WO2020259586A1 - Système de commande automatique et son procédé de fonctionnement - Google Patents

Système de commande automatique et son procédé de fonctionnement Download PDF

Info

Publication number
WO2020259586A1
WO2020259586A1 PCT/CN2020/098121 CN2020098121W WO2020259586A1 WO 2020259586 A1 WO2020259586 A1 WO 2020259586A1 CN 2020098121 W CN2020098121 W CN 2020098121W WO 2020259586 A1 WO2020259586 A1 WO 2020259586A1
Authority
WO
WIPO (PCT)
Prior art keywords
boundary
signal
component
boundary line
current
Prior art date
Application number
PCT/CN2020/098121
Other languages
English (en)
Chinese (zh)
Inventor
王月红
兰彬财
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201920966191.5U external-priority patent/CN210016305U/zh
Priority claimed from CN201910553557.0A external-priority patent/CN112119742B/zh
Priority claimed from CN201910553787.7A external-priority patent/CN112134314A/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2020259586A1 publication Critical patent/WO2020259586A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries

Definitions

  • the invention relates to an automatic control system, and also relates to a working method of the automatic control system.
  • the smart lawn mower is a device that can automatically mow and charge the user's lawn without user intervention.
  • the charging station docked with the smart lawn mower is set with a boundary line.
  • the boundary line is drawn from the charging station, and then laid on the corresponding working boundary of the smart lawn mower, and finally returned to the charging station to form an enclosure The working area of the smart lawn mower.
  • the boundary line increases.
  • the boundary current on the boundary line decreases, resulting in a decrease in the signal strength of the boundary signal on the boundary line, and the smart lawn mower may not be able to detect the boundary signal, causing the smart lawn mower to fail to work normally .
  • the problem to be solved by the present invention is that as the boundary line is extended, the self-mobile device may not work normally.
  • an automatic control system includes: self-mobile equipment, a base station, the base station is electrically connected to the boundary line, used to Power supply;
  • the base station includes: an information collection component for collecting information related to the boundary line in the boundary line;
  • a control component the control component is electrically connected with the information collection component, the control The component is used to determine the adjustment mode of the boundary current signal in the boundary line according to the information related to the boundary line;
  • a signal stabilization component the signal stabilization component is respectively connected to the control component and the boundary line, the signal stabilization The component is used to adjust the boundary current signal in the boundary line according to the adjustment mode, and the signal stabilization component can adjust the boundary current signal to a preset range
  • the self-moving device includes: a housing; a walking mechanism , Supporting the housing and driving the self-moving device to walk; a working module installed on the housing to perform a predetermined work; a power module, which provides the self-moving device with driving
  • the information related to the boundary line collected by the information collection component includes at least one of the following: a boundary current signal in the boundary line, a length of the boundary line, and a boundary signal sensed by the boundary sensing module.
  • control component increases the boundary current signal in the boundary line based on the information collected by the information collection component that the boundary sensing module cannot sense the boundary signal.
  • the self-mobile device when the boundary sensing module cannot sense the boundary signal, the self-mobile device sends information related to the inability to sense the boundary signal and/or the self-mobile device to the information collection component
  • the transmitted information is interrupted, so that the control component increases the boundary current signal in the boundary line based on the information.
  • a current is transmitted in the boundary line to generate a magnetic field signal
  • the boundary sensing module is used to sense the strength of the magnetic field signal and send the strength of the magnetic field signal to the information collection component.
  • the The base station further includes: a storage module connected to the information acquisition component signal, the storage module stores a preset intensity of a magnetic field, and when the intensity of the magnetic field signal received by the base station is less than the preset intensity of the magnetic field, the The control component controls the signal stabilization component to increase the boundary current signal in the boundary line.
  • the control module controls the self-moving device to stop Walking and/or working.
  • the control module controls the self-moving device to continue to walk and/or work Or, resume walking and/or work.
  • a working method of an automatic control system includes: self-mobile equipment, a base station, the self-mobile equipment in the boundary line defined For walking and working in the working area, the base station is electrically connected to the boundary line for supplying power to the boundary line; the base station adjusts the boundary current signal in the boundary line; based on the boundary current adjusted by the base station Signal, if the self-mobile device cannot sense the boundary signal generated by the boundary line within a preset time, control the self-mobile device to stop walking and/or work.
  • the base station increases the boundary current signal in the boundary line.
  • the self-mobile device when the self-mobile device cannot sense the boundary signal, the self-mobile device sends to the base station information related to the inability to sense the boundary signal and/or information sent by the self-mobile device The information is interrupted, so that the base station raises the boundary current signal in the boundary line based on the information.
  • the base station adjusts the boundary current signal to the current threshold, if the self-mobile device has not been able to sense the boundary signal, control the self-mobile device to stop walking and/or work .
  • the self-mobile device senses the boundary signal, the self-mobile device is controlled to keep walking and/or working, or, Restore the state of walking and/or working.
  • the beneficial effect of this application is that when the base station has adjusted the boundary current signal, if the self-mobile device cannot sense the boundary signal, the self-mobile device is controlled to stop walking and/or work. Further, when the mobile device cannot sense the boundary signal, the base station can be controlled to increase the boundary current signal in the boundary line. In the case that the base station has adjusted the boundary current signal, it is then judged whether the self-mobile device can sense the boundary signal to solve the problem that the self-mobile device cannot sense the boundary signal due to the extension of the boundary line in the prior art. The problem of work.
  • a charging station is provided, the charging station is connected to a boundary line and provides boundary current for the boundary line, so that the smart lawn mower may
  • the boundary signal determines the current working position and/or working state
  • the charging station includes: an information collection component for collecting information related to the boundary line on the boundary line; the related information includes the current boundary current on the boundary line and/or Or the length of the boundary line; a control component, which determines the adjustment mode of the boundary current according to the related information; a signal stabilization component, the output terminal of the signal stabilization component is connected to the boundary line to stabilize the signal The component adjusts the boundary current of the boundary line according to the control of the control component.
