CN112230637A - Method for self-adapting to power supply current direction of mower system and mower system - Google Patents
Method for self-adapting to power supply current direction of mower system and mower system Download PDFInfo
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- CN112230637A CN112230637A CN201910564340.XA CN201910564340A CN112230637A CN 112230637 A CN112230637 A CN 112230637A CN 201910564340 A CN201910564340 A CN 201910564340A CN 112230637 A CN112230637 A CN 112230637A
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- voltage
- mower
- inductor
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- induction
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
Abstract
The invention relates to a method for self-adapting to a power supply current direction of a mower system and the mower system. The method comprises the following steps: s1, the mower is positioned on a mower station of the base station, and the mower and the base station are positioned on a preset boundary line of a zone to be mowed; s2, the base station sends out a magnetic field signal, and a magnetic field sensing unit of the mower generates an induction signal; s3, judging whether the induction signal is consistent with a preset boundary identification signal or not; and S4, if not, setting the sensing signal as a boundary identification signal of the mower, wherein the boundary identification signal is used for positioning during the traveling of the mower. According to the invention, the boundary identification signal of the mower is set by generating the induction signal through the magnetic field sensing unit of the mower, namely the boundary identification signal of the mower can be set through the software parameter setting of the mower, so that the wiring adjustment of workers is not needed, the workload of the workers is reduced, and meanwhile, the intelligent level of the mower is improved.
Description
Technical Field
The invention relates to the field of mowers, in particular to a method for self-adapting to a power supply current direction of a mower system and the mower system.
Background
In a magnetic field positioning mower system, a base station emits a magnetic field in a specific direction, an inductor of a mower (also called an intelligent mower, a mowing robot, or the like) generates an induced voltage under the action of the magnetic field, and the position of the mower is judged to be on, in or out of a boundary according to the direction of the induced voltage, so that the direction of the magnetic field emitted by the base station is required to be consistent with a preset direction. In the process of wiring, the power supply end does not clearly distinguish the types of the line heads, the wiring direction may not meet the requirement, and the direction of the magnetic field generated by the base station is opposite to the direction of the preset magnetic field, so that wiring must be adjusted again, the direction of the magnetic field emitted by the base station is consistent with the preset direction, and redundant workload is brought to working personnel.
Disclosure of Invention
The present invention provides a method for adapting a power supply current direction of a mower system and a mower system, which address the above-mentioned drawbacks of the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method of constructing a lawn mower system adaptive to supply current direction, the lawn mower system comprising a lawn mower and a base station, the method comprising:
s1, the mower is located on a mower station of the base station, and the mower and the base station are located on a preset boundary line of an area to be mowed;
s2, the base station sends out a magnetic field signal, and a magnetic field sensing unit of the mower generates an induction signal;
s3, judging whether the induction signal is consistent with a preset boundary identification signal or not;
and S4, if not, setting the sensing signal as a boundary identification signal of the mower, wherein the boundary identification signal is used for positioning during the travelling process of the mower.
Further, in the method for adapting a direction of a power supply current for a lawn mower system according to the present invention, the generating an induction signal by a magnetic field sensing unit of the lawn mower in step S2 includes: the positioning inductor of the mower generates induced voltage;
the determining whether the sensing signal is consistent with a preset boundary identification signal in step S3 includes: judging whether the voltage waveform of the induction voltage is consistent with the voltage waveform of a preset boundary voltage or not;
the setting of the sensing signal as the boundary identification signal of the lawn mower in the step S4 includes: setting a voltage waveform of the induced voltage as a boundary identification signal of the lawn mower.
Further, in the method for self-adapting a power supply current direction of a mower system according to the present invention, generating an induced voltage by a positioning inductor of the mower includes: a first inductor of the positioning inductor generates a first induction voltage, and the first inductor is positioned in the boundary of the zone to be mowed;
judging whether the voltage waveform of the induction voltage is consistent with the voltage waveform of the preset boundary voltage comprises: judging whether the voltage waveform of the first induction voltage is consistent with the voltage waveform of a first preset induction voltage or not;
the setting the voltage waveform of the induced voltage to the boundary-identifying signal of the lawn mower includes: setting a voltage waveform of the first induced voltage as a boundary-identifying signal of the lawn mower.
