CN212539202U

CN212539202U - Control circuit for autonomous working apparatus and autonomous working apparatus

Info

Publication number: CN212539202U
Application number: CN202020968380.9U
Authority: CN
Inventors: 刘芳世; 其他发明人请求不公开姓名
Original assignee: Shanghai Congyuan Machinery Co ltd
Current assignee: Shanghai Shanke robot Co.,Ltd.
Priority date: 2020-06-01
Filing date: 2020-06-01
Publication date: 2021-02-12
Anticipated expiration: 2030-06-01

Abstract

The utility model provides a control circuit for independently operating equipment and independently operating equipment who contains this control circuit. Wherein the autonomous operating device comprises a rain sensor comprising a first electrode and a second electrode. The control circuit includes: a switching circuit connected to the first electrode and the second electrode and configured to exchange polarities of the first electrode and the second electrode; a detection module configured to acquire an electrical signal of the deluge sensor; a determination module configured to determine whether the electrical signal and a first threshold satisfy a first relationship; and a behavior control module configured to change an operating state of the autonomous working device upon determining that the electrical signal and the first threshold satisfy a first relationship.

Description

Control circuit for autonomous working apparatus and autonomous working apparatus

Technical Field

The utility model relates to an automatic control field, more specifically relates to a control circuit for independently operating equipment and independently operating equipment who contains this control circuit.

Background

There are a wide variety of walking robots on the market today, such as robots for mowing, sweeping, mopping, etc., which may work in various environments, such as indoor or/and outdoor environments. In a robot (hereinafter referred to as an autonomous working apparatus) working in an outdoor environment, such as a mowing robot, an operation state is greatly influenced by the environment. For example, in rainy weather, the lawn is muddy, and if the mowing robot continues to work, a large amount of muddy water adheres to the robot, which easily causes a malfunction of the robot, and the lawn is easily damaged. Therefore, such autonomous working apparatuses are generally equipped with an environment sensor for monitoring the working environment. These environmental sensors may include, for example, a rain sensor that detects whether the robot is exposed to rain during operation and automatically stops or issues an alarm when it is determined that the robot is exposed to rain. However, in some existing solutions, rain sensors suffer from inaccurate signal measurements. In other existing schemes, the rain sensor is arranged on the mowing robot, when the mowing robot stops at a base station due to rain, if the base station is provided with a shielding shed, the rain sensor is shielded by the shielding shed and cannot continuously receive the rain, and therefore the mowing robot cannot accurately judge when the mowing robot stops due to rain.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, improve the accuracy of robot control, the utility model provides a control circuit for independently operating equipment and independently operating equipment who contains this control circuit.

According to some aspects of the present invention, a control circuit for autonomous operating equipment is provided. Wherein the autonomous operating device comprises a rain sensor comprising a first electrode and a second electrode. The control circuit includes: a switching circuit connected to the first electrode and the second electrode and configured to exchange polarities of the first electrode and the second electrode; a detection module configured to acquire an electrical signal of the deluge sensor; a determination module configured to determine whether the electrical signal and a first threshold satisfy a first relationship; and a behavior control module configured to change an operating state of the autonomous working device upon determining that the electrical signal and the first threshold satisfy a first relationship.

In some implementations, the switching circuit is configured to set the first electrode to a high potential and the second electrode to a low potential in a first output state; and the switching circuit is configured to set the first electrode to a low potential and the second electrode to a high potential in the second output state.

In some implementations, the control circuit further includes a switching control module configured to control the switching circuit to exchange polarities of the first electrode and the second electrode.

In some implementations, the switching control module is configured to send a first switching signal and a second switching signal to the switching circuit; and the switching circuit is configured to enter the first output state upon receiving the first switching signal and to enter the second output state upon receiving the second switching signal.

In some implementations, the switching control module is configured to alternately send the first switching signal and the second switching signal to the switching circuit at predetermined time intervals.

In some implementations, the detection module is configured to acquire a first electrical signal of the deluge sensor when the switching circuit is in the first output state; the determination module is configured to determine whether the first electrical signal and the first threshold satisfy the first relationship; and the behavior control module is configured to change an operating state of the autonomous working device upon determining that the first electrical signal and the first threshold satisfy the first relationship.

In some implementations, the determination module is configured to further determine whether at least two of the first electrical signals are equal, the behavior control module is configured to change the operating state of the autonomous working device when it is determined that at least two consecutive first electrical signals are substantially equal and both the at least two consecutive first electrical signals and the first threshold satisfy the first relationship.

In some implementations, the detection module is configured to acquire the first electrical signal of the deluge sensor at a time at or a predetermined time after the switching circuit enters the first output state.

In some implementations, the detection module is further configured to acquire a second electrical signal of the deluge sensor when the switching circuit is in the second output state.

In some implementations, the detection module is configured to acquire the second electrical signal of the deluge sensor at a time or a predetermined time after the switching circuit enters the second output state.

In some implementations, the switching circuit is further configured to ground both the first terminal and the second terminal for a predetermined period of time while in the second output state for a predetermined time interval.

In some implementations, the switching circuit includes an H-bridge circuit.

In some implementations, the switching circuit includes a first terminal and a second terminal, the first terminal being connected to the first electrode, the second terminal being connected to the second electrode; the switching circuit further comprises a divider resistor connected in series with the deluge sensor, the first end is connected with the first electrode through the divider resistor, and the detection module acquires the electric signal by detecting the level between the deluge sensor and the divider resistor; the first relationship includes the electrical signal being less than or equal to the first threshold.

In some implementations, the determination module is further configured to determine whether a sum of the first electrical signal and the second electrical signal equals a first preset value; and the behavior control module is further configured to change the operating state of the autonomous working device when it is determined that the first relationship is satisfied between the electrical signal and the first threshold and that the sum of the first electrical signal and the second electrical signal is equal to the first preset value.

According to another aspect of the present invention, there is provided an autonomous working apparatus. The autonomous working equipment comprises the control circuit, a working mechanism and/or a travelling mechanism; wherein the operating mechanism is configured to start or stop an operating state under control of the behavior control module; the running gear is configured to go from a base station or return to a base station under the control of the behavior control module.

Utilize the utility model discloses an independently operation equipment and control circuit thereof carries out polarity conversion between two electrodes through control rain sensor, can avoid drenching the sensor and detecting unsafe problem because the rain concentration polarization phenomenon leads to, realizes the accurate detection to the signal of telecommunication of drenching the sensor.