  • the information collection component includes a current detection circuit; the current detection circuit is connected to the boundary line to detect the current boundary current on the boundary line in real time.
  • control component is configured to control the operation of the signal stabilization component to increase the boundary current of the boundary line when the current boundary current is lower than a preset current value.
  • control component is further configured to control the operation of the signal stabilization component to reduce the boundary current of the boundary line when the boundary current is higher than a preset current value.
  • the signal stabilization component is used to adjust the boundary current within a preset range.
  • the information collection component includes a wireless communication unit, the wireless communication unit is used to obtain the length of the boundary line collected based on the human-computer interaction technology; the control component is used to control the signal stabilization component The boundary current of the boundary line is adjusted to the current value corresponding to the length of the boundary line.
  • the signal stabilization component is a buck-boost module.
  • an automatic control system in a second aspect, includes a smart lawn mower and a charging station.
  • the charging station is connected to a boundary line and provides a boundary current for the boundary line for the smart cutting.
  • the grass mower determines the current working position and/or working state according to the boundary signal on the boundary line;
  • the smart lawn mower includes a boundary sensing module, and the boundary sensing module is used to detect the boundary signal on the boundary line in real time;
  • the charging station includes: a control component signal-connected to the boundary sensing module, the control component determining a boundary current adjustment mode based on the detection result of the smart lawn mower; a signal stabilizing component, the output of the signal stabilizing component
  • the terminal is connected to the boundary line, so that the signal stabilization component adjusts the boundary current of the boundary line according to the control of the control component.
  • the signal detection module is configured to send a first detection result to the control component, the first detection result is used to indicate the signal strength of the boundary signal; the control component is used to When the signal intensity of the boundary signal is lower than the preset intensity value, the signal stabilizing component is controlled to work to increase the boundary current of the boundary line.
  • the signal detection module is configured to send a second detection result to the control component, and the second detection result is used to indicate whether the boundary sensing module detects a boundary signal; the control component uses When the boundary sensing module does not detect the boundary signal, the signal stabilizing component is controlled to work to increase the boundary current of the boundary line.
  • the smart lawn mower is also used to stop when the boundary signal is not detected after the boundary current is increased.
  • the system further includes at least one signal amplifying component; the input end of the signal amplifying component is connected to the boundary line, and the output end is connected to a boundary extension line; the signal amplifying component is used to connect the boundary line The upper boundary current is amplified and output to the boundary extension line; the boundary extension line is in the working area enclosed by the boundary line.
  • the boundary extension line divides the working area into n sub-areas, and the n is an integer greater than 1.
  • an automatic control system in a third aspect, includes a charging station and at least one signal amplifying component; the charging station is connected to a boundary line and provides a boundary current for the boundary line for the smart lawn mower according to The boundary signal on the boundary line determines the current working position and/or working state, the charging station includes the charging station provided in the first aspect; the input end of the signal amplifying component is connected to the boundary line, and the output A boundary extension line is connected to the end; the signal amplifying component is used to amplify the boundary current on the boundary line and output it to the boundary extension line; the boundary extension line is in a working area enclosed by the boundary line.
  • an automatic control method is provided, the method is applied to the charging station described in the first aspect, or applied to the automatic control system provided in the third aspect, the method includes: acquiring a boundary on a boundary line Line-related information, where the relevant information includes the current boundary current on the boundary line and/or is the length of the boundary line; and the signal stabilization component is controlled to adjust the boundary current of the boundary line according to the related information.
  • the acquiring information related to the boundary line on the boundary line includes: controlling the current detection circuit to detect the current boundary current on the boundary line in real time; acquiring the current boundary current detected by the current detection circuit;
  • the related information controlling the signal stabilization component to adjust the boundary current of the boundary line includes: when the current boundary current is lower than a preset current value, controlling the signal stabilization component to work to increase the boundary current of the boundary line.
  • the signal stabilization component is controlled to work to reduce the boundary current of the boundary line.
  • the acquiring information related to the boundary line on the boundary line includes: acquiring, through a wireless communication unit, the length of the boundary line collected based on human-computer interaction technology; and controlling the signal stabilization component to adjust the boundary line according to the related information.
  • the boundary current of the boundary line includes: controlling the signal stabilization component to adjust the boundary current of the boundary line to a current value corresponding to the length of the boundary line.
  • an automatic control method is provided, the method is applied to the automatic control system described in the second aspect, and the method includes: controlling the boundary sensing module to detect boundary signals on the boundary line in real time; Obtain the detection result of the boundary signal by the boundary sensing module; control the signal stabilization component to adjust the boundary current of the boundary line according to the detection result.
  • the detection result includes a first detection result, and the first detection result is used to indicate the signal strength of the boundary signal; and the control signal stabilization component adjusts the boundary current of the boundary line according to the detection result , Including: when the signal intensity of the boundary signal is lower than a preset intensity value, controlling the signal stabilization component to work to increase the boundary current of the boundary line.
  • the signal stabilization component is controlled to work to reduce the boundary current of the boundary line.
  • the detection result includes a second detection result, and the second detection result is used to indicate whether the boundary sensing module detects a boundary signal;
  • the controlling the signal stabilization component to adjust the boundary current of the boundary line according to the detection result includes: controlling the signal stabilization component to work to increase the boundary current of the boundary line when the boundary sensing module does not detect the boundary signal .
  • the beneficial effects of the present application are: collecting information related to the boundary line of the boundary line by setting the information collection component; sending the related information to the control component; the control component controls the signal stabilization component to adjust the boundary current of the boundary line according to the related information ; It can solve the problem that the smart lawn mower may not work normally with the extension of the boundary line in the prior art; because the signal stabilization component can stabilize the boundary current on the boundary line within a certain range, it can ensure that the boundary line is not broken When turned on, the smart lawn mower can detect the boundary signal on the boundary line, so as to ensure that the smart lawn mower can still work normally with the extension of the boundary line.