Further, in the method for adapting a direction of a supply current of a mower system according to the present invention, after setting the voltage waveform of the first induced voltage as a boundary identification signal of the mower, the method further includes:
setting a voltage waveform of a second induction voltage generated by a second inductor of the positioning inductor as a boundary identification signal of the mower, wherein the second inductor is positioned outside the boundary of the zone to be mowed, and the voltage waveforms of the first induction voltage and the second induction voltage are different.
Further, in the method for self-adapting a power supply current direction of a mower system according to the present invention, generating an induced voltage by a positioning inductor of the mower includes: a second inductor of the positioning inductor generates a second induction voltage, and the second inductor is positioned outside the boundary of the zone to be mowed;
judging whether the voltage waveform of the induction voltage is consistent with the voltage waveform of the preset boundary voltage comprises: judging whether the voltage waveform of the second induction voltage is consistent with the voltage waveform of a second preset induction voltage;
the setting the voltage waveform of the induced voltage to the boundary-identifying signal of the lawn mower includes: setting a voltage waveform of the second induced voltage as a boundary-identifying signal of the lawn mower.
Further, in the method for adapting a direction of a supply current of a mower system according to the present invention, after setting the voltage waveform of the second induced voltage as a boundary identification signal of the mower, the method further includes:
setting a voltage waveform of a first induction voltage generated by a first inductor of the positioning inductor as a boundary identification signal of the mower, wherein the first inductor is positioned in the boundary of the zone to be mowed, and the voltage waveforms of the first induction voltage and the second induction voltage are different.
Further, in the method for self-adapting a power supply current direction of a mower system according to the present invention, generating an induced voltage by a positioning inductor of the mower includes: a first inductor of the positioning inductor generates a first induction voltage, and the first inductor is positioned in the boundary of the zone to be mowed; a second inductor of the positioning inductor generates a second induction voltage, and the second inductor is positioned outside the boundary of the zone to be mowed;
judging whether the voltage waveform of the induction voltage is consistent with the voltage waveform of the preset boundary voltage comprises: judging whether the voltage waveform of the first induction voltage is consistent with the voltage waveform of a first preset induction voltage or not, and simultaneously judging whether the voltage waveform of the second induction voltage is consistent with the voltage waveform of a second preset induction voltage or not;
the setting the voltage waveform of the induced voltage to the boundary-identifying signal of the lawn mower includes: setting voltage waveforms of the first and second induced voltages as boundary identification signals of the lawn mower.
Further, in the method for adapting a direction of a supply current for a lawn mower system according to the present invention, after the step S3, the method further includes:
and S5, if the induction signal is consistent with a preset boundary identification signal, the preset boundary identification signal is used for positioning the mower in the travelling process.
In addition, the invention also provides a mower system using the method for self-adapting the power supply current direction of the mower system.
In addition, the invention also provides a mower system, which comprises a mower and a base station, wherein the mower comprises a processor, a memory, a first inductor and a second inductor, and the processor is respectively connected with the memory, the first inductor and the second inductor; the first inductor is positioned in the boundary of the zone to be mowed, and the second inductor is positioned outside the boundary of the zone to be mowed; in setting the boundary identifying signal of the lawnmower:
the base station continuously transmits magnetic field signals;
the first inductor generates a first induction voltage under the action of a magnetic field signal of the base station;
the second inductor generates a second induction voltage under the action of the magnetic field signal of the base station;
the processor judges whether the waveform of the first induction voltage is consistent with the voltage waveform of a first preset induction voltage or not, and simultaneously judges whether the voltage waveform of the second induction voltage is consistent with the voltage waveform of a second preset induction voltage or not;
the storage is used for storing the first induction voltage and the second induction voltage when the waveform of the first induction voltage is inconsistent with the voltage waveform of a first preset induction voltage and the voltage waveform of the second induction voltage is inconsistent with the voltage waveform of a second preset induction voltage, and setting the first induction voltage and the second induction voltage as boundary identification signals of the mower, wherein the boundary identification signals are used for positioning the mower in the travelling process.
