CN219625887U - Signal control circuit, generating device, docking station, and autonomous operating system - Google Patents

Abstract

An embodiment of the utility model discloses a signal control circuit, a computer readable storage medium, a signal generating device, a docking station and an autonomous operating system. The signal control circuit is used for controlling the generation of pulses in the boundary line loop, including boundary lines; a control module configured to be connected with the boundary line; the state information acquisition module is configured to comprise a sampling circuit and is connected with the boundary line and used for detecting a current characteristic value flowing through the boundary line loop; the control module is configured to comprise a switch module and a control unit and is connected with the state information acquisition module; the switch module is arranged on the boundary line loop, and the control unit is configured to control the on-off frequency of the switch module. The signal control circuit can solve the problem that sparks are easy to generate when boundary lines are connected.

Description

Signal control circuit, generating device, docking station, and autonomous operating system

Technical Field

The utility model relates to the field of intelligent robots, in particular to a signal control circuit of an autonomous operating system, and also relates to a signal generating device, a docking station and the autonomous operating system which comprise the signal control circuit.

Background

Many existing robots, such as intelligent mowers, are designed to operate in a work area defined by boundary lines configured as metal wires forming a closed loop. In general, a docking station for docking with an intelligent mower is provided with a signal generating device, and a boundary line is led out from the signal generating device and laid along a corresponding working boundary of the intelligent mower, and finally returns to the signal generating device to enclose a working area forming the intelligent mower. The signal generating device controls the pulse signal transmission of the boundary line by the opening and closing of the electronic switch. When a user connects a boundary line in a charging station power-on state, for example, when connecting the boundary line with a charging station terminal, or connecting two broken boundary lines, if the electronic switch is in an opened state, a large current at the moment of connection generates an arc. The electronic switches of charging stations are usually opened and closed at a high frequency, which results in a high probability of arcing by the user in the above-described situation. The electric arc not only can cause customers to generate a frightened mind, but also can cause danger when flammable and explosive objects exist nearby; and the arc has a great damage effect on the contact, and the time for opening the circuit is prolonged.

Disclosure of Invention

The utility model mainly solves the technical problem of providing a signal control circuit which is not easy to generate electric arcs when borderlines are connected.

In order to solve the above-mentioned problems, the present utility model provides a signal control circuit for controlling generation of pulses in a boundary line loop, comprising: a boundary line; a control module configured to be connected with the boundary line; the state information acquisition module is configured to comprise a sampling circuit and is connected with the boundary line and used for detecting a current characteristic value flowing through the boundary line loop; the control module is configured to comprise a switch module and a control unit and is connected with the state information acquisition module; the switch module is arranged on the boundary line loop, and the control unit is configured to control the on-off frequency of the switch module; the first end of boundary line is connected with external power supply, the second end of boundary line with switch module's input is connected, switch module's control end with the control unit is connected, switch module's output with sampling circuit's input is connected, sampling circuit's signal end with control unit connects, sampling circuit's output ground connection.

As a specific embodiment of the present utility model, the control module is configured to determine that the boundary line loop is in a conducting state or an open state according to the current characteristic value.

As a specific embodiment of the present utility model, the boundary line loop is provided with a wiring assembly, and the wiring assembly comprises a wiring seat and a diode; the boundary line is connected with the wiring assembly.

As a specific embodiment of the present utility model, when the switch module is turned on, the boundary line loop is in a conductive state; when the switch module is disconnected, the boundary line loop is in an open state; the control unit is connected with the switch module and used for controlling the on-off of the switch module.

As a specific embodiment of the present utility model, the switch module is configured to include an electronic switch including a field effect transistor.

As a specific embodiment of the present utility model, the switch module further includes a first switch circuit, and the electronic switch is connected to the control unit through the first switch circuit.

As a specific embodiment of the present utility model, the first switching circuit includes a switching unit, a control end of the switching unit is connected to the control unit, an input end of the switching unit is connected to the power chip, and meanwhile, an input end of the switching unit is connected to a control end of the electronic switch, and an output end of the switching unit is grounded; the switch unit comprises a triode Q2; the switch unit is configured to enable the triode Q2 to be in a cut-off state when the control unit sends out a first level signal, and the electronic switch is turned on; when the control unit sends out a second level signal, the triode Q2 is in a conducting state, and the electronic switch is turned off.