Drawings

Fig. 1 shows a schematic view of an autonomous operating system according to an embodiment of the invention;

fig. 2 illustrates a schematic structural diagram of a control circuit for autonomous working equipment according to some embodiments of the present disclosure;

fig. 3 shows a timing diagram of a switching signal according to an embodiment of the invention;

fig. 4 shows a timing diagram of a switching signal according to another embodiment of the present invention;

fig. 5 shows a schematic configuration of a control circuit for an autonomous working machine according to further embodiments of the present invention;

fig. 6 shows a schematic structural diagram of a control circuit for autonomous working equipment according to still further embodiments of the present invention; and

fig. 7 shows a schematic diagram of a switching circuit according to some embodiments of the present invention.

In the various drawings, like or similar designations denote like or similar elements.

Detailed Description

Various embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended as limitations on the scope of the invention, but are merely illustrative of the true spirit of the technical solution of the invention.

In the following description, for the purposes of illustrating various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details. In other instances, well-known devices, structures and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

Throughout the specification and claims, the word "comprise" and variations thereof, such as "comprises" and "comprising," are to be understood as an open, inclusive meaning, i.e., as being interpreted to mean "including, but not limited to," unless the context requires otherwise.

Reference throughout this specification to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiments is included in at least one embodiment. Thus, the appearances of the phrases "in one embodiment" or "in some embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and/or" unless the context clearly dictates otherwise.

"equal" or "equal" as used in this description and in the appended claims means that two physical quantities or parameters are ideally equal. It will be appreciated by those skilled in the art that in the actual implementation of the solution, there are allowed tolerances, and two physical quantities or parameters can be considered equal when the difference is not greater than the allowed tolerance. Similarly, the description of "not greater than", "not less than", "not equal to", etc., refers to "not greater than", "not less than", "not equal to", etc., within the allowable error range. Furthermore, "substantially equal" or "substantially equal" as used in this specification and the appended claims means equal in the same sense of validity of two physical quantities or parameters for a given judgment result, for example, a difference between two physical quantities or parameters within 2%, 5%, or 10% may be considered substantially equal, depending on different application scenarios, as long as the validity of the judgment result between the two physical quantities or parameters is the same.

A conventional rain sensor comprises two spaced electrodes between which a voltage is applied. Under normal conditions, two electrodes are insulating each other, and the sensor that drenches with independently break circuit between the inside control circuit of operation equipment, and when falling rain, has gathered the rainwater in the sensor base recess that drenches, because the free ion concentration of rainwater is great and can switch on two electrodes. Therefore, whether it is raining can be known by measuring the resistance of the rain sensor, and the autonomous working apparatus can be controlled accordingly.

However, when a voltage is applied between the two electrodes of the rain sensor, a polarization layer is generated on the two electrodes, and a capacitance effect is generated between the two electrodes, so that the rain sensor does not have a pure resistance, but includes an impedance of a capacitive reactance. When current flows through the rain between the two electrodes, a concentration polarization phenomenon will occur near the two electrodes, which makes the measurement of the resistance of the rain sensor more inaccurate, thereby making it difficult to accurately control the operation of the robot. Still further, the two powered electrodes of the rain sensor and the rain therebetween form an electrolytic cell, the electrodes are usually made of impure metal and are subject to electrochemical corrosion by electrode reaction, resulting in a change in the electrical resistivity of the electrode surface, which is usually increased, which renders the detection of rain insensitive.

Fig. 1 shows a schematic diagram of an autonomous operating system according to an embodiment of the invention. As shown in fig. 1, the autonomous operating system includes an autonomous operating device 1 and a base station 2. The autonomous working apparatus 1 may be, for example, a mowing robot. The base station 2 may also be referred to as a beacon station, a charging station, a parking station, etc., and the autonomous working apparatus 1 is usually initially located at the base station 2 for operations such as positioning or charging. The base station 2 may feed the borderline 3 connected thereto so as to generate an electromagnetic field around the borderline 3. The autonomous working apparatus 1 can continuously sense the electromagnetic field while walking to determine whether it is located within the operation area 4 from the sensed electromagnetic field signal. It will be appreciated by those skilled in the art that the autonomous working system is here depicted as a lawn mowing robot, but in the case of other autonomous working devices the entire system may have a different form, e.g. may not have a boundary line 3.

Fig. 2 illustrates a schematic diagram of a control circuit 200 for an autonomous working machine according to some embodiments of the present invention. The control circuit 200 may be located in the autonomous working apparatus 1 shown in fig. 1, for example.

As shown in fig. 2, the control circuit 200 includes a switching circuit 10 and a main controller 20 connected to the switching circuit 10. The switching circuit 10 includes a first terminal 11 and a second terminal 12, wherein the first terminal 11 and the second terminal 12 are connected to a first electrode 51 and a second electrode 52 of a rain sensor 50 mounted on the autonomous working apparatus 1, respectively. Here, the first electrode 51 and the second electrode 52 may have different polarities by applying a voltage across the first electrode 51 and the second electrode 52. As shown in fig. 2, the first electrode 51 and the second electrode 52 are disposed on the insulating base 53 of the rain sensor 50 at intervals and penetrate the base 53. When rain falls, rainwater collected in the groove 54 at the top of the base 53 will conduct the first electrode 51 and the second electrode 52 to form an electrical path. In one embodiment, the switching circuit 10 includes an H-bridge circuit, and fig. 7 exemplarily shows a schematic diagram of the switching circuit 10 according to some embodiments of the present invention, wherein the rain sensor 50 is equivalent to a variable resistor R0, the terminals T1 and T2 are connected to a power supply, and the terminals T3 and T4 are grounded. In one connection state, when the switch K1 and the switch K4 are closed and the switch K2 and the switch K3 are opened, the left end of the variable resistor R0 is at a high potential and the right end of the variable resistor R0 is at a low potential. In another connection state, the switch K1 and the switch K4 are open, the switch K2 and the switch K3 are closed, the left end of the variable resistor R0 is at a low potential, and the right end of the variable resistor R0 is at a high potential. The switches K1-K4 can be selected from mechanical switches, electronic switches (such as MOS transistors) and the like. It should be understood that the description of fig. 7 is schematic and that those skilled in the art will be able to devise various implementations that are within the principles of this disclosure, in conjunction with actual practice. More specifically, the switching circuit 10 may be an H-bridge integrated chip, such as L9100S.