The method for self-adapting to the power supply current direction of the mower system and the mower system have the following beneficial effects: according to the invention, the boundary identification signal of the mower is set by generating the induction signal through the magnetic field sensing unit of the mower, namely the boundary identification signal of the mower can be set through the software parameter setting of the mower, so that the wiring adjustment of workers is not needed, the workload of the workers is reduced, and meanwhile, the intelligent level of the mower is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method for adapting a direction of a supply current for a lawn mower system according to an exemplary embodiment;
FIG. 2 is a flow chart of a method for adapting a direction of a supply current for a lawn mower system according to an exemplary embodiment;
FIG. 3 is a flow chart of a method for adapting a direction of a supply current for a lawn mower system according to an exemplary embodiment;
FIG. 4 is a flow chart of a method for adapting a direction of a supply current for a lawn mower system according to an exemplary embodiment;
FIG. 5 is a flow chart of a method for adapting a direction of a supply current for a lawn mower system according to an exemplary embodiment;
fig. 6 is a schematic structural diagram of a mower system according to an embodiment.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Examples
The lawn mower system of the embodiment comprises a lawn mower and a base station, wherein a preset boundary identification signal for identifying a boundary is stored in the lawn mower. Referring to fig. 1, the method for self-adapting the direction of the supply current of the mower system comprises the following steps:
and S1, the mower is positioned on the mower station of the base station, and the mower and the base station are positioned on the preset boundary line of the zone to be mowed. In this embodiment, the base station itself has directivity, for example, the first direction, and the orientation of the base station itself can be determined by the structure of the base station itself or the orientation mark on the body. After the mowing area is determined, the base station is placed on a preset boundary line of the area to be mowed by referring to the self direction of the base station, and the condition that the self direction of the base station accords with a preset placing position relative to the mowing area is guaranteed. For example, after the base station is positioned, the mowing area is located to the right of the base station as viewed from the first orientation of the base station. And after the base station is placed, the mower is placed on the mower station of the base station.
And S2, the base station sends out a magnetic field signal, and the magnetic field sensing unit of the mower generates an induction signal. After placing the basic station, the staff connects the power supply line for the basic station, and the staff need not consider the wiring direction of power supply line in this embodiment, but forward wiring of this embodiment automatic adaptation and reverse wiring. The base station generates a magnetic field signal after being powered on, and a magnetic field sensing unit of the mower generates an induction signal.
And S3, judging whether the induction signal is consistent with the preset boundary identification signal. After a magnetic field sensing unit of the mower generates an induction signal, a locally stored preset boundary identification signal is read, and the mower judges whether the induction signal is consistent with the preset boundary identification signal.
S4, if the sensing signal is not consistent with the predetermined boundary identification signal, it indicates that the magnetic field direction of the magnetic field signal transmitted by the base station is opposite to the predetermined magnetic field direction, and this embodiment automatically adjusts the boundary identification signal in the lawn mower without requiring the operator to adjust the power supply line, that is, the sensing signal is set as the boundary identification signal of the lawn mower and stored in the memory of the lawn mower, and the boundary identification signal is used for positioning the lawn mower during traveling.
And S5, if the induction signal is consistent with the preset boundary identification signal, the preset boundary identification signal stored in the mower does not need to be changed, and the preset boundary identification signal is used for positioning in the moving process of the mower.
The embodiment generates the induction signal through the magnetic field sensing unit of the mower to set the boundary identification signal of the mower, namely the boundary identification signal of the mower can be set through the software parameter setting of the mower, the wiring adjustment of workers is not needed, the workload of the workers is reduced, and meanwhile, the intelligent level of the mower is improved.