As a specific embodiment of the present utility model, the first switch circuit further includes a voltage limiting unit, a control end of the voltage limiting unit is connected to an output end of the electronic switch, an input end of the voltage limiting unit is connected to the control end of the electronic switch, and an output end of the voltage limiting unit is grounded.

As a specific embodiment of the present utility model, the first switching circuit further includes a filter capacitor C18, a first end of the filter capacitor C18 is connected to the control end of the electronic switch, and a second end of the filter capacitor C18 is connected to the output end of the electronic switch through a resistor R22.

As a specific embodiment of the present utility model, the first switch circuit further includes a voltage reduction unit, an input end of the voltage reduction unit is connected to the power chip, and an output end of the voltage reduction unit is connected to a control end of the electronic switch. Preferably, the voltage dropping unit includes a diode D6 and a capacitor C16, a first end of the capacitor C16 is connected to a cathode of the diode D6, and a second end of the capacitor C16 is grounded.

As a specific embodiment of the present utility model, the sampling circuit includes a current sampling resistor, a first end of the current sampling resistor is connected with an input end of the sampling circuit, and a second end of the current sampling resistor is grounded; the sampling circuit further comprises a first filter, the input end of the first filter is connected with the first end of the current sampling resistor, and the output end of the first filter is connected with the control unit.

As a specific embodiment of the present utility model, the sampling circuit further includes a follower unit, an input end of the follower unit is connected to an output end of the first filter, and an output end of the follower unit is connected to the control unit.

As a specific embodiment of the present utility model, the sampling circuit further includes an amplifier, and the first end of the current sampling resistor is connected to the input end of the first filter through the amplifier; the sampling circuit further comprises a second filter, and the first end of the current sampling resistor is connected with the input end of the amplifier through the second filter.

In order to solve the above-mentioned problems, an embodiment of the present utility model further provides a signal generating device configured to generate a boundary signal, including the signal control circuit described above.

To solve the above-mentioned technical problem, a specific embodiment of the present utility model also provides a docking station configured to be able to supply energy to an autonomous working apparatus moored at the docking station, including the above-mentioned signal generating device.

In order to solve the above technical problems, a specific embodiment of the present utility model further provides an autonomous operating system, which includes an autonomous operating device, and further includes the signal generating device or includes the docking station.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following description will briefly explain the drawings needed in the description of the embodiments of the present utility model, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the contents of the embodiments of the present utility model and these drawings without inventive effort for those skilled in the art.

FIG. 1 is a schematic diagram of an autonomous operating system according to an embodiment of the present utility model.

Fig. 2 is a schematic diagram of a signal control circuit according to an embodiment of the utility model.

Fig. 3 is a schematic diagram of a switch module according to an embodiment of the utility model.

Fig. 4 is a circuit diagram of a switch module according to an embodiment of the present utility model.

Fig. 5 is a schematic diagram of a status information collection module according to an embodiment of the utility model.

Fig. 6 is a schematic diagram of a sampling circuit according to an embodiment of the present utility model.

Fig. 7 is a flowchart of a signal control method according to an embodiment of the present utility model.

Detailed Description

The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.

Referring to fig. 1, the present embodiment provides an autonomous operating system including an autonomous operating device 10, a docking station 20, and a boundary 30.

The autonomous working apparatus 10 is especially a robot that can autonomously move within a preset area and perform a specific work, typically such as an intelligent sweeper/cleaner performing a cleaning work, or an intelligent mower performing a mowing work, etc. The specific job refers to a job for processing the working surface and changing the state of the working surface. The utility model is described in detail by taking an intelligent mower as an example. The autonomous working apparatus 10 can walk autonomously on the surface of a work area, and particularly as an intelligent mower can perform mowing operation autonomously on the ground. Autonomous working device 10 includes at least a body mechanism, a movement mechanism, a work mechanism, an energy module, a detection module, an interaction module, a control module, and the like.