  • an intelligent lawn mower including: at least one first signal detection component, the first signal detection component is used to detect a boundary signal generated by a boundary line; the smart lawn mower The machine determines the current working position and/or working state according to the boundary signal; a control module signal-connected with the at least one first signal detection component; the control module is used to determine the current working position and/or working state according to the detection result of the first signal detection component The working state of the smart lawn mower;
  • the smart lawn mower also includes: at least one second signal detection component connected to the control module signal, the second signal detection component detects the boundary signal more sensitively than the first signal detection component detects The sensitivity of the boundary signal; the control module is further configured to determine the smart lawn mower according to the detection result of the second signal detection component when the boundary signal is not detected by the at least one first signal detection component Working status.
  • the smart lawn mower further includes: a body, a motor arranged on the body; the motor is also connected to the control module; the body is also provided with a circuit board, the circuit board The at least one second signal detection component is installed, and the second signal detection component is located far away from the motor on the circuit board.
  • the distance from the second signal detection component to the motor is greater than the distance from other components on the circuit board to the motor.
  • the distance from the second signal detection component to the motor is greater than a preset distance threshold.
  • the distance from the circuit board to the motor is greater than the distance from other components in the body to the motor.
  • the motor includes a cutting motor and/or a driving motor; wherein the cutting motor is used to drive a cutting assembly that performs cutting work; the driving motor is used to drive the smart lawn mower to move.
  • a heat dissipation cavity is provided in the body, and the circuit board is arranged in the heat dissipation cavity.
  • the at least one signal detection component and/or the control module are also installed on the circuit board.
  • control module is further configured to detect the boundary signal according to the detection of the first signal detection component when the at least one first signal detection component and the at least one second signal detection component both detect the boundary signal. The result determines the working status and/or current working position of the smart lawn mower.
  • the number of the first signal detection components is two, and the two first signal detection components are symmetrically arranged along the longitudinal axis of the smart lawn mower.
  • an automatic control method of a smart lawn mower is provided, the method is used in the smart lawn mower provided in the above aspect, and the method includes: acquiring a boundary signal on a boundary line of the first signal detection component Obtain the detection result of the second signal detection component on the boundary signal on the boundary line; when the first signal detection component does not detect the boundary signal, according to the detection result of the second signal detection component Determine the working status of the smart lawn mower.
  • the method further includes: when both the first signal detection component and the second signal detection component detect the boundary signal, determining the smart signal according to the detection result of the first signal detection component The working status of the lawn mower.
  • the method further includes: when the first signal detection component and the second signal detection component both detect the boundary signal, controlling the smart device according to the detection result of the first signal detection component The lawnmower returns to the charging station.
  • the beneficial effects of the present application are: by additionally providing at least one second signal detection component on the original intelligent lawn mower, the sensitivity of the second signal detection component to detect the boundary signal is higher than the sensitivity of the first signal detection component to detect the boundary signal;
  • the module determines the working status of the smart lawn mower according to the detection result of the second signal detection component; it can solve that as the working area increases, the smart lawn mower may not be able to The problem of normal operation; since the second signal detection component that is more sensitive to boundary signals is installed on the smart lawn mower, as the working area increases, the smart lawn mower can be made when the first signal detection component cannot detect the boundary signal , Use the second signal detection component to detect the boundary signal, and determine the working state of the smart lawn mower according to the detection result of the second signal detection component to ensure that the smart lawn mower still works normally when the boundary line is not disconnected.
  • the second signal detection component is used to detect the boundary signal
  • the second signal detection component is only used to determine whether the boundary line signal can be detected currently.
  • the smart lawn mower is When working in the working area, when the boundary line signal cannot be detected, the intelligent lawn mower stops to meet the safety requirements.
  • the first signal detection component is used to implement work such as the return of the intelligent lawnmower. Such a work requires the first signal detection component to have high accuracy. Therefore, the first detection component cannot be simply replaced with a high-sensitivity component.
  • a second signal detection component is additionally provided instead of replacing the first signal detection component with the second signal detection component, so that the smart lawn mower can use the second signal detection component to detect whether there is a boundary signal;
  • the detection result of the first signal detection component is returned, which can ensure the accuracy of the smart lawn mower returning to the charging station.
  • FIG. 1 is a schematic diagram of a scene of an automatic control system provided by an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a charging station provided by an embodiment of the present application.
  • FIG. 3 is a schematic circuit diagram of a buck-boost circuit provided by an embodiment of the present application.
  • Fig. 4 is a schematic circuit diagram of a Buck converter provided by an embodiment of the present application.
  • FIG. 5 is a schematic circuit diagram of a Boost converter provided by an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a charging station provided by another embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a charging station provided by another embodiment of the present application.
  • FIG. 8 is a flowchart of an automatic control method provided by an embodiment of the present application.
  • FIG. 9 is a flowchart of an automatic control method provided by another embodiment of the present application.
  • FIG. 10 is a flowchart of an automatic control method provided by another embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of an automatic control system provided by another embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of an automatic control system provided by another embodiment of the present application.
  • FIG. 13 is a flowchart of an automatic control method provided by another embodiment of the present application.
  • Figure 14 is a schematic structural diagram of an automatic control system provided by another embodiment of the present application.
  • FIG. 15 is a schematic structural diagram of a self-mobile device provided by an embodiment of the present application.
  • FIG. 16 is a schematic structural diagram of a self-mobile device provided by another embodiment of the present application.
  • FIG. 17 is a schematic diagram of a scene of an automatic mowing system provided by an embodiment of the present application.
  • the automatic control system includes a self-mobile device 1, a base station 2 (hereinafter referred to as a charging station) that docks with the self-mobile device 1 to charge the self-mobile device 1, and a base station 2
  • the boundary line 3 is drawn from the base station 2 and laid on the corresponding working boundary of the mobile device 1, and finally returned to the base station 2 to enclose the working area 4 of the mobile device 1.
  • the charging station 2 outputs a boundary current to the boundary line 3.
  • the boundary line 3 sends a boundary signal based on the boundary current; the boundary signal is detected in real time from the mobile device 1; when the boundary signal is detected, The boundary signal determines the current location or returns to the charging station 2; stops working when the boundary signal is not detected.