Examples
The lawn mower system of the embodiment comprises a lawn mower and a base station, wherein a preset boundary identification signal for identifying a boundary is stored in the lawn mower. Referring to fig. 2, the method for self-adapting the direction of the supply current of the mower system comprises the following steps:
and S11, the mower is positioned on the mower station of the base station, and the mower and the base station are positioned on the preset boundary line of the zone to be mowed. In this embodiment, the base station itself has directivity, for example, the first direction, and the orientation of the base station itself can be determined by the structure of the base station itself or the orientation mark on the body. After the mowing area is determined, the base station is placed on a preset boundary line of the area to be mowed by referring to the self direction of the base station, and the condition that the self direction of the base station accords with a preset placing position relative to the mowing area is guaranteed. For example, after the base station is positioned, the mowing area is located to the right of the base station as viewed from the first orientation of the base station. And after the base station is placed, the mower is placed on the mower station of the base station.
S21, the base station sends out a magnetic field signal, and the positioning inductor of the mower generates induced voltage. After placing the basic station, the staff connects the power supply line for the basic station, and the staff need not consider the wiring direction of power supply line in this embodiment, but forward wiring of this embodiment automatic adaptation and reverse wiring. After the base station is switched on, a magnetic field signal is generated, and the positioning inductor of the mower generates induction voltage.
And S31, judging whether the voltage waveform of the induction voltage is consistent with the voltage waveform of the preset boundary voltage. After the magnetic field sensing unit of the mower generates the induced voltage, the locally stored preset boundary voltage is read, and the mower judges whether the voltage waveform of the induced voltage is consistent with the voltage waveform of the preset boundary voltage.
And S41, if the voltage waveform of the induced voltage is inconsistent with the voltage waveform of the preset boundary voltage, the magnetic field direction of the magnetic field signal transmitted by the base station is opposite to the preset magnetic field direction, the embodiment does not need a worker to adjust the power supply line, but automatically adjusts the boundary identification signal in the mower, namely the voltage waveform of the induced voltage is set as the boundary identification signal of the mower and stored in the memory of the mower, and the boundary identification signal is used for positioning the mower in the traveling process.
And S51, if the voltage waveform of the induced voltage is consistent with the voltage waveform of the preset boundary voltage, the preset boundary identification signal stored in the mower does not need to be changed, and the preset boundary identification signal is used for positioning in the moving process of the mower.
The boundary identification signal setting of lawn mower can be accomplished through the software parameter setting of lawn mower promptly, no longer need staff's adjustment wiring, reduces staff's work load, improves the intelligent level of lawn mower simultaneously.
Examples
The lawn mower system of the embodiment comprises a lawn mower and a base station, wherein a preset boundary identification signal for identifying a boundary is stored in the lawn mower. Referring to fig. 3, the method for self-adapting the direction of the supply current of the mower system comprises the following steps:
and S12, the mower is positioned on the mower station of the base station, and the mower and the base station are positioned on the preset boundary line of the zone to be mowed. In this embodiment, the base station itself has directivity, for example, the first direction, and the orientation of the base station itself can be determined by the structure of the base station itself or the orientation mark on the body. After the mowing area is determined, the base station is placed on a preset boundary line of the area to be mowed by referring to the self direction of the base station, and the condition that the self direction of the base station accords with a preset placing position relative to the mowing area is guaranteed. For example, after the base station is positioned, the mowing area is located to the right of the base station as viewed from the first orientation of the base station. And after the base station is placed, the mower is placed on the mower station of the base station.
S22, the base station sends out a magnetic field signal, a first inductor of the positioning inductor generates a first induction voltage, and the first inductor is located in the boundary of the zone to be mowed. After placing the basic station, the staff connects the power supply line for the basic station, and the staff need not consider the wiring direction of power supply line in this embodiment, but forward wiring of this embodiment automatic adaptation and reverse wiring. The base station generates a magnetic field signal after being switched on, a first inductor of a positioning inductor in the mower generates a first induction voltage, and the first inductor is positioned in the boundary of the zone to be mowed.