The body mechanism generally includes a chassis for mounting and accommodating the functional mechanisms and functional modules of the moving mechanism, the working mechanism, the energy module, the detection module, the interaction module, the control module, and the like, and a housing. The housing is generally configured to at least partially encase the chassis, primarily to enhance the aesthetics and identification of the autonomous working apparatus 10. In this embodiment, the housing is configured to translate and/or rotate relative to the chassis under external forces, and in combination with a suitable detection module, such as a hall sensor for example, may further function to sense an event such as a collision, lift, etc.

The movement mechanism is configured to support the body mechanism on the ground and drive the body mechanism to move on the ground, and generally includes a wheel-type movement mechanism, a crawler-type or semi-crawler-type movement mechanism, a walk-type movement mechanism, and the like. In this embodiment, the movement mechanism is a wheel-type movement mechanism including at least one drive wheel and at least one travel prime mover. The walking prime mover is preferably an electric motor, and in other embodiments may be an internal combustion engine or a machine that generates power using other types of energy sources. In the present embodiment, a left driving wheel, a left traveling prime mover driving the left driving wheel, a right driving wheel, and a right traveling prime mover driving the right driving wheel are preferably provided. In this embodiment, the linear travel of the autonomous working apparatus is achieved by the same-directional constant-speed rotation of the left and right driving wheels, and the steering travel is achieved by the same-directional differential or opposite rotation of the left and right driving wheels. In other embodiments, the movement mechanism may further include a steering mechanism independent of the drive wheel and a steering prime mover independent of the travel prime mover. In this embodiment, the movement mechanism further comprises at least one driven wheel, typically configured as a universal wheel, the driving wheel and the driven wheel being located at the front and rear ends of the autonomous working apparatus, respectively.

The work mechanism is configured to perform a specific work task including a work piece and a work prime mover that drives the work piece. Illustratively, for intelligent sweepers/cleaners, the work pieces include a roller brush, a dust suction tube, a dust collection chamber, and the like; for intelligent mowers, the work piece includes a cutting blade or cutter disc, and further includes other components for optimizing or adjusting mowing effect, such as a height adjustment mechanism for adjusting mowing height. The working prime mover is preferably an electric motor, and in other embodiments may be an internal combustion engine or a machine that uses other types of energy to generate power. In other embodiments, the working prime mover and the traveling prime mover are configured as the same prime mover.

The energy module is configured to provide energy for various operations of autonomous working apparatus 10. In this embodiment, the energy module includes a battery, preferably a rechargeable battery, and a charging connection structure, preferably a charging electrode that is exposable to the outside of the autonomous working device.

The detection module is configured as at least one sensor that senses an environmental parameter in which autonomous working device 10 is located or its own operating parameters. Typically, the detection module may comprise sensors associated with the definition of the working area, for example of the magnetic induction type, collision type, ultrasonic type, infrared type, radio type, etc., the sensor type being adapted to the position and number of the corresponding signal generating means. The detection module may also include sensors related to positioning navigation, such as GNSS positioning devices, laser positioning devices, electronic compasses, acceleration sensors, odometers, angle sensors, geomagnetic sensors, and the like. The detection module may also include sensors related to its operational safety, such as obstacle sensors, lift sensors, battery pack temperature sensors, and the like. The detection module may also include sensors associated with the external environment, such as an ambient temperature sensor, an ambient humidity sensor, an illumination sensor, a deluge sensor, and the like.

The interaction module is configured to at least receive control instruction information input by a user, send out information needing to be perceived by the user, communicate with other systems or devices to send and receive information, and the like. In this embodiment, the interaction module includes an input device provided on autonomous working apparatus 10 for receiving control instruction information input by a user, typically such as a control panel, a scram key, and the like; the interactive module may also include a display screen, indicator lights, and/or buzzer disposed on autonomous working device 10 that may enable a user to perceive information by emitting light or sound. In other embodiments, the interaction module includes a communication module disposed on autonomous working device 10 and a terminal device, such as a cell phone, a computer, a web server, etc., independent of autonomous working device 10, on which control instruction information or other information of the user may be entered, via a wired or wireless communication module, to autonomous working device 10.