The main controller 20 may be implemented on a single chip or on a single chip, or may be implemented on multiple chips or on multiple chips. The main controller 20 may comprise a switching control module 21 configured to send a switching signal to the switching circuit 10 at predetermined time intervals to exchange the polarities of the first electrode 51 and the second electrode 52 of the rain sensor 50. Fig. 3 shows a timing diagram of a switching signal according to an embodiment of the invention. As shown in fig. 3, in each cycle C, the switching control module 21 sends a switching signal SW to the switching circuit 10 at predetermined time intervals T, the switching signal SW being used to control the switching circuit 10 to exchange the polarities of the first electrode 51 and the second electrode 52 of the rain sensor 50. Taking the nth cycle Cn as an example, the switching control module 21 sends a switching signal SW to the switching circuit 10 at a time T _ n _1 and at a time T _ n _2 after the predetermined time interval T, respectively₁And SW₂. In one example, the switching signal SW₁And SW₂May be an identical signal, for example a single pulse signal, which is only used to instruct the switching circuit 10 to switch polarity. In another example, the switching signal SW₁And SW₂May be a different signal that contains additional information in addition to instructing switching circuit 10 to switch polarity. In another embodiment, the switching signal SW₁And SW₂It may be a simple high-low level signal or a communication signal conforming to a certain communication protocol. In other embodiments, the switching control module 21 may not be disposed on the main controller 20, but rather, it may be disposed separately or integrated with the switching circuit 10, i.e., the switching circuit 10 autonomously controls the polarity exchange of the electrodes 51 and 52. In the following, the switching circuit 10 receives a switching signal from the switching control module 21 to exchange the polarities of the electrodes 51 and 52 is described as an example. However, those skilled in the artIt is understood that the present invention may also be implemented to autonomously control the polarity exchange of the electrodes 51 and 52 by the switching circuit 10 without exceeding the scope of the present invention.

Suppose that the switching circuit 10 receives the first switching signal SW at time t _ n _1₁It enters a first output state in which the first terminal 11 is at a high voltage level (in this embodiment, the first terminal 11 is connected to the power source Vcc), and the second terminal 12 is at a low voltage level (in this embodiment, the second terminal 12 is grounded). At this time, the first electrode 51 connected to the first terminal 11 is at a high potential, and the second electrode 52 connected to the second terminal 12 is at a low potential, so that in the system of the first electrode 51-rain (if present) -second electrode 52, the first electrode 51 is a positive electrode and the second electrode 52 is a negative electrode.

At a time T _ n _2 after the predetermined time interval T, the switching circuit 10 receives the second switching signal SW₂It enters a second output state in which the first terminal 11 is at a low potential (in this embodiment, the first terminal 11 is grounded), and the second terminal 12 is at a high potential (in this embodiment, the second terminal 12 is connected to the power supply Vcc). At this time, the first electrode 51 connected to the first terminal 11 is at a low potential, and the second electrode 52 connected to the second terminal 12 is at a high potential, so that in the system of the first electrode 51-rain (if present) -second electrode 52, the first electrode 51 is a negative electrode and the second electrode 52 is a positive electrode. Furthermore, since the switching control module 21 sends a switching signal to the switching circuit 10 every predetermined time T, the duration of the first output state is made substantially equal to the duration of the second output state.

In this way, in a period C, the anodes and the cathodes of the rain sensor 50 are exchanged twice and respectively maintained for the same time interval T, so that the phenomenon of rainwater concentration polarization in the rain sensor 50 can be avoided or reduced, and the electrochemical corrosion of the electrodes can be effectively reduced and slowed down.

The master controller 20 further comprises a detection module 22 configured to acquire an electrical signal of the deluge sensor 50 within a predetermined time interval T. As shown in fig. 3, it is assumed that in the cycle Cn, the detection module 22 detects the electrical signal of the rain sensor 50 at a time t _ n _ d1 after the time t _ n _ 1. According to an embodiment of the present invention, in order to maintain the consistency of the measurements, in each cycle C, the detection module 22 acquires this electrical signal at the time or at a predetermined time Δ t (as shown in fig. 3) after the switching circuit 10 enters the first output state, i.e., t _ n _ d1-t _ n _1 ═ t _ n +1_ d1-t _ n +1_1 ═ Δ t.

In one embodiment, the switching circuit 10 includes a voltage dividing resistor (e.g., resistor R1 shown in fig. 2) connected in series with the rain sensor 50, and the first terminal 11 is connected to the first electrode 51 through the voltage dividing resistor R1. In this case, the detection module 22 obtains the electrical signal by detecting the level between the rain sensor 50 and the voltage dividing resistor R1, where the electrical signal is a voltage signal (for example, the electrical signal obtained at the time t _ n _ d1 can be represented as V_{t_n_d1}) Indicating the voltage drop across the rain sensor 50 and the voltage divider resistor R1.

In another embodiment, the switching circuit 10 includes a shunt resistor (not shown) in parallel with the rain sensor 50. In this case, the detection module 22 obtains the electrical signal by detecting the current flowing through the rain sensor 50, where the electrical signal is a current signal (for example, the electrical signal obtained at the time t _ n _ d1 can be represented as I)_{t_n_d1}) Which indicates the current flowing between the first electrode 51 and the second electrode 52 of the rain sensor 50.

The main controller 20 further comprises a decision block 23 configured to determine whether the relationship of the electrical signal to the first threshold is a first relationship. When the switching circuit 10 includes a voltage dividing resistor connected in series with the deluge sensor 50, the electrical signal is a voltage signal or a level signal, the first threshold is a predetermined voltage threshold or level threshold, and the first relationship may include the electrical signal being less than or equal to the first threshold. When the switching circuit 10 includes a shunt resistance connected in parallel with the deluge sensor 50, the electrical signal is a current signal, the first threshold is a predetermined current threshold, and the first relationship is defined as the electrical signal being less than or equal to the first threshold. The invention is described below with reference to a voltage or level signal as an example of such an electrical signal.

When there is no rain fall (no rain water in the groove 54 or gathered rain water has not conducted the first electrode 51 and the second electrode 52),there is no electrical connection between the first electrode 51 and the second electrode 52, so that the electrical signal V obtained by the module 22 is detected_{t_n_d1}Substantially equal to the supply voltage Vcc. On the other hand, when rain falls (rain water collected in the groove 54 conducts the first electrode 51 and the second electrode 52), an electrical connection is formed between the first electrode 51 and the second electrode 52, and thus the electrical signal V acquired by the detection module 22 is detected_{t_n_d1}Significantly lower than the supply voltage Vcc. Here, the first threshold value Vm may be a fixed value or a value proportional to the power supply voltage Vcc, for example, 50% of the power supply voltage Vcc. In general, a suitable first threshold value Vm may be obtained by simulation experiments.