And S32, judging whether the voltage waveform of the first induction voltage is consistent with the voltage waveform of the first preset induction voltage. After the first inductor of the positioning inductor of the mower generates the first induction voltage, the first preset induction voltage stored locally is read, and the mower judges whether the voltage waveform of the first induction voltage is consistent with the voltage waveform of the first preset induction voltage.
S42, if the voltage waveform of the first induced voltage is not consistent with the voltage waveform of the first preset induced voltage, it is described that the magnetic field direction of the magnetic signal emitted by the base station is opposite to the preset magnetic field direction, the present embodiment does not require the operator to adjust the power supply line, but automatically adjusts the boundary identification signal in the mower, that is, the voltage waveform of the first induced voltage is set as the boundary identification signal of the mower, after the voltage waveform of the first induced voltage is set as the boundary identification signal of the mower, the voltage waveform of the second induced voltage generated by the second inductor of the positioning inductor is set as the boundary identification signal of the mower, the second inductor is located outside the boundary of the area to be mowed, the voltage waveforms of the first induced voltage and the second induced voltage are different, that is, the first induced voltage and the second induced voltage are distinguished by the shapes of the voltage waveforms. And stored in the memory of the mower, and the boundary identification signal is used for positioning during the traveling of the mower.
And S52, if the voltage waveform of the first induced voltage is consistent with the voltage waveform of the first preset induced voltage, the preset boundary identification signal stored in the mower does not need to be changed, and the preset boundary identification signal is used for positioning in the moving process of the mower.
The embodiment only needs to judge whether the induced voltage generated by the first inductor is consistent with the waveform of the first preset induced voltage or not, does not judge the second inductor to complete the boundary identification signal setting of the mower, does not need workers to adjust wiring any more, reduces the workload of the workers, and improves the intelligent level of the mower simultaneously.
Examples
The lawn mower system of the embodiment comprises a lawn mower and a base station, wherein a preset boundary identification signal for identifying a boundary is stored in the lawn mower. Referring to fig. 4, the method for self-adapting the direction of the supply current of the mower system comprises the following steps:
and S13, the mower is positioned on the mower station of the base station, and the mower and the base station are positioned on the preset boundary line of the zone to be mowed. In this embodiment, the base station itself has directivity, for example, the first direction, and the orientation of the base station itself can be determined by the structure of the base station itself or the orientation mark on the body. After the mowing area is determined, the base station is placed on a preset boundary line of the area to be mowed by referring to the self direction of the base station, and the condition that the self direction of the base station accords with a preset placing position relative to the mowing area is guaranteed. For example, after the base station is positioned, the mowing area is located to the right of the base station as viewed from the first orientation of the base station. And after the base station is placed, the mower is placed on the mower station of the base station.
S23, the base station sends out a magnetic field signal, a second inductor of the positioning inductor generates a second induction voltage, and the second inductor is located outside the boundary of the zone to be mowed. After placing the basic station, the staff connects the power supply line for the basic station, and the staff need not consider the wiring direction of power supply line in this embodiment, but forward wiring of this embodiment automatic adaptation and reverse wiring. The base station generates a magnetic field signal after being switched on, a second inductor of a positioning inductor in the mower generates a second induction voltage, and the second inductor is located in the boundary of the zone to be mowed.
And S33, judging whether the voltage waveform of the second induction voltage is consistent with the voltage waveform of the second preset induction voltage. After a second inductor of the positioning inductor of the mower generates a second induction voltage, the second induction voltage is read from a second preset induction voltage stored locally, and the mower judges whether the voltage waveform of the second induction voltage is consistent with the voltage waveform of the second preset induction voltage.