The control module generally includes at least one processor and at least one non-volatile memory, the memory having a pre-written computer program or set of instructions stored therein, upon which the processor controls the execution of actions such as movements, tasks, etc. of autonomous working device 10. Further, the control module may also be capable of controlling and adjusting the corresponding behavior of autonomous working apparatus 10, modifying parameters within the memory, etc., based on signals from the detection module and/or user control instructions.

The boundary 30 is used to limit the working area of the robotic system and generally comprises an outer boundary and an inner boundary. Autonomous working device 10 is defined to move and operate within the outer boundary, outside the inner boundary, or between the outer boundary and the inner boundary. The boundary may be solid, typically such as a wall, fence, railing, or the like; the boundaries may also be virtual, typically as emitted by a signal generating device, which is typically an electromagnetic or optical signal, or a virtual boundary set in an electronic map, illustratively formed of two-dimensional or three-dimensional coordinates, for autonomous working devices 10 provided with positioning means, such as GPS or the like. In the present embodiment, the boundary 30 is configured as a closed-circuit boundary electrically connected to a signal generating device, which is typically provided in the docking station 20.

The docking station 20 is generally configured on the boundary 30 or within the boundary 30 for docking the autonomous working device 10, and in particular is capable of supplying energy to the autonomous working device 10 docked at the docking station.

In order to solve the problems in the prior art, referring to fig. 2, an embodiment of the present utility model provides a signal generating device, which includes a signal control circuit; the signal control circuit is used for controlling the generation of pulses in the boundary line loop, and comprises a boundary line 30 and a control module. The control module 31 is configured to control the frequency of the pulses in connection with the boundary line 30. Further, the signal control circuit further comprises a state information acquisition module configured to be connected with the boundary line to acquire state information of a boundary line loop; the control module is configured to connect with the status information acquisition module.

In this embodiment, a wiring assembly is disposed on the boundary line circuit, and the wiring assembly includes a wire holder and a diode D5. The wiring seat is installed on the docking station, the wiring seat includes two wiring pole pieces, and the wiring pole piece includes relative first end and second end respectively, and wherein first end exposes outside the docking station, and the second end inserts in the docking station. The first ends of the two wiring pole pieces are respectively and electrically connected with the two ends of the boundary line, and the second ends of the two wiring pole pieces are respectively connected with the two ends of the diode D5. The diode D5 acts as a freewheeling in the circuit. The cathode of the diode D5 is connected to the external power source Vin, and the anode of the diode D5 is connected to the control module 31. Preferably, the diode D5 is a schottky diode.

Further, the control module 31 includes a switch module 311 and a control unit 312, the switch module 311 is disposed on a boundary line loop, and when the switch module 311 is turned on, the boundary line loop is in a turned-on state; when the switch module 311 is opened, the boundary line loop is in an open state; the control unit 312 is electrically connected with the switch module 311, and controls the on-off of the switch module 311 to generate pulses in the boundary line loop; the control unit 312 is configured to be connected to the status information acquisition module 32 and control the on-off frequency of the switching module 311. In this embodiment, the control unit 312 is configured to include a single-chip microcomputer.

In the present embodiment, the switch module 311 is configured to include an electronic switch 3111, with reference to fig. 3 to 4, an input 3111i of the electronic switch is connected to the anode of the diode D5, an output 3111o of the electronic switch is connected to the input 32i of the status information acquisition module, and a control terminal 3111c of the electronic switch is connected to the control unit 312. The electronic switch comprises a field effect transistor Q3; the electronic switch is configured to turn on when the fet Q3 gate voltage reaches a certain voltage threshold. When the control unit sends out a first level signal, the electronic switch is turned on; when the control unit sends out a second level signal, the electronic switch is turned off. Further, the first level signal is a low level signal, and the second level signal is a high level signal.

Further, the electronic switch further comprises a diode D3; the source electrode of the field effect transistor Q3 is connected to the anode of the diode D3, the drain electrode of the field effect transistor Q3 is connected to the cathode of the diode D3, the gate electrode of the field effect transistor Q3 is connected to the control unit 312, the cathode of the diode D3 is connected to the input end 311i of the switch module, the anode of the diode D3 is connected to the output end 311o of the switch module, and the diode D3 is called a body diode, for preventing the field effect transistor Q3 from being burned out when the power supply voltage is too high.