  • the charging station 2 is connected to the boundary line 3 and provides boundary current for the boundary line 3 for the mobile device 1 to determine the current working position and/or working state according to the boundary signal on the boundary line 3.
  • the boundary signal may be a magnetic signal; of course, it may also be an optical signal or an acoustic signal, etc.
  • the type of the boundary signal is not limited in this embodiment.
  • the self-mobile device 1 may include: a housing 35; a walking mechanism 37, which supports the housing and drives the self-mobile device 1 to walk; a working module 221, which is installed on the housing 35 to perform predetermined work; a power module, Provide driving force for walking and working for the self-mobile device 1; the control module is electrically connected to and controls the power module to realize the self-moving device 1 to walk and/or work automatically.
  • the self-moving device 1 may further include: a boundary sensing module 15 which is symmetrically arranged on both sides of the front central axis 33 of the self-moving device 1.
  • the boundary sensing module can be used to sense the boundary signal in the boundary line (it is worth noting that the boundary signal in the boundary line mentioned here and below can also refer to the boundary signal generated by the boundary line), and the control module is based on The boundary signal controls the mobile device to walk and/or work within the working area defined by the boundary line.
  • the boundary sensing module may be a magnetic sensor, such as a Hall sensor. The magnetic sensor on the self-mobile device 1 can sense the boundary signal in the boundary line during its walking, and the control module controls the self-mobile device to walk and/or work within the working area defined by the boundary line according to the boundary signal.
  • Self-moving equipment can be automatic lawn mowers, sweeping robots, automatic snowplows and other equipment suitable for unattended operation. They automatically walk on the surface of the working range to mow grass, vacuum or remove snow.
  • the self-moving equipment is not limited to automatic lawn mowers, sweeping robots, and automatic snow sweepers, and may also be other equipment suitable for unattended operation, which is not limited in this application.
  • the automatic control system is an automatic lawn mower system for description.
  • the mobile device 1 is an intelligent lawn mower 1.
  • the boundary line 3 defines the working range of the smart lawn mower 1.
  • a boundary signal generator can be installed at the charging station 2.
  • the boundary signal generator is connected to the boundary line 3 and the charging station 2 to form a closed Electrical circuit.
  • the boundary signal generator generates a periodic boundary current signal and sends it to the boundary line 3.
  • the boundary line 3 is a wire on which a corresponding periodic current flows. The current is generated near the boundary.
  • Periodic magnetic field The magnetic field is directional and strong.
  • the above-mentioned periodic boundary current signal may be a square wave pulse signal, because its generation method and identification are relatively easy, thereby reducing cost and improving efficiency.
  • Table 1 The relationship between the working area area and the boundary line resistance and boundary current
  • the charging station 2 provided in the present application is equipped with a signal stabilizing component, which is used to adjust the boundary current within a preset range and keep the boundary current constant.
  • the signal stabilization component is connected to the boundary line 3 to ensure that the signal strength of the boundary signal on the boundary line 3 is stabilized within a certain range when the boundary line 3 is not disconnected, so that the intelligent lawn mower 1 still remains after the boundary line 3 is extended. Can work normally.
  • the boundary signal stabilization component may be installed in a device independent of the charging station 2, and this embodiment does not limit the installation manner of the boundary signal stabilization component.
  • the signal stabilization component on the charging station 2 in the present application adjusts the boundary current of the boundary line according to the control of the control component in the charging station 2, and the control component adjusts the boundary current of the boundary line according to the current boundary current (or resistance, voltage, etc.) on the boundary line. ), the length of the boundary line, and/or the boundary current signal sensed by the upper boundary sensing module of the smart lawn mower 1 determines the adjustment method of the boundary current.
  • the adjustment methods for determining the boundary current by the above-mentioned control components are respectively described in detail below.
  • the control component determines the adjustment mode of the boundary current according to the current boundary current (or voltage, etc.) on the boundary line and/or the length of the boundary line (or the resistance of the boundary line).
  • FIG. 2 is a schematic structural diagram of a charging station provided by an embodiment of the present application. As shown in FIG. 2, the charging station includes: an information collection component 11, a control component 12 and a signal stabilization component 13.
  • the information collection component 11 is used to collect information related to the boundary line in the boundary line.
  • the control component 12 determines the signal strength of the boundary signal according to the relevant information collected by the information collection component 11.
  • the information related to the boundary line includes but is not limited to at least one of the following:
  • boundary current of the boundary line or boundary voltage
  • boundary current and the signal strength of the boundary signal are positively correlated
  • boundary voltage and the signal strength of the boundary signal are also positively correlated.
  • the following embodiments of the present application only describe the boundary current. Since the boundary voltage and the intensity correlation between the boundary current and the boundary signal are similar, the application of the boundary voltage is similar to the boundary current.
  • the length of the boundary line (it can also be the resistance of the boundary line).
  • the length of the boundary line has a negative correlation with the signal strength of the boundary signal, and the resistance and the signal strength of the boundary signal also have a negative correlation.
  • the following embodiments of this application only describe the length of the border line. Since the length of the border line and the resistance in the border line are similar to the intensity correlation of the border signal, the application of the length of the border line is similar to the resistance in the border line. .
  • the input terminal of the control component 12 is signal-connected with the output terminal of the information collection component 11.
  • the information collection component 11 can send relevant information to the control component 12 through the output terminal; accordingly, after the control component 12 receives the relevant information through the input terminal, it determines the adjustment mode of the boundary current according to the relevant information.
  • the adjustment method includes: increasing the boundary current, reducing the boundary current, and maintaining the boundary current unchanged.
  • the input end of the signal stabilization component 13 is signal-connected with the output end of the control component 12, and the output end of the signal stabilization component 13 is connected to the boundary line, so that the signal stabilization component 13 adjusts the boundary current of the boundary line according to the control of the control component 12.
  • control component 12 determines the adjustment mode of the boundary current and generates a control signal, and sends the control signal to the signal stabilization component 13, and the control signal triggers the signal stabilization component 13 to adjust the boundary current signal of the boundary line according to the adjustment method. .