The master controller 20 may also include a behavior control module 24 configured to determine the electrical signal V_{t_n_d1}The operation state of the autonomous working apparatus 1 is changed when it is less than or equal to the first threshold value Vm. When determining the electrical signal V_{t_n_d1}When the first threshold Vm is less than or equal to the first threshold Vm, the behavior control module 24 may control the autonomous working apparatus 1 to stop working and return to the base station 2. More specifically, the working mechanism 30 of the autonomous working apparatus 1 stops working under the control of the behavior control module 24 and the traveling mechanism 40 of the autonomous working apparatus 1 returns to the base station 2 under the control of the behavior control module 24. That is, when the detection module 22 acquires the electrical signal V_{t_n_d1}When the first threshold Vm is less than or equal to the first threshold Vm, the main controller 20 determines that it is currently raining, and in this case, the behavior control module 24 may control the robot 1 to stop working and return to the base station 2 to keep out the rain. In other embodiments, for example, in the case where the autonomous working apparatus 1 needs to operate during rain, the standby state is entered when the rain sensor 50 detects no rain, and the operating state is entered when the rain sensor 50 detects rain.

Further, in order to make the control more accurate, the detection module 22 may continuously acquire the plurality of electrical signals of the rain sensor 50 every two predetermined time intervals T, i.e., once per cycle C. As shown in FIG. 3, the detection module 22 may acquire the electrical signals V at times t _ n _ d1 in the cycle Cn, respectively_{t_n_d1}The electrical signal V is acquired at a time t _ n +1_ d1 in the cycle Cn +1_{t_n+1_d1}… … in circulationThe electrical signal V is taken at time t _ n + k _ d1 in Cn + k_{t_n+k_d1}Wherein n and k are positive integers greater than or equal to 1. In one example, k is 3. The determining module 23 can determine the plurality of electrical signals V_{t_n_d1}、V_{t_n+1_d1}、……、V_{t_n+k_d1}Whether all are less than or equal to the first threshold value Vm, and when determining the plurality of electrical signals V_{t_n_d1}、V_{t_n+1_d1}、……、V_{t_n+k_d1}Are less than or equal to the first threshold value Vm, the behavior control module 24 changes the operation state of the autonomous working apparatus 1.

By obtaining and determining the electrical signals over a plurality of cycles, the main controller 20 can more accurately determine whether it is currently in a rainfall environment, thereby avoiding erroneous determinations due to accidental conditions (e.g., a small amount of other water accidentally falls into the groove 54).

Further, the determining module 23 may also determine a plurality of electrical signals V_{t_n_d1}、V_{t_n+1_d1}、……、V_{t_n+k_d1}Whether substantially equal, and behavior control module 24 may be determining a plurality of electrical signals V_{t_n_d1}、V_{t_n+1_d1}、……、V_{t_n+k_d1}Are less than or equal to the first threshold value Vm and substantially equal to each other, the operation state of the autonomous working apparatus 1 is changed. By the mode, whether the rainfall intensity is stable or not can be judged, so that the control accuracy is further improved.

In the embodiment shown in fig. 3, the detection module 22 acquires the electrical signal V once per cycle C_{t_n_d1}. In another embodiment, the detection module 22 may acquire the electrical signal twice in each cycle C. Fig. 4 shows a timing diagram of a switching signal according to another embodiment of the present invention. Similar to fig. 3, in each cycle C, the switching control module 21 sends a switching signal SW to the switching circuit 10 at times t _ n _1 and t _ n _2, respectively₁And SW₂. Unlike in fig. 3, the detection module 22 acquires the first electrical signal V of the rain sensor 50 except at the time when the switching circuit 10 enters the first output state or at a predetermined time Δ t thereafter_{t_n_d1}In addition, at or after the time at which the switching circuit 10 enters the second output state by a predetermined time Δ t (as in fig. 4)Shown) obtains a second electrical signal V of the rain sensor 50_{t_n_d2}. The judging module 23 determines the first electrical signal V_{t_n_d1}And a second electrical signal V_{t_n_d2}Whether the sum equals a first preset value. In the present embodiment, the first preset value specifically refers to the voltage Vcc of the power supply, and the voltage Vcc of the power supply described herein generally refers to the sum of the voltages applied to the rain sensor 50 and the voltage dividing resistor, and is described below with the voltage Vcc of the power supply or the power supply voltage Vcc by way of example. In determining the electric signal V_{t_n_d1}(i.e. the first electrical signal V_{t_n_d1}) Is less than or equal to a first threshold value Vm and the first electrical signal V_{t_n_d1}And a second electrical signal V_{t_n_d2}When the sum is equal to the voltage Vcc of the power supply, the behavior control module 24 changes the operation state of the autonomous operating device 1. That is, the sum of the two electric signals measured after the same period of time after the polarity inversion of the electrodes 51 and 52 should be equal to the power supply voltage Vcc, thereby further improving the accuracy of the measurement.

In the embodiment shown in fig. 3 and 4, each cycle C is shown as twice the predetermined time interval T, i.e. immediately after the control circuit 10 is in the second output state for the predetermined time interval T, it enters the next cycle and is in the first output state under the control of the switching signal SW 1. However, in a further embodiment of the present invention, when the switching circuit 10 is in the second output state for a predetermined time interval T (at a time when the time interval T elapses after the time T _ n _2 shown in fig. 3 and 4), both the first terminal 11 and the second terminal 12 are grounded for a predetermined time period δ. Here, the predetermined period δ may be a value much smaller than the predetermined time interval T. Thus, both the first electrode 51 and the second electrode 52 are grounded during the period δ, so that the electric charges near the first electrode 51 and the second electrode 52 are dissipated.

As described above, the determination module 23 can determine the electrical signal V acquired by the detection module 22_{t_n_d1}Is equal to the voltage Vcc of the power supply. When the detection module 22 obtains the electrical signal V_{t_n_d1}Equal to the voltage Vcc of the power supply, there is no rain in the recess 54 of the rain sensor 50. This can be divided into two cases, one is no rain at all times, and the other isWhen it is rained, the rain stops for a period of time, and the water in the grooves 54 is completely drained or evaporated. In this case, in some further embodiments, behavior control module 24 may further determine whether the operating state of autonomous working device 1 is an operating state or a stopped state. If it is determined that the autonomous working apparatus 1 is in the stopped state, the behavior control module 24 may control the autonomous working apparatus 1 to enter the operating state. For example, when the autonomous working apparatus 1 stops operating due to rain, the electrical signal V of the rain sensor 50 is detected again_{t_n_d1}When the power supply voltage Vcc is restored, it can be determined that the rain has stopped and the rain water in the groove 54 has completely drained or evaporated, and the external environment becomes suitable again for the operation from the main working device 1. In this case, the autonomous working apparatus 1 can be put into operation again by determining the current operation state thereof and changing it from the stop state to the operating state. At this time, the traveling mechanism 40 of the autonomous working apparatus 1 starts from the base station 2 under the control of the behavior control module 24, and the working mechanism 30 of the autonomous working apparatus 1 starts the working state under the control of the behavior control module 24.