Further, the electronic switch is configured to be connected in parallel with the diode TVS1, and the diode TVS1 is connected in parallel with the field effect transistor Q3 to protect the field effect transistor Q3. Preferably, the diode TVS1 is a transient suppression diode. The cathode of the diode TVS1 is connected with the drain electrode of the field effect transistor Q3, and the anode of the diode TVS1 is connected with the source electrode of the field effect transistor Q3. Further, a resistor R16 is connected in parallel between the source and the gate of the field effect transistor Q3, which plays roles of voltage division and current leakage in the circuit.

In the present embodiment, the switch module 311 is configured to further include a first switch circuit, and the electronic switch 3111 is connected to the control unit 312 through the first switch circuit. The first switching circuit includes a switching unit 3112, a control terminal 3121c of the switching unit is connected to the control unit 312, an input terminal 3112i of the switching unit is connected to the power chip V1, and at the same time, the input terminal 3112i of the switching unit is connected to the control terminal 3111c of the electronic switch, and an output terminal 3112o of the switching unit is grounded.

Further, the first switching circuit includes a transistor Q2. The base of the triode Q2 is connected with the control unit 312, the collector of the triode Q2 is connected with the power chip V1 through the resistor R11, meanwhile, the collector of the triode Q2 is connected with the control end 3111c of the electronic switch through the resistor R13, and the emitter of the triode Q2 is grounded. The first switching circuit is configured such that when the level of the control terminal 3112c of the switching unit changes, the transistor Q2 is switched between on and off states, so that the gate voltage of the field-effect transistor Q3 changes, thereby controlling the on and off of the electronic switch. When the control unit 312 sends out the first level signal, the triode Q2 is in an off state, and at this time, the gate voltage of the field effect transistor Q3 reaches a certain voltage threshold, and the electronic switch is turned on; when the control unit 312 sends out the second level signal, the transistor Q2 is in an on state, and the gate voltage of the fet Q3 cannot reach a certain voltage threshold, and the electronic switch is turned off. Further, the first level signal is a low level signal, and the second level signal is a high level signal.

In this embodiment, the first switching circuit further includes a voltage limiting unit 3113, a control terminal 3113c of the voltage limiting unit is connected to an output terminal 3111o of the electronic switch, an input terminal 3113i of the voltage limiting unit is connected to the control terminal 3111c of the electronic switch, and the output terminal 3113o of the voltage limiting unit is grounded. Further, the voltage limiting unit 3113 includes a transistor Q1, a base of the transistor Q1 is connected to an output terminal 3111o of the electronic switch through a resistor R22, a collector of the transistor Q1 is connected to a control terminal 3111c of the electronic switch, and an emitter of the transistor Q1 is grounded.

In this embodiment, the first switching circuit further includes a filter capacitor C18, a first end of the filter capacitor C18 is connected to the control end 3111C of the electronic switch, and a second end of the filter capacitor C18 is connected to the output end 3111o of the electronic switch through a resistor R22.

In this embodiment, the first switching circuit further includes a step-down unit 3114, an input 3114i of the step-down unit is connected to the power supply chip V1, and an output 3114o of the step-down unit is connected to the control terminal 3111c of the electronic switch.

Further, the step-down unit 3114 includes a diode D6 and a capacitor C16, where the diode D6 is connected in series with the capacitor C16, the anode of the diode D6 is connected to the power chip V1, the cathode of the diode D6 is connected to the output 3111o of the electronic switch through a resistor R13, the first end of the capacitor C11 is connected to the cathode of the diode D6, and the second end of the capacitor C16 is grounded.

In other embodiments, the switch module 31 is configured to include a relay.