S43, if the voltage waveform of the second induced voltage is not consistent with the voltage waveform of the second preset induced voltage, it is described that the magnetic field direction of the magnetic signal emitted by the base station is opposite to the preset magnetic field direction, the present embodiment does not require the operator to adjust the power supply line, but automatically adjusts the boundary identification signal in the mower, that is, the voltage waveform of the second induced voltage is set as the boundary identification signal of the mower, after the voltage waveform of the second induced voltage is set as the boundary identification signal of the mower, the voltage waveform of the first induced voltage generated by the first inductor of the positioning inductor is set as the boundary identification signal of the mower, the first inductor is located in the boundary of the area to be mowed, the voltage waveforms of the first induced voltage and the second induced voltage are different, that is, the first induced voltage and the second induced voltage are distinguished by the shapes of the voltage waveforms. And stored in the memory of the mower, and the boundary identification signal is used for positioning during the traveling of the mower.
And S53, if the voltage waveform of the second induced voltage is consistent with the voltage waveform of the second preset induced voltage, the preset boundary identification signal stored in the mower does not need to be changed, and the preset boundary identification signal is used for positioning in the moving process of the mower.
The embodiment only needs to judge whether the induced voltage generated by the second inductor is consistent with the waveform of the second preset induced voltage, does not judge the first inductor to complete the boundary identification signal setting of the mower, does not need workers to adjust wiring, reduces the workload of the workers, and improves the intelligent level of the mower.
Examples
The lawn mower system of the embodiment comprises a lawn mower and a base station, wherein a preset boundary identification signal for identifying a boundary is stored in the lawn mower. Referring to fig. 5, the method for self-adapting the direction of the supply current of the mower system comprises the following steps:
and S14, the mower is positioned on the mower station of the base station, and the mower and the base station are positioned on the preset boundary line of the zone to be mowed. In this embodiment, the base station itself has directivity, for example, the first direction, and the orientation of the base station itself can be determined by the structure of the base station itself or the orientation mark on the body. After the mowing area is determined, the base station is placed on a preset boundary line of the area to be mowed by referring to the self direction of the base station, and the condition that the self direction of the base station accords with a preset placing position relative to the mowing area is guaranteed. For example, after the base station is positioned, the mowing area is located to the right of the base station as viewed from the first orientation of the base station. And after the base station is placed, the mower is placed on the mower station of the base station.
S24, the base station sends out a magnetic field signal, a first inductor of the positioning inductor generates a first induction voltage, and the first inductor is located in the boundary of the zone to be mowed; a second inductor of the positioning inductor generates a second induced voltage, and the second inductor is located outside the boundary of the zone to be mowed. After placing the basic station, the staff connects the power supply line for the basic station, and the staff need not consider the wiring direction of power supply line in this embodiment, but forward wiring of this embodiment automatic adaptation and reverse wiring. The base station generates a magnetic field signal after being switched on, a first inductor of the positioning inductor generates a first induction voltage, and the first inductor is positioned in the boundary of the zone to be mowed; a second inductor of the positioning inductor generates a second induced voltage, and the second inductor is located outside the boundary of the zone to be mowed.
S34, judging whether the voltage waveform of the first induction voltage is consistent with the voltage waveform of the first preset induction voltage or not, and judging whether the voltage waveform of the second induction voltage is consistent with the voltage waveform of the second preset induction voltage or not. The first inductor of the positioning inductor of the mower generates first induction voltage, the second inductor generates second induction voltage, and then reads the locally stored first preset induction voltage and the second preset induction voltage, the mower judges whether the voltage waveform of the first induction voltage is consistent with the voltage waveform of the first preset induction voltage, and simultaneously judges whether the voltage waveform of the second induction voltage is consistent with the voltage waveform of the second preset induction voltage.
S44, if the voltage waveform of the first induced voltage is not consistent with the voltage waveform of the first preset induced voltage, and at the same time, the voltage waveform of the second induced voltage is not consistent with the voltage waveform of the second preset induced voltage, it is described that the magnetic field direction of the magnetic field signal emitted by the base station is opposite to the preset magnetic field direction.
S54, if the voltage waveform of the first induction voltage is consistent with the voltage waveform of the first preset induction voltage, and the voltage waveform of the second induction voltage is consistent with the voltage waveform of the second preset induction voltage, the preset boundary identification signal stored in the mower does not need to be changed, and the preset boundary identification signal is used for positioning in the moving process of the mower.