Fig. 5 shows a schematic configuration diagram of a control circuit 500 for an autonomous working machine according to further embodiments of the present invention. In these embodiments, the rain sensor 50 may be provided on a second device separate from the autonomous working device, which is illustratively the base station 2 shown in fig. 1 or another separate device, which may be dedicated to detecting whether it rains or may also have other functions such as signal emission. In some embodiments, the second apparatus is fixedly disposed on the ground, a building or a structure. In other embodiments, the second device may also be provided on another robot, for example, if the autonomous operating system includes an aircraft (typically a drone, which is commonly used to implement monitoring of a work area), the second device may be the aircraft, i.e., the control circuit 500 may be provided on the aircraft. Further, if a plurality of autonomous working apparatuses 1 are included in the autonomous working system, the second apparatus may be at least one of the plurality of autonomous working apparatuses 1, that is, the control circuit 500 may be provided on at least one of the plurality of autonomous working apparatuses 1, and there is at least one autonomous working apparatus 1 without the control circuit 500. For example, it may be advantageous to provide on autonomous working equipment of the type that does not have to stop working when it rains. Hereinafter, the rain sensor 50 will be described by way of example as being provided in the base station 2. The entire control circuit 500 may include a portion 510 in the base station 2 and a portion 520 in the autonomous working apparatus 1. Here, as described below, the main control function is realized by the section 510 in the base station 2, and therefore, the section 510 may also be referred to as a control circuit for controlling the autonomous working apparatus 1. The following description will be made focusing on differences between the control circuit 510 shown in fig. 5 and the control circuit 200 shown in fig. 2, and descriptions of the same parts will be omitted.

Similar to fig. 2, the control circuit 510 includes a switching circuit 10 and a main controller 20 connected to the switching circuit 10. The switching circuit 10 includes a first terminal 11 and a second terminal 12, wherein the first terminal 11 and the second terminal 12 are connected to a first electrode 51 and a second electrode 52 of a rain sensor 50 mounted on the autonomous working apparatus 1, respectively. Here, the first electrode 51 and the second electrode 52 may have different polarities by applying a voltage across the first electrode 51 and the second electrode 52. As shown in fig. 5, the first electrode 51 and the second electrode 52 are disposed on the insulating base 53 of the rain sensor 50 at intervals and penetrate the base 53. When rain falls, rainwater collected in the groove 54 at the top of the base 53 will conduct the first electrode 51 and the second electrode 52 to form an electrical path. In one embodiment, the switching circuit 10 comprises an H-bridge circuit, as shown in fig. 7. More specifically, the switching circuit 10 may be an H-bridge integrated chip, such as L9100S.

The main controller 20 may be implemented on a single chip or a plurality of single chips or a plurality of chips. The main controller 20 may comprise a switching control module 21 configured to send a switching signal to the switching circuit 10 at predetermined time intervals to exchange the polarities of the first electrode 51 and the second electrode 52 of the rain sensor 50. The timing diagrams of the switching signals are shown in fig. 3 and 4 and described above in conjunction with fig. 2, and are not described again here.

The master controller 20 further comprises a detection module 22 configured to acquire an electrical signal of the deluge sensor 50 within a predetermined time interval T. As shown in fig. 3, it is assumed that in the cycle Cn, the detection module 22 detects the electrical signal of the rain sensor 50 at a time t _ n _ d1 after the time t _ n _ 1. According to an embodiment of the present invention, in order to maintain the consistency of the measurements, in each cycle C, the detection module 22 acquires the electrical signal at the moment when the switching circuit 10 enters the first output state or at a predetermined time Δ t later, i.e. t _ n _ d1-t _ n _1 ═ t _ n +1_ d1-t _ n +1_1 ═ Δ t.

Similarly, in one embodiment, the switching circuit 10 includes a voltage dividing resistor (e.g., resistor R1 shown in fig. 5) connected in series with the rain sensor 50, and the first terminal 11 is connected to the first electrode 51 through the voltage dividing resistor R1. In this case, the detection module 22 obtains the electrical signal by detecting the level between the rain sensor 50 and the voltage dividing resistor R1, where the electrical signal is a voltage signal (for example, the electrical signal obtained at the time t _ n _ d1 can be represented as V_{t_n_d1}) Indicating the voltage drop across the rain sensor 50 and the voltage divider resistor R1.

Similar to the embodiment shown in fig. 2, the main controller 20 may further include a determination module 23 configured to determine whether the relationship of the electrical signal to the first threshold Vm is a first relationship. When the switching circuit 10 includes a voltage dividing resistor connected in series with the rain sensor 50, the electrical signal is a voltage signal or a level signal, the first threshold is a predetermined voltage threshold or level threshold, and the first relationship may include that the electrical signal is less than or equal to the first threshold. When the switching circuit 10 comprises a shunt resistor in parallel with the deluge sensor 50, the electrical signal is a current signal, the first threshold is a predetermined current threshold, and the first relationship may comprise that the electrical signal is less than or equal to the first threshold. The invention is described below with reference to a voltage or level signal as an example of such an electrical signal.

Unlike the embodiment shown in fig. 2, the master controller 20 does not include the behavior control module 24 but includes the first communication module 25. Wherein the first communication module 25 is configured to determine the electrical signal V_{t_n_d1}A command signal is transmitted to the autonomous working apparatus 1 to cause the autonomous working apparatus 1 to change the operation state at the timing when the relationship with the first threshold value Vm is the first relationship. Here, communication between the first communication module 25 and the autonomous working apparatus 1 (more specifically, the second communication module 26 of the autonomous working apparatus 1) may be performed by a general or dedicated communication method. For example, connection and communication may be performed by wireless communication means such as wifi or bluetooth. Alternatively, the communication may be performed by a boundary signal having a specific rule, which is not described herein.