In this embodiment, the status information acquisition module 32 is configured to include a sampling circuit. Reference is made to fig. 4-5. The sampling circuit is used for detecting the characteristic value of the current flowing through the boundary line loop. In this embodiment, the control unit 312 controls the electronic switch to be turned on, and if a current is generated in the boundary line loop, the sampling circuit detects a current characteristic value of the boundary line loop, and the control unit 312 determines that the boundary line loop is in an on state; if no current is generated in the boundary line loop, the sampling circuit cannot detect the current characteristic value of the boundary line loop, and the control unit 312 determines that the boundary line loop is in an open state.

The first end of the boundary line 30 is connected with an external power source Vin, the second end of the boundary line 30 is connected with an input end 311i of the switch module, a control end 311c of the switch module is connected with the control unit 312, an output end 311o of the switch module is connected with an input end 32i of the sampling circuit, a signal end 32s of the sampling circuit is connected with the control unit 312, and an output end 32o of the sampling circuit is grounded.

In this embodiment, the sampling circuit includes: a current sampling resistor 321, a first end of the current sampling resistor 321 is connected with the input end 32i of the sampling circuit, and a second end of the current sampling resistor 321 is grounded. Preferably, the current sampling resistor 321 is configured to be composed of at least two resistors connected in parallel. The sampling circuit further comprises a first filter 324, an input end 324i of the first filter is connected with a first end of the current sampling resistor 321, and an output end 324o of the first filter is connected with the control unit 312; wherein the first filter comprises an RC filter and a diode D10, and the RC filter is connected with the diode D10 in parallel. Further, the sampling circuit further comprises a follower unit 325, an input 325i of the follower unit is connected to the output 324o of the first filter, and an output 325o of the follower unit is connected to the control unit 312. For AD sampling convenience, the sampling circuit further includes an amplifier 323, and a first terminal of the current sampling resistor 321 is connected to the input terminal 324i of the first filter through the amplifier 323. Further, the sampling circuit further includes a second filter 322, and the first end of the current sampling resistor 321 is connected to the input terminal 323i of the amplifier through the second filter 322.

By using the signal control circuit provided by the embodiment, the probability that the switch module is just in the conducting state when the boundary line loop is connected can be reduced, and the probability of arc generation is reduced.

Fig. 7 is a flowchart of a method for implementing signal control by using the signal control circuit according to an embodiment of the present utility model. Referring to fig. 7, the signal control method provided by the embodiment of the present utility model includes:

s1, acquiring a current characteristic value of the boundary line loop.

Specifically, the state information acquisition module samples boundary line currents. In this embodiment, when the power is turned on, the control module defaults to control the generation of pulses at the first frequency within the boundary line loop. In other embodiments, the control module may also default to control the generation of pulses at the second frequency within the boundary line loop when the power is on.

S2, judging the state of the boundary line loop according to the current characteristic value of the boundary line loop; if the boundary line loop is in the first state, executing S3; the boundary line loop is in the second state, and S4 is executed.

Specifically, when the electronic switch is turned on or within a preset time after the electronic switch is turned on, the state information acquisition module detects the boundary line sampling current, namely, judges that the boundary line loop is in a first state; and when the electronic switch is turned on or within a preset time after the electronic switch is turned on, the state information acquisition module does not detect the boundary line sampling current, and the boundary line loop is judged to be in the second state. The first state is a conducting state, and the second state is an open state.

S3, controlling the generation of pulses with a first frequency in the boundary line loop.

Specifically, when the borderline loop is in the first state, the control module controls pulses of a first frequency within the borderline loop, and the first frequency is not less than 50Hz. In this embodiment, the first frequency is preferably 60 Hz-100 Hz; further, the first frequency is preferably 60Hz to 70Hz.

S4, controlling the generation of pulses with a second frequency in the boundary line loop, wherein the second frequency is smaller than the first frequency.

Specifically, when the borderline loop is in the second state, the control module controls pulses of a second frequency within the borderline loop, the second frequency being, for example, less than 50Hz. In this embodiment, the second frequency is preferably 0.3 Hz-30 Hz; further, the second frequency is preferably 0.5Hz to 1.5Hz.

Note that the above is only a preferred embodiment of the present utility model and the technical principle applied. It will be understood by those skilled in the art that the present utility model is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, while the utility model has been described in connection with the above embodiments, the utility model is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the utility model, which is set forth in the following claims.