  • the signal stabilization component 13 is a buck-boost module, and the buck-boost module and the control component 12 are installed in a charging station. At this time, the signal stabilizing component 13 adjusts the boundary current output to the boundary line by adjusting the output voltage of the charging station. At this time, the signal stabilization component 13 is installed at the output terminal of the power supply of the charging station, and the voltage at the output terminal is used as the input voltage of the signal stabilization component 13, and the output voltage of the signal stabilization component 13 is the output voltage of the charging station.
  • the buck-boost module may be a chip including a buck-boost circuit.
  • the buck-boost circuit can also be called a buck-boost converter, a Buck-Boost converter, etc., and the name of the buck-boost circuit is not limited in this embodiment.
  • the buck-boost circuit is a single-tube non-isolated DC converter whose output voltage can be lower than the input voltage or higher than the input voltage.
  • the Buck-Boost converter can be regarded as a series connection of Buck converter and Boost converter, but the switch tube is combined. Among them, when the Buck-Boost converter adjusts the output voltage in the circuit, there is a maximum adjustment range and a minimum adjustment range. The converter can not adjust the output voltage beyond this range. Accordingly, the converter adjusts the output current in the system. There is also a current threshold (the current threshold includes a maximum limit value and a minimum limit value).
  • Buck converter (also called step-down converter, step-down circuit, etc.) is a single-tube non-isolated DC converter whose output voltage is less than the input voltage.
  • Q in Figure 4 is a switching tube
  • the driving voltage of the switching tube is generally a pulse width modulation (PWM) signal
  • the period of the PWM signal is Ts
  • the signal frequency f is 1/ Ts
  • the on time is Ton
  • the off time is Toff
  • Ts Ton+Toff
  • the duty cycle Dy Ton/Ts.
  • the inductor Lf and the capacitor Cf form a low-pass filter.
  • the Buck converter step-down principle is: the harmonic component of the input voltage is filtered through the low-pass filter, and the DC component of the input voltage is allowed to pass, so that the output The voltage is the DC component of the input voltage plus a small ripple, that is, the output voltage is lower than the input voltage.
  • Boost converter (or boost converter, boost circuit, etc.) is a single-tube non-isolated DC converter whose output voltage is higher than the input voltage.
  • the driving voltage of the switch tube Q in FIG. 5 is also a PWM signal, but the maximum duty cycle Dy needs to be limited, and Dy is not equal to 1.
  • the inductor Lf is on the input side and is a boost inductor.
  • the boosting principle of Boost converter is: when the switching tube Q is turned on, the input voltage is charged by the inductor Lf, and the inductor Lf stores energy; when the switching tube Q is turned off, the inductor Lf is discharged to charge the inductor Cf, and the input voltage is also Charge the inductor Cf. At this time, the output voltage is higher than the input voltage.
  • the information related to the boundary line includes the boundary current of the boundary line.
  • the information collection component includes a current detection circuit 61, which is connected to the boundary line 62 to The current boundary current on the boundary line 62 is detected in real time; the control component 12 is used to control the signal stabilization component 13 to increase the boundary current of the boundary line 62 when the current boundary current is lower than the preset current value.
  • the control component 12 is also used to control the signal stabilization component 13 to reduce the boundary current of the boundary line 62 when the current boundary current is greater than the maximum current value, so as to save power resources.
  • the signal stabilization component can control the boundary current signal within a preset range, and the preset range includes: greater than or equal to a preset current value and less than or equal to a maximum current value.
  • the control component 12 is also used to control the signal stabilization component 13 to maintain the current boundary current of the boundary line 62 when the current boundary current is greater than or equal to the preset current value and less than or equal to the maximum current value.
  • the maximum current value here is different from the current threshold value (maximum limit value) described above, and the current threshold value is the maximum adjustment range that the buck-boost can achieve when adjusting the boundary current in the circuit.
  • the maximum current is the boundary current signal preset in the system that can maintain the normal operation of the smart lawn mower. In an embodiment of the present application, corresponding to the actual working area, the machine may still have the maximum current Unable to sense the boundary signal.
  • the signal strength of the boundary signal corresponding to the preset current value is the signal strength that the smart lawn mower just cannot detect; or is slightly greater than the signal strength that the smart lawn mower just cannot detect.
  • the preset current value is stored in the storage module in the charging station and is read by the control component 12.
  • the current detection circuit 61 is a current detection chip, and the current detection chip is installed in a circuit board of the charging station.
  • a control assembly 12 and a signal stabilization assembly 13 are also installed on the circuit board of the charging station.
  • the current detection circuit 61 is installed in the charging station as an example. In actual implementation, the current detection circuit 61 can also be installed in another device independent of the charging station. This embodiment does not deal with the current detection circuit 61. The installation method is limited.
  • relating to the boundary line includes the length of the boundary line.
  • the information collection component includes a wireless communication unit 71, and the wireless communication unit 71 is used to obtain the length of the boundary line collected based on the human-computer interaction technology.
  • the control component 12 is used for controlling the signal stabilization component to adjust the boundary current of the boundary line to a current value corresponding to the length of the boundary line.
  • the length of the boundary line acquired by the wireless communication unit 71 is collected and sent by the client based on human-computer interaction technology.
  • the client has a function for the user to input the length of the boundary line, and the client can be a program module integrated in an existing client (for example, a small program integrated in an instant messaging client); or, It may be an additional developed application (Application, APP), and this embodiment does not limit the implementation form of the client.
  • a length input control can also be set on the charging station. At this time, the charging station obtains the length of the boundary line based on the length input control.
  • the length input control may be a virtual input control displayed on the touch screen; or, it may also be a physical input control that implements input through an external device (such as a keyboard). This embodiment does not affect the implementation of the length input control. limited.
  • control component controls the signal stabilization component to adjust the boundary current of the boundary line to a preset current value corresponding to the length of the boundary line includes but is not limited to the following:
  • the first type the first corresponding relationship between the length of the boundary line and the load and the current value range are stored in the charging station.
  • the boundary signal corresponding to each current value in the current value range is the boundary signal that can be detected by the smart lawnmower .