The autonomous working apparatus 1 includes a second communication module 26 configured to receive the command signal from the first communication module 25, and further includes a behavior control module 24 configured to change the operating state of the autonomous working apparatus 1 according to the command signal. For example, the behavior control module 24 may control the autonomous working apparatus 1 to stop working and return to the base station 2. More specifically, the working mechanism 30 of the autonomous working apparatus 1 stops working under the control of the behavior control module 24 and the traveling mechanism 40 of the autonomous working apparatus 1 returns to the base station 2 under the control of the behavior control module 24. In some embodiments, the electrical signal V is obtained when the detection module 22 is in operation_{t_n_d1}When the current time is less than or equal to the first threshold Vm, the base station 2 determines that it is currently raining, and in this case, the base station 2 transmits a control command to the autonomous working apparatus 1 to control the robot 1 to stop working and return to the base station 2 to take shelter from rain. In other embodiments, for example, when the autonomous working apparatus 1 needs to operate in the rain, the command signal is transmitted to cause the autonomous working apparatus 1 to enter the standby state when the rain sensor 50 detects no rain, and the command signal is transmitted to cause the autonomous working apparatus 1 to enter the operating state when the rain sensor 50 detects rain.

Further, similar to the embodiment shown in fig. 2, in order to make the control more accurate, the detection module 22 may continuously acquire a plurality of electrical signals of the rain sensor 50 every two predetermined time intervals T, i.e., once per cycle C. The determination module 23 may determine whether all of the plurality of electric signals are less than or equal to the first threshold value Vm, and when it is determined that all of the plurality of electric signals are less than or equal to the first threshold value Vm, the first communication module 25 transmits the command signal to the autonomous working apparatus 1.

Further, the determination module 23 may also determine whether the plurality of electric signals are substantially equal, and the first communication module 25 may transmit the command signal to the autonomous working apparatus 1 upon determining that the plurality of electric signals are all less than or equal to the first threshold value Vm and substantially equal.

As shown in fig. 4, the detection module 22 acquires the first electric signal V of the rain sensor 50 except at the time when the switching circuit 10 enters the first output state or at a predetermined time Δ t thereafter_{t_n_d1}Besides, the second electrical signal V of the rain sensor 50 may be acquired at the time when the switching circuit 10 enters the second output state or at a predetermined time Δ t later accordingly_{t_n_d2}. The judging module 23 determines the first electrical signal V_{t_n_d1}And a second electrical signal V_{t_n_d2}Whether the sum is equal to a first preset value, and determining the electrical signal V_{t_n_d1}(i.e. the first electrical signal V_{t_n_d1}) Is less than or equal to a first threshold value Vm and the first electrical signal V_{t_n_d1}And a second electrical signal V_{t_n_d2}When the sum equals the first preset value, first communication module 25 transmits the command signal to autonomous working apparatus 1 to change the operating state of autonomous working apparatus 1. Here, the first preset value may refer to a voltage Vcc of the power supply. That is, the sum of the two electric signals measured after the same period of time after the polarity inversion of the electrodes 51 and 52 should be equal to the power supply voltage Vcc, thereby further improving the accuracy of the measurement.

Similarly, in a further embodiment of the present invention, when the switching circuit 10 is in the second output state for a predetermined time interval T (at a time when the time interval T elapses after the time T _ n _2 shown in fig. 3 and 4), both the first terminal 11 and the second terminal 12 may be grounded for a predetermined time period δ.

As described above, the determination module 23 can determine the electrical signal V acquired by the detection module 22_{t_n_d1}Is equal to the voltage Vcc of the power supply. When the detection module 22 obtains the electrical signal V_{t_n_d1}Equal to the voltage Vcc of the power supply, there is no rain in the recess 54 of the rain sensor 50. This can be divided into two cases, one is that there is no rain at all, and the other is that there has been rain before, the rain has stopped for a while, and the water in the groove 54 has been drained or evaporated completely. In this case, in some further embodiments, first communication module 25 may further determine whether the operation state of autonomous working apparatus 1 is the working state or the stop state. If it is determined that the autonomous working apparatus 1 is in the stopped state, the first communication module 25 may transmit the command signal to the autonomous working apparatus 1. For example, when the autonomous working apparatus 1 stops operating due to rain, the electrical signal V of the rain sensor 50 is detected again_{t_n_d1}When the power supply voltage Vcc is restored, it can be determined that the rain has stopped and the rain water in the groove 54 has completely drained or evaporated, and the external environment becomes suitable again for the operation from the main working device 1. In this case, the autonomous working apparatus 1 can be put into operation again by determining the current operation state thereof and changing it from the stop state to the operating state. At this time, behavior control module 24 may change the operating state of autonomous working apparatus 1 according to the command signal. Specifically, the traveling mechanism 40 of the autonomous working apparatus 1 may start from the base station 2 under the control of the behavior control module 24, and the working mechanism 30 of the autonomous working apparatus 1 may start the working state under the control of the behavior control module 24.

The embodiment shown in fig. 5 may be an alternative to the embodiment shown in fig. 2 (i.e. the rain sensor is mounted only on the base station 2, not on the autonomous working apparatus 1) or a complement to the embodiment shown in fig. 2 (i.e. the rain sensor is mounted on both the autonomous working apparatus 1 and the base station 2). In some cases, this is advantageous. For example, in the case where the base station 2 is provided with a shelter, it may be impossible to accurately judge whether or not there is a rain stop when the autonomous working apparatus 1 is parked at the base station 2, thereby failing to accurately control the operation state thereof.

Fig. 6 shows a schematic configuration of a control circuit 600 for an autonomous working machine according to further embodiments of the present invention. Similar to the embodiment shown in fig. 5, the rain sensor 50 may be provided on a second device separate from the autonomous working device 1, which is exemplarily the base station 2 shown in fig. 1 or another separate device, which may be dedicated to detecting whether it rains or may also have other functions such as signal transmission. Hereinafter, the rain sensor 50 will be described by way of example as being provided in the base station 2. The entire control circuit 600 may include a portion 610 in the base station 2 and a portion 620 in the autonomous working apparatus 1. Unlike the embodiment of fig. 5, the control function is realized by a portion 610 in the base station 2 and a portion 620 in the autonomous working apparatus 1 in cooperation, for example, the determination module 23 is located in the autonomous working apparatus 1 instead of the base station 2. The following description will be made focusing on differences between the control circuit 600 shown in fig. 6 and the control circuit 200 shown in fig. 2 and the control circuit 500 shown in fig. 5, and descriptions of the same parts will be omitted.

