value.

5. The charging station of claim 1, wherein the signal stabilization component is configured to adjust the boundary current to be within a predetermined range.

6. The charging station according to claim 1, wherein the information acquisition component comprises a wireless communication unit, and the wireless communication unit is used for acquiring the length of the boundary line acquired based on the human-computer interaction technology;

7. The charging station of any one of claims 1 to 6, wherein the signal stabilizing component is a buck-boost module.

8. An automatic control system is characterized by comprising an intelligent mower and a charging station, wherein the charging station is connected with a boundary line and provides boundary current for the boundary line so that the intelligent mower can determine the current working position and/or working state according to boundary signals on the boundary line;

9. The system of claim 8,

the signal detection module is used for sending a first detection result to the control component, and the first detection result is used for indicating the signal strength of the boundary signal;

10. The system of claim 8,

the signal detection module is used for sending a second detection result to the control component, and the second detection result is used for indicating whether the boundary signal detection module detects a boundary signal;

11. The system of claim 9 or 10,

the intelligent mower is also used for stopping when the boundary signal cannot be detected after the boundary current is lifted.

12. The system of claim 8, further comprising at least one signal amplification component; the input end of the signal amplification assembly is connected with the boundary line, and the output end of the signal amplification assembly is connected with a boundary extension line; the signal amplification assembly is used for amplifying the boundary current on the boundary line and outputting the amplified boundary current to the boundary extension line; the boundary extension line is in a working area surrounded by the boundary lines.

13. The system of claim 12, wherein the extended boundary line divides the operating region into n sub-regions, wherein n is an integer greater than 1.

14. An automatic control system, characterized in that the system comprises a charging station and at least one signal amplification assembly; the charging station is connected with the boundary line and provides boundary current for the boundary line so as to ensure that the intelligent mower can determine the current working position and/or working state according to the boundary signal on the boundary line,

the charging station comprising the charging station of any of claims 1-7;

15. An automatic control method, characterized in that the method is applied to the charging station according to any one of claims 1 to 7; alternatively, in the automatic control system of claim 14, the method comprises:

acquiring relevant information of a boundary signal on a boundary line, wherein the relevant information comprises current boundary current on the boundary line and/or length of the boundary line;

16. The method of claim 15,

the acquiring of the relevant information of the boundary signal on the boundary line includes:

17. The method of claim 16, wherein the signal stabilizing component is controlled to operate to reduce the boundary current of the boundary line when the present boundary current is higher than a preset current value.

18. The method of claim 15,

19. An automatic control method applied to the automatic control system according to any one of claims 8 to 13, the method comprising:

20. The method of claim 19, wherein the detection result comprises a first detection result indicating a signal strength of the boundary signal;

21. The method of claim 20, wherein the signal stabilizing component is controlled to operate to reduce the boundary current of the boundary line when the signal intensity of the boundary signal is higher than a preset intensity value.

22. The method of claim 19, wherein the detection result comprises a second detection result indicating whether the boundary signal detection module detects a boundary signal;