  • the control component 12 obtains the length of the boundary line, it determines the corresponding load from the first corresponding relationship; the control component 12 calculates the output voltage range according to the load and the current value range, and the control signal stabilization component adjusts the output voltage of the charging station Within the output voltage range, so that the boundary current is adjusted to the preset current value corresponding to the length of the boundary line.
  • the second type the first correspondence between the length of the boundary line and the load and the second correspondence between the load and the boundary current are stored in the charging station. After the control component 12 obtains the length of the boundary line, it determines the corresponding load from the first correspondence; after the control component 12 determines the load, it determines the corresponding boundary current from the second correspondence to obtain the boundary current The current value corresponding to the length; the control component 12 controls the signal stabilization component to adjust the output voltage of the charging station so that the boundary current is adjusted to the current value corresponding to the length of the boundary line.
  • the third type the charging station can store the third corresponding relationship between the length of the boundary line and the boundary current. After the control component 12 obtains the length of the boundary line, it directly determines the corresponding current value from the third corresponding relationship; control; The component 12 controls the signal stabilization component to adjust the output voltage of the charging station so that the boundary current is adjusted to the current value corresponding to the length of the boundary line.
  • the control module controls the self-mobile device to stop walking and / Or work. Specifically, when the signal stabilization component adjusts the boundary current signal to the current threshold, if the boundary sensing module in the smart lawn mower has been unable to sense the boundary signal, the control module controls the smart lawn mower to stop walking and/ Or work. It can be ensured that the machine will not stop unexpectedly due to the large area of the work area and the inability to sense the boundary signal. In this way, the machine can be controlled to achieve normal operation.
  • control component can also adjust the boundary current to the current value corresponding to the length of the boundary line in other ways, which will not be listed here in this embodiment.
  • the charging station collects information related to the boundary line of the boundary line by setting the information collection component; sends the related information to the control component; the control component controls the signal stabilization component according to the related information Adjust the boundary current of the boundary line; it can solve the problem that the smart lawn mower may not work normally with the extension of the boundary line in the prior art; because the signal stabilization component can stabilize the boundary current on the boundary line within a certain range, so It can be guaranteed that the smart lawn mower can detect the boundary signal on the boundary line when the boundary line is not broken, so as to ensure that the smart lawn mower can still work normally with the extension of the boundary line.
  • FIG. 8 is a flowchart of an automatic control method provided by an embodiment of the present application. As shown in FIG. 8, this embodiment uses the method to apply to the control components in the charging station shown in FIG. 2, FIG. 6 and/or FIG. As an example in 12, the method includes at least the following steps:
  • Step 801 Obtain related information of the boundary signal on the boundary line (it should be noted that the related information of the boundary signal on the boundary line may be: information related to the boundary line).
  • the relevant information is collected by the information collection component. After the information collection component collects the relevant information, it sends the relevant information to the control component; or the control component obtains the relevant information collected by the information collection component every preset time period. This embodiment does not limit the way the control component obtains the relevant information.
  • the relevant information is used for the control component to determine the signal strength of the boundary signal.
  • the information related to the boundary line includes but is not limited to at least one of the following:
  • the boundary current of the boundary line, and the boundary current has a positive correlation with the signal strength of the boundary signal
  • the length of the boundary line has a negative correlation with the signal strength of the boundary signal.
  • Step 802 Control the signal stabilization component to adjust the boundary current of the boundary line according to the related information.
  • the control signal stabilization component works to increase the boundary current of the boundary line; or the control component determines the boundary signal based on the related information
  • the control signal stabilizing component reduces the boundary current of the boundary line; or the control component determines that the signal strength of the boundary signal can be intelligently mowed based on relevant information
  • the control signal stabilizing component maintains the boundary current of the boundary line unchanged.
  • the information related to the boundary line includes the boundary current of the boundary line.
  • FIG. 9 is a flowchart of an automatic control method provided by another embodiment of the present application. As shown in FIG. 9, this embodiment uses this method to apply to the method shown in FIG. Taking the control component 12 of the charging station as an example, the method includes at least the following steps:
  • Step 901 Control the current detection circuit to detect the current boundary current on the boundary line in real time.
  • Step 902 Obtain the current boundary current detected by the current detection circuit.
  • the current detection circuit After the current detection circuit detects the current boundary current, it sends the current boundary current to the control component in real time.
  • Step 903 When the current boundary current is lower than the preset current value, the signal stabilizing component is controlled to work to increase the boundary current of the boundary line.
  • control component is also used to control the signal stabilizing component to reduce the boundary current of the boundary line when the current boundary current is greater than the maximum current value, so as to save power resources.
  • control component is further configured to control the signal stabilizing component to maintain the current boundary current of the boundary line when the current boundary current is greater than or equal to the preset current value and less than or equal to the maximum current value.
  • the current boundary current on the boundary line is detected in real time by the current detection circuit; when the current boundary current is lower than the preset current value, the signal stabilization component is controlled to work to increase the boundary current of the boundary line; because the signal stabilization component can reduce the boundary current
  • the boundary current on the line is stable within a certain range, so it can be ensured that the smart lawn mower can detect the boundary signal on the boundary line when the boundary line is not broken, so as to ensure that the smart lawn mower can still be normal work.
  • the charging station can provide the boundary signal for the longer boundary line, and expand the application range of the charging station.
  • FIG. 10 is a flowchart of an automatic control method provided by another embodiment of the present application. As shown in FIG. 10, this embodiment uses the method to apply to the method shown in FIG.
  • the illustrated control component 12 in the charging station is taken as an example for description. The method includes at least the following steps:
  • Step 1001 Obtain the length of the boundary line collected based on the human-computer interaction technology through the wireless communication unit; Step 1002: Control the signal stabilization component to adjust the boundary current of the boundary line to the current value corresponding to the length of the boundary line.