Similar to fig. 2 and 5, the control circuit section 610 of the base station 2 includes a switching circuit 10 and a main controller 20 connected to the switching circuit 10. The switching circuit 10 includes a first terminal 11 and a second terminal 12, wherein the first terminal 11 and the second terminal 12 are connected to a first electrode 51 and a second electrode 52 of a rain sensor 50 mounted on the autonomous working apparatus 1, respectively. Here, the first electrode 51 and the second electrode 52 may have different polarities by applying a voltage across the first electrode 51 and the second electrode 52. As shown in fig. 6, the first electrode 51 and the second electrode 52 are disposed on the insulating base 53 of the rain sensor 50 at intervals and penetrate the base 53. When rain falls, rainwater collected in the groove 54 at the top of the base 53 will conduct the first electrode 51 and the second electrode 52 to form an electrical path. In one embodiment, switching circuit 10 comprises an H-bridge circuit. More specifically, the switching circuit 10 may be an H-bridge integrated chip, such as L9100S.

The main controller 20 may be implemented on a single chip, multiple single chips, or multiple chips, and the control circuit portion 620 (the second communication module 26, the judgment module 23, and the behavior control module 24) may be implemented on another single chip or another single chip. The main controller 20 may comprise a switching control module 21 configured to send a switching signal to the switching circuit 10 at predetermined time intervals to exchange the polarities of the first electrode 51 and the second electrode 52 of the rain sensor 50. The timing diagrams of the switching signals are shown in fig. 3 and 4 and described above in conjunction with fig. 2 and 5, and are not described again here.

The master controller 20 further comprises a detection module 22 configured to acquire an electrical signal of the deluge sensor 50 within a predetermined time interval T. As shown in fig. 3, it is assumed that in the cycle Cn, the detection module 22 detects the electrical signal of the rain sensor 50 at a time t _ n _ d1 after the time t _ n _ 1. According to an embodiment of the present invention, in order to maintain the consistency of the measurements, in each cycle C, the detection module 22 acquires the electrical signal at the moment when or after the switching circuit 10 enters the first output state for a predetermined time Δ t, i.e. t _ n _ d1-t _ n _1 ═ t _ n +1_ d1-t _ n +1_1 ═ Δ t.

Similarly, in one embodiment, the switching circuit 10 includes a voltage dividing resistor (e.g., resistor R1 shown in fig. 6) connected in series with the rain sensor 50, and the first terminal 11 is connected to the first electrode 51 through the voltage dividing resistor R1. In this case, the detection module 22 obtains the electrical signal by detecting the level between the rain sensor 50 and the voltage dividing resistor R1, where the electrical signal is a voltage signal (for example, the electrical signal obtained at the time t _ n _ d1 can be represented as V_{t_n_d1}) Indicating the voltage drop across the rain sensor 50 and the voltage divider resistor R1.

Unlike the embodiment shown in fig. 2, the main controller 20 does not comprise the judgment module 23, but comprises a first communication module 25 which directly communicates the electrical signal V acquired by the detection module 22_{t_n_d1}Is sent toAn autonomous working apparatus 1.

The autonomous working apparatus 1 includes a second communication module 26 configured to receive the electric signal V from the first communication module 25_{t_n_d1}And also a decision module 23, which determines the electrical signal V_{t_n_d1}Whether the relationship with the first threshold value Vm is a first relationship. When the switching circuit 10 includes a voltage dividing resistor connected in series with the rain sensor 50, the electrical signal is a voltage signal or a level signal, the first threshold is a predetermined voltage threshold or level threshold, and the first relationship may include that the electrical signal is less than or equal to the first threshold. When the switching circuit 10 comprises a shunt resistor in parallel with the deluge sensor 50, the electrical signal is a current signal, the first threshold is a predetermined current threshold, and the first relationship may comprise that the electrical signal is less than or equal to the first threshold. The invention is described below with reference to a voltage or level signal as an example of such an electrical signal.

Autonomous working apparatus 1 further includes behavior control module 24 configured to determine electrical signal V_{t_n_d1}When the relationship with the first threshold value Vm is a first relationship, the operation state of the autonomous working apparatus 1 is changed. For example, the behavior control module 24 may control the autonomous working apparatus 1 to stop working and return to the base station 2. More specifically, the working mechanism 30 of the autonomous working apparatus 1 stops working under the control of the behavior control module 24 and the traveling mechanism 40 of the autonomous working apparatus 1 returns to the base station 2 under the control of the behavior control module 24. In some embodiments, the electrical signal V is obtained when the detection module 22 is in operation_{t_n_d1}When the current time is less than or equal to the first threshold value Vm, the autonomous working apparatus 1 determines that it is currently raining, and in this case, the behavior control module 24 of the autonomous working apparatus 1 controls the robot 1 to stop working and return to the base station 2 to take shelter from rain. In other embodiments, for example, when the autonomous working apparatus 1 needs to operate in the rain, the command signal is transmitted to cause the autonomous working apparatus 1 to enter the standby state when the rain sensor 50 detects no rain, and the command signal is transmitted to cause the autonomous working apparatus 1 to enter the operating state when the rain sensor 50 detects rain.

Further, similar to the embodiment shown in fig. 2 and 5, in order to make the control more accurate, the detection module 22 may continuously acquire the plurality of electrical signals of the rain sensor 50 every two predetermined time intervals T, i.e., once per cycle C. The first communication module 25 may transmit the plurality of electrical signals to the autonomous working apparatus 1, and the determination module 23 of the autonomous working apparatus 1 may determine whether all of the plurality of electrical signals are less than or equal to the first threshold value Vm, and when it is determined that all of the plurality of electrical signals are less than or equal to the first threshold value Vm, the behavior control module 24 changes the operation state of the autonomous working apparatus 1.

Further, the determination module 23 may also determine whether the plurality of electrical signals are substantially equal, and the behavior control module 24 may change the operating state of the autonomous working apparatus 1 when it is determined that the plurality of electrical signals are all less than or equal to the first threshold Vm and are substantially equal.

As shown in fig. 4, the detection module 22 acquires the first electric signal V of the rain sensor 50 except at the time when the switching circuit 10 enters the first output state or at a predetermined time Δ t thereafter_{t_n_d1}Besides, the second electrical signal V of the rain sensor 50 may be acquired at the time when the switching circuit 10 enters the second output state or at a predetermined time Δ t later accordingly_{t_n_d2}. The first communication module 25 may transmit the first electrical signal V_{t_n_d1}And a second electrical signal V_{t_n_d2}To the autonomous working apparatus 1.