Whether the induced voltage that this embodiment judged first inductance production simultaneously is unanimous with first preset induced voltage's waveform, judges simultaneously whether the induced voltage that the second inductance produced is unanimous with the second preset induced voltage's waveform, accomplishes lawn mower's boundary identification signal setting, no longer needs staff's adjustment wiring, reduces staff's work load, improves lawn mower's intelligent level simultaneously.
Examples
The lawn mower system of the embodiment uses the method for self-adapting the direction of the power supply current of the lawn mower system.
Examples
Referring to fig. 6, the mower system of the present embodiment includes a mower and a base station, the mower includes a processor, a memory, a first inductor and a second inductor, and the processor is connected to the memory, the first inductor and the second inductor, respectively; the first inductor is positioned in the boundary of the zone to be mowed, and the second inductor is positioned outside the boundary of the zone to be mowed; in setting the boundary identifying signal of the lawnmower:
the base station continuously transmits magnetic field signals.
The first inductor generates a first induced voltage under the action of a magnetic field signal of the base station.
The second inductor generates a second induced voltage under the action of the magnetic field signal of the base station.
The processor judges whether the waveform of the first induction voltage is consistent with the voltage waveform of the first preset induction voltage or not, and simultaneously judges whether the voltage waveform of the second induction voltage is consistent with the voltage waveform of the second preset induction voltage or not.
The storage is used for storing the first induction voltage and the second induction voltage when the waveform of the first induction voltage is inconsistent with the voltage waveform of the first preset induction voltage and the voltage waveform of the second induction voltage is inconsistent with the voltage waveform of the second preset induction voltage, the first induction voltage and the second induction voltage are set as boundary identification signals of the mower, and the boundary identification signals are used for positioning the mower in the moving process.
The embodiment generates the induction signal through the magnetic field sensing unit of the mower to set the boundary identification signal of the mower, namely the boundary identification signal of the mower can be set through the software parameter setting of the mower, the wiring adjustment of workers is not needed, the workload of the workers is reduced, and meanwhile, the intelligent level of the mower is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (10)
1. A method of adapting a direction of supply current for a lawnmower system, the lawnmower system comprising a lawnmower and a base station, the method comprising:
s1, the mower is located on a mower station of the base station, and the mower and the base station are located on a preset boundary line of an area to be mowed;
s2, the base station sends out a magnetic field signal, and a magnetic field sensing unit of the mower generates an induction signal;
s3, judging whether the induction signal is consistent with a preset boundary identification signal or not;
and S4, if not, setting the sensing signal as a boundary identification signal of the mower, wherein the boundary identification signal is used for positioning during the travelling process of the mower.
2. The method for adapting a direction of a power supply current for a lawn mower system as claimed in claim 1, wherein said step S2 of generating an induction signal by a magnetic field sensing unit of said lawn mower comprises: the positioning inductor of the mower generates induced voltage;
the determining whether the sensing signal is consistent with a preset boundary identification signal in step S3 includes: judging whether the voltage waveform of the induction voltage is consistent with the voltage waveform of a preset boundary voltage or not;
the setting of the sensing signal as the boundary identification signal of the lawn mower in the step S4 includes: setting a voltage waveform of the induced voltage as a boundary identification signal of the lawn mower.
3. The method of claim 2, wherein the step of generating an induced voltage by a positioning inductor of the lawn mower comprises: a first inductor of the positioning inductor generates a first induction voltage, and the first inductor is positioned in the boundary of the zone to be mowed;
judging whether the voltage waveform of the induction voltage is consistent with the voltage waveform of the preset boundary voltage comprises: judging whether the voltage waveform of the first induction voltage is consistent with the voltage waveform of a first preset induction voltage or not;
the setting the voltage waveform of the induced voltage to the boundary-identifying signal of the lawn mower includes: setting a voltage waveform of the first induced voltage as a boundary-identifying signal of the lawn mower.