  • the length of the boundary line is obtained through the wireless communication unit; the control component determines the corresponding current value according to the length, and controls the signal stabilization component to adjust the boundary current of the boundary line to the current value corresponding to the length; because the signal stabilization component can The boundary current on the boundary line is stabilized within a certain range, so it can be ensured that the smart lawn mower can detect the boundary signal on the boundary line when the boundary line is not broken, thereby ensuring that the smart lawn mower follows the extension of the boundary line It still works.
  • the automatic control method provided in this embodiment can ensure that the smart lawn mower can detect the boundary signal on the boundary line when the boundary line is not broken, thereby ensuring that the smart lawn mower follows the extension of the boundary line. It still works.
  • control component determines the adjustment method of the boundary current signal in the boundary line according to the boundary signal sensed by the boundary sensing module in the smart lawn mower.
  • FIG. 11 is a schematic structural diagram of an automatic control system provided by another embodiment of the present application.
  • the automatic control system includes: an intelligent lawn mower 111 and a charging station 112.
  • the charging station 112 is connected to the boundary line 113 and provides a boundary current for the boundary line 113 for the smart lawn mower 111 to determine the current working position and/or working state according to the boundary signal on the boundary line 113.
  • the smart lawn mower 111 includes a boundary sensing module 1111, and the boundary sensing module 1111 is used to detect or sense boundary signals on the boundary line 113 in real time.
  • the charging station 112 includes: a control component 12 signal-connected to the boundary sensing module 1111; a signal stabilization component 13 signal-connected to the input end of the control component 12, and the control component 12 determines the boundary current based on the detection result of the intelligent lawn mower 111 Adjustment mode; the output terminal of the signal stabilization component 13 is connected to the boundary line 113, so that the signal stabilization component 13 adjusts the boundary current signal in the boundary line 113 according to the control of the control component 12.
  • the boundary sensing module 1111 senses the boundary signal on the boundary line 113 in real time; and sends the information related to the sensed boundary line as the first detection result to the control component 23, and the first detection result is used to indicate the boundary current The signal strength of the signal.
  • control component 12 is used to control the signal stabilization component 13 to increase the boundary current in the boundary line when the signal strength of the boundary signal is lower than the preset strength value.
  • the intelligent lawn mower 111 stops when the boundary signal is not detected after increasing the boundary current.
  • control component 12 is also used to control the signal stabilization component 13 to reduce the boundary current of the boundary line when the signal strength of the boundary signal is greater than the maximum strength, so as to save power resources.
  • control component 12 is further configured to control the signal stabilization component 13 to maintain the current boundary current of the boundary line 113 when the signal intensity of the boundary signal is greater than or equal to a preset intensity value and less than or equal to the maximum intensity value.
  • the preset strength value is the signal strength that the smart lawn mower just cannot detect; or is slightly greater than the signal strength that the smart lawn mower just cannot detect.
  • the boundary sensing module 1111 detects the boundary signal on the boundary line 113 in real time; and sends the second detection result to the control component 12, and the second detection result is used to indicate whether the boundary sensing module 1111 detects the boundary signal.
  • control component 12 is used to control the signal stabilization component 13 to increase the boundary current of the boundary line when the boundary sensing module 1111 does not detect the boundary signal.
  • control component 12 is also used to control the signal stabilization component 13 to maintain the current boundary current of the boundary line 113 when the boundary sensing module 1111 detects the boundary signal.
  • the control module controls the lawn mower to continue to stop walking and/or work status.
  • the signal stabilization component adjusts the boundary current signal within the preset range
  • the boundary sensing module cannot sense within the preset time (in this application, the preset time may be, for example, the time required by safety regulations)
  • the control module can control the lawn mower to stop walking and/or work first.
  • the control component increases the boundary current signal.
  • the signal stabilization component adjusts the boundary current signal to the current threshold, if the boundary sensing module has been unable to sense the boundary signal, the control module controls the lawn mower to continue to stop walking and/or work.
  • the control module controls the mobile device to resume walking and/or work. Specifically, when the signal stabilization component adjusts the boundary current signal within the preset range, if the boundary sensing module cannot sense the boundary signal within the preset time, the control module can control the lawn mower to stop walking and/or work first . When the boundary sensing module cannot sense the boundary signal, the control component increases the boundary current signal. In the process of the signal stabilization component adjusting the boundary current signal, if the boundary sensing module senses the boundary signal, the control module controls the lawn mower to resume walking and/or working.
  • the control module controls the mobile device from walking and/or working.
  • the state changes to a state of stopping walking and/or working.
  • the control component increases the boundary current signal. The time when the boundary signal cannot be sensed has not reached the time required by safety regulations, so the lawn mower can be controlled to continue working.
  • the control module controls the lawn mower to switch from the working state to the state of stopping walking and/or working.
  • the control module controls the mobile device to continue to walk and/or work. Specifically, when the signal stabilization component adjusts the boundary current signal to within the preset range, if the boundary sensing module cannot sense the boundary signal within the preset time, the control component increases the boundary current signal. The time when the boundary signal cannot be sensed has not reached the time required by safety regulations, so the lawn mower can be controlled to continue working. In the process of adjusting the boundary current signal by the signal stabilization component, if the boundary sensing module senses the boundary signal within a preset time, the control module can control the lawn mower to keep walking and/or working.
  • the control module can control the lawn mower to stop walking and/or work; when the signal stabilization component changes the boundary current When the signal is adjusted until the lawn mower can sense the boundary signal again, the control module can control the lawn mower to restart walking and/or work.
  • the boundary sensing module In the process of adjusting the current signal by the boundary current signal in the boundary line, if the boundary sensing module has not been able to sense the boundary signal, it can judge that the boundary is disconnected or faulty, so that the control module can control the intelligent lawn mower to stop walking and/or Work, or alarm, or send a notification message to the user that the boundary line is disconnected or malfunctioning.
  • the boundary current signal in the base station is adjusted to the maximum to solve the situation of the existing technology with the extension of the boundary line and the larger area of the work area, because the machine cannot sense the boundary If the lawn mower stops walking or cannot work normally caused by the signal, the method proposed in this application can ensure that the lawn mower can work normally in a large working area.