The second communication module 26 of the autonomous working apparatus 1 receives the first electric signal V from the first communication module 25_{t_n_d1}And a second electrical signal V_{t_n_d2}The judging module 23 determines the first electrical signal V_{t_n_d1}And a second electrical signal V_{t_n_d2}Whether the sum is equal to a first preset value, and determining the electrical signal V_{t_n_d1}(i.e. the first electrical signal V_{t_n_d1}) Is less than or equal to a first threshold value Vm and the first electrical signal V_{t_n_d1}And a second electrical signal V_{t_n_d2}When the sum equals the first preset value, the behavior control module 24 changes the operation state of the autonomous working apparatus 1. Here, the first preset value may refer to a voltage Vcc of the power supply. That is, the sum of the two electric signals measured after the same period of time after the polarity inversion of the electrodes 51 and 52 should be equal to the power supply voltage Vcc,thereby further improving the accuracy of the measurement.

As described above, the determination module 23 can determine the electrical signal V acquired by the detection module 22_{t_n_d1}Is equal to the voltage Vcc of the power supply. When the detection module 22 obtains the electrical signal V_{t_n_d1}Equal to the voltage Vcc of the power supply, there is no rain in the recess 54 of the rain sensor 50. This can be divided into two cases, one is that there is no rain at all, and the other is that there has been rain before, the rain has stopped for a while, and the water in the groove 54 has been drained or evaporated completely. In this case, in some further embodiments, behavior control module 24 may further determine whether the operating state of autonomous working device 1 is an operating state or a stopped state. If it is determined that the autonomous working apparatus 1 is in the stopped state, the behavior control module 24 controls the autonomous working apparatus 1 to enter the operating state. For example, when the autonomous working apparatus 1 stops operating due to rain, the electrical signal V of the rain sensor 50 is detected again_{t_n_d1}When the power supply voltage Vcc is restored, it can be determined that the rain has stopped and the rain water in the groove 54 has completely drained or evaporated, and the external environment becomes suitable again for the operation from the main working device 1. In this case, the autonomous working apparatus 1 can be put into operation again by determining the current operation state thereof and changing it from the stop state to the operating state. Specifically, the traveling mechanism 40 of the autonomous working apparatus 1 may start from the base station 2 under the control of the behavior control module 24, and the working mechanism 30 of the autonomous working apparatus 1 may start the working state under the control of the behavior control module 24.

The embodiment shown in fig. 6 is a modification of the embodiment shown in fig. 5, which disperses the control function of the entire system in two parts of the autonomous working apparatus 1 and the base station 2 (or another independent apparatus), which may be advantageous in the case where the autonomous working apparatus itself has a strong processing capability.

The present invention may be embodied as methods, apparatus, chip circuits, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for carrying out various aspects of the present invention. The chip circuitry may include circuitry for performing various aspects of the present invention.

The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control circuit for an autonomous operating device, the autonomous operating device comprising a rain sensor, the rain sensor comprising a first electrode and a second electrode, the control circuit comprising:

a switching circuit connected to the first electrode and the second electrode and configured to exchange polarities of the first electrode and the second electrode;

a detection module configured to acquire an electrical signal of the deluge sensor;

a determination module configured to determine whether the electrical signal and a first threshold satisfy a first relationship; and

a behavior control module configured to change an operating state of the autonomous working device upon determining that the electrical signal satisfies a first relationship with the first threshold.

2. The control circuit of claim 1, wherein the switching circuit is configured to set the first electrode to a high potential and the second electrode to a low potential in a first output state; and the switching circuit is configured to set the first electrode to a low potential and the second electrode to a high potential in a second output state.

3. The control circuit of claim 2, further comprising a switching control module configured to control the switching circuit to exchange the polarities of the first and second electrodes.

4. The control circuit of claim 3, wherein the switching control module is configured to send a first switching signal and a second switching signal to the switching circuit; and the switching circuit is configured to enter the first output state upon receiving the first switching signal and to enter the second output state upon receiving the second switching signal.

5. The control circuit of claim 4, wherein the switching control module is configured to alternately send the first switching signal and the second switching signal to the switching circuit at predetermined time intervals.

6. The control circuit of claim 2, wherein the detection module is configured to obtain a first electrical signal of the deluge sensor when the switching circuit is in the first output state;

the determination module is configured to determine whether the first electrical signal and the first threshold satisfy the first relationship; and

the behavior control module is configured to change an operating state of the autonomous working device upon determining that the first electrical signal and the first threshold satisfy the first relationship.

7. The control circuit of claim 6, wherein the determination module is configured to further determine whether at least two of the first electrical signals are equal,

the behavior control module is configured to change an operating state of the autonomous working machine when it is determined that at least two consecutive first electric signals are equal and both the at least two consecutive first electric signals and the first threshold satisfy the first relationship.

8. The control circuit of claim 6, wherein the detection module is configured to acquire the first electrical signal of the rain sensor at a time at or a predetermined time after the switching circuit enters the first output state.

9. The control circuit of any of claims 6-8, wherein the detection module is further configured to obtain a second electrical signal of the rain sensor when the switching circuit is in the second output state.

10. The control circuit of claim 9, wherein the detection module is configured to obtain the second electrical signal of the rain sensor at a time at or a predetermined time after the switching circuit enters the second output state.

11. The control circuit of claim 2, wherein the switching circuit is further configured to ground both the first and second terminals of the switching circuit for a predetermined period of time while in the second output state for a predetermined time interval.

12. The control circuit of claim 1, wherein the switching circuit comprises an H-bridge circuit.

13. The control circuit of claim 1, wherein the switching circuit includes a first terminal and a second terminal, the first terminal being connected to the first electrode and the second terminal being connected to the second electrode; the switching circuit further comprises a voltage dividing resistor connected in series with the deluge sensor, the first end is connected with the first electrode through the voltage dividing resistor, and the detection module acquires the electric signal by detecting the level between the deluge sensor and the voltage dividing resistor; the first relationship includes the electrical signal being less than or equal to the first threshold.

14. The control circuit of claim 9, wherein the decision module is further configured to determine whether a sum of the first electrical signal and the second electrical signal equals a first preset value; and is

The behavior control module is further configured to change an operating state of the autonomous working machine when it is determined that the first relationship is satisfied between the electrical signal and the first threshold and a sum of the first electrical signal and the second electrical signal is equal to the first preset value.

15. An autonomous working apparatus comprising a control circuit according to any of claims 1 to 14, further comprising a working mechanism and/or a traveling mechanism;

wherein the operating mechanism is configured to start or stop an operating state under control of the behavior control module; the running gear is configured to go from a base station or return to a base station under the control of the behavior control module.