4. The method of claim 3, wherein after setting the voltage waveform of the first induced voltage to the boundary identification signal of the lawn mower, the method further comprises:
setting a voltage waveform of a second induction voltage generated by a second inductor of the positioning inductor as a boundary identification signal of the mower, wherein the second inductor is positioned outside the boundary of the zone to be mowed, and the voltage waveforms of the first induction voltage and the second induction voltage are different.
5. The method of claim 2, wherein the step of generating an induced voltage by a positioning inductor of the lawn mower comprises: a second inductor of the positioning inductor generates a second induction voltage, and the second inductor is positioned outside the boundary of the zone to be mowed;
judging whether the voltage waveform of the induction voltage is consistent with the voltage waveform of the preset boundary voltage comprises: judging whether the voltage waveform of the second induction voltage is consistent with the voltage waveform of a second preset induction voltage;
the setting the voltage waveform of the induced voltage to the boundary-identifying signal of the lawn mower includes: setting a voltage waveform of the second induced voltage as a boundary-identifying signal of the lawn mower.
6. The method of claim 5, wherein after setting the voltage waveform of the second induced voltage to the boundary identification signal of the lawn mower, the method further comprises:
setting a voltage waveform of a first induction voltage generated by a first inductor of the positioning inductor as a boundary identification signal of the mower, wherein the first inductor is positioned in the boundary of the zone to be mowed, and the voltage waveforms of the first induction voltage and the second induction voltage are different.
7. The method of claim 2, wherein the step of generating an induced voltage by a positioning inductor of the lawn mower comprises: a first inductor of the positioning inductor generates a first induction voltage, and the first inductor is positioned in the boundary of the zone to be mowed; a second inductor of the positioning inductor generates a second induction voltage, and the second inductor is positioned outside the boundary of the zone to be mowed;
judging whether the voltage waveform of the induction voltage is consistent with the voltage waveform of the preset boundary voltage comprises: judging whether the voltage waveform of the first induction voltage is consistent with the voltage waveform of a first preset induction voltage or not, and simultaneously judging whether the voltage waveform of the second induction voltage is consistent with the voltage waveform of a second preset induction voltage or not;
the setting the voltage waveform of the induced voltage to the boundary-identifying signal of the lawn mower includes: setting voltage waveforms of the first and second induced voltages as boundary identification signals of the lawn mower.
8. The method for adapting a direction of a supply current for a lawn mower system as claimed in claim 1, further comprising after said step S3:
and S5, if the induction signal is consistent with a preset boundary identification signal, the preset boundary identification signal is used for positioning the mower in the travelling process.
9. A lawn mower system, characterized in that it uses the method of adaptive supply current direction of the lawn mower system as claimed in any one of claims 1-8.
10. A mower system comprising a mower and a base station, said mower comprising a processor, a memory, a first inductor and a second inductor, said processor being connected to said memory, first inductor and second inductor, respectively; the first inductor is positioned in the boundary of the zone to be mowed, and the second inductor is positioned outside the boundary of the zone to be mowed; in setting the boundary identifying signal of the lawnmower:
the base station continuously transmits magnetic field signals;
the first inductor generates a first induction voltage under the action of a magnetic field signal of the base station;
the second inductor generates a second induction voltage under the action of the magnetic field signal of the base station;
the processor judges whether the waveform of the first induction voltage is consistent with the voltage waveform of a first preset induction voltage or not, and simultaneously judges whether the voltage waveform of the second induction voltage is consistent with the voltage waveform of a second preset induction voltage or not;
the storage is used for storing the first induction voltage and the second induction voltage when the waveform of the first induction voltage is inconsistent with the voltage waveform of a first preset induction voltage and the voltage waveform of the second induction voltage is inconsistent with the voltage waveform of a second preset induction voltage, and setting the first induction voltage and the second induction voltage as boundary identification signals of the mower, wherein the boundary identification signals are used for positioning the mower in the travelling process.
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