Claims (15)

1. A signal control circuit for controlling the generation of pulses within a boundary line loop, comprising:

a boundary line;

a control module configured to be connected with the boundary line;

the state information acquisition module is configured to comprise a sampling circuit and is connected with the boundary line and used for detecting a current characteristic value flowing through the boundary line loop;

the control module is configured to comprise a switch module and a control unit and is connected with the state information acquisition module; the switch module is arranged on the boundary line loop, and the control unit is configured to control the on-off frequency of the switch module;

the first end of boundary line is connected with external power supply, the second end of boundary line with switch module's input is connected, switch module's control end with the control unit is connected, switch module's output with sampling circuit's input is connected, sampling circuit's signal end with control unit connects, sampling circuit's output ground connection.

2. The signal control circuit of claim 1, wherein the control module is configured to determine whether the boundary line loop is in a conductive state or an open state based on the current characteristic value.

3. The signal control circuit of claim 1, wherein a wiring assembly is provided on the boundary line loop, the wiring assembly comprising a wire holder and a diode; the boundary line is connected with the wiring assembly.

4. The signal control circuit of claim 1, wherein the boundary line loop is in a conductive state when the switch module is conductive; when the switch module is disconnected, the boundary line loop is in an open state; the control unit is connected with the switch module and used for controlling the on-off of the switch module.

5. The signal control circuit of claim 4, wherein the switch module is configured to include an electronic switch comprising a field effect transistor; the switch module further comprises a first switch circuit, and the electronic switch is connected with the control unit through the first switch circuit.

6. The signal control circuit of claim 5, wherein the first switching circuit comprises a switching unit, a control end of the switching unit is connected with the control unit, an input end of the switching unit is connected with the power chip, and meanwhile, an input end of the switching unit is connected with a control end of the electronic switch, and an output end of the switching unit is grounded; the switch unit comprises a triode Q2; the switch unit is configured to enable the triode Q2 to be in a cut-off state when the control unit sends out a first level signal, and the electronic switch is turned on; when the control unit sends out a second level signal, the triode Q2 is in a conducting state, and the electronic switch is turned off.

7. The signal control circuit of claim 5, wherein the first switching circuit further comprises a voltage limiting unit, a control terminal of the voltage limiting unit is connected to an output terminal of the electronic switch, an input terminal of the voltage limiting unit is connected to the control terminal of the electronic switch, and an output terminal of the voltage limiting unit is grounded.

8. The signal control circuit of claim 5, wherein the first switching circuit further comprises a filter capacitor C18, a first terminal of the filter capacitor C18 is connected to the control terminal of the electronic switch, and a second terminal of the filter capacitor C18 is connected to the output terminal of the electronic switch through a resistor R22.

9. The signal control circuit of claim 5, wherein the first switching circuit further comprises a buck unit, an input terminal of the buck unit being connected to the power chip, and an output terminal of the buck unit being connected to a control terminal of the electronic switch.

10. The signal control circuit of claim 1, wherein the sampling circuit comprises a current sampling resistor, a first end of the current sampling resistor being connected to an input of the sampling circuit, a second end of the current sampling resistor being grounded; the sampling circuit further comprises a first filter, the input end of the first filter is connected with the first end of the current sampling resistor, and the output end of the first filter is connected with the control unit.

11. The signal control circuit of claim 10, wherein the sampling circuit further comprises a follower unit, an input of the follower unit being connected to the output of the first filter, an output of the follower unit being connected to the control unit.

12. The signal control circuit of claim 10, wherein the sampling circuit further comprises an amplifier, the first end of the current sampling resistor being connected to the input of the first filter through the amplifier; the sampling circuit further comprises a second filter, and the first end of the current sampling resistor is connected with the input end of the amplifier through the second filter.

13. A signal generating device configured to generate a boundary signal, characterized by comprising a signal control circuit as claimed in any one of claims 1 to 12.

14. A docking station configured to be able to supply energy to autonomous working equipment moored at the docking station, characterized by comprising a signal generating device according to claim 13.

15. An autonomous operating system comprising an autonomous operating device, further comprising the signal generating device of claim 13 or comprising the docking station of claim 14.