  • the smart lawn mower when the boundary sensing module cannot sense the boundary signal, the smart lawn mower sends information related to the inability to sense the boundary signal to the signal receiving module, so that the base station is based on the received insensitivity The information to the boundary signal raises the boundary current signal in the boundary line.
  • the boundary sensing module when the boundary sensing module cannot sense the boundary signal, the information sent by the smart lawn mower is interrupted, so that the base station is based on the fact that the base station does not receive the smart cutting signal within a preset time (for example, within 5s). For information related to the border signal of the grass machine, increase the border current signal in the border line.
  • the information collection component on the base station may include: a signal receiving module electrically connected to the control component, and the signal receiving module may be used to wirelessly receive information related to the boundary signal sent by the smart lawn mower.
  • a signal sending module on the machine and the base station and the lawn mower implement data transmission and reception through the signal sending module and the signal receiving module.
  • the base station and the intelligent lawn mower can perform identity matching authentication before communicating.
  • the above-mentioned signal receiving module and data sending module may be wifi, RF, cellular, etc.
  • it may be a communication module suitable for long-distance transmission without additional charges, such as RF, so as to be suitable for the scenario with a large working area.
  • the base station may further include a control component and a signal stabilization component electrically connected to the control component.
  • the control component can control the signal stabilization component to increase the boundary current signal in the boundary line based on the information that the boundary sensor module cannot sense the boundary signal.
  • the boundary current signal can be adjusted in the following manner. Specifically, the current is transmitted in the boundary line to generate the magnetic field signal, and the boundary sensing module on the lawn mower is used to sense the magnetic field signal. After the lawn mower senses the magnetic field signal, it can send the boundary signal to the base station at a preset time interval.
  • the base station may also include: a storage module in which the preset magnetic field intensity values are stored, and when the base station receives the magnetic field-related signals, the received magnetic field signals The intensity is compared with the preset intensity of the magnetic field, and when it is detected that the received magnetic field signal intensity is less than the preset intensity of the magnetic field, the control component controls the signal stabilization component to increase the boundary current signal in the boundary line.
  • the magnetic field-related signal sensed by the lawn mower has a direction. Therefore, the preset intensity of the magnetic field stored in the storage module is also a value with a direction.
  • the control component When performing intensity comparison, first compare whether the direction is the same, and in the case of the same direction, compare the absolute value of the intensity. When the intensity of the magnetic field-related signal received by the base station is in the same direction as the preset intensity of the magnetic field stored in the storage module, compare the absolute values of the two. If the absolute value of the magnetic field received by the base station is less than the absolute value of the preset intensity of the magnetic field, the control component The control signal stabilization component increases the boundary current signal in the boundary line. Adjusting the boundary current signal in the boundary line in the above-mentioned closed loop cycle, until the intensity of the magnetic field signal received by the base station is equal to the preset intensity of the magnetic field. By adjusting the boundary current signal in the boundary line, it can be ensured that the lawn mower will not stop due to safety regulations due to the long distance from the boundary and the boundary sensing module in the lawn mower cannot sense the boundary signal. Control the lawn mower to work normally.
  • the charging station 112 may not be able to continue to stabilize the boundary current on the boundary line 113 within a certain range, so that the smart lawn mower 111 can detect the boundary signal on the boundary line 113.
  • the smart lawn mower 111 can work normally in the working area where the longer-length boundary line 113 is laid, refer to the automatic control system shown in FIG. 12, which further includes at least one signal amplifying component 121.
  • the input end of the signal amplifying component 121 is connected to the boundary line 113, and the output end is connected to the boundary extension line 123.
  • the signal amplifying component 121 is used to amplify the boundary current on the boundary line 113 and output it to the boundary extension line 123; the boundary extension line 123 is in the working area enclosed by the boundary line 113.
  • the signal amplifying component 121 may also be called a relay, a current amplifier, etc.
  • the name of the signal amplifying component 121 is not limited in this embodiment.
  • the frequency of the boundary signal on the boundary extension line 123 is the same as the frequency of the boundary signal on the boundary line 113; the amplitude of the boundary signal on the boundary extension line 123 is greater than the amplitude of the boundary signal on the boundary line 113.
  • the boundary extension line 123 divides the working area enclosed by the boundary line 113 into n sub-areas.
  • n is an integer greater than 1.
  • the areas of the n sub-regions are the same.
  • FIG. 12 only takes one signal amplifying component 121 as an example for description.
  • the number of signal amplifying components 121 may also be multiple, and this embodiment does not limit the number of signal amplifying components 121.
  • the automatic control system detects the boundary signal on the boundary line in real time through the boundary sensing module in the smart lawn mower; the control component in the charging station controls the signal stabilization component to work according to the detection result of the boundary signal In order to increase the boundary current of the boundary line; because the signal stabilization component can stabilize the boundary current on the boundary line within a certain range, it can ensure that the intelligent lawn mower can detect the boundary signal on the boundary line when the boundary line is not broken , So as to ensure that the smart lawn mower can still work normally with the extension of the boundary line.
  • the input end of the signal amplifying component is connected to the boundary line, and the output end is connected to the boundary extension line; so that the signal amplifying component amplifies the boundary current on the boundary line and outputs it to the boundary extension line.
  • the extension line is in the working area enclosed by the boundary line, which is equivalent to dividing the working area into multiple parts; it shortens the distance for the smart lawn mower to detect the boundary signal, and ensures that the smart lawn mower has a longer length on the boundary line. It works normally when disconnected.
  • FIG. 13 is a flowchart of an automatic control method provided by another embodiment of the present application. As shown in FIG. 13, this embodiment uses this method to apply to FIG. 11 and/or in the automatic control system shown in FIG. 12, and the execution subject of each step is the control component in the charging station 12 as an example, the method includes at least the following steps:
  • Step 1301 Control the boundary sensing module to detect boundary signals on the boundary line in real time.
  • Step 1302 Obtain the detection result of the boundary signal by the boundary sensing module.
  • the detection result includes the first detection result or the second detection result.
  • the first detection result is used to indicate the signal strength of the boundary signal; the second detection result is used to indicate whether the boundary sensing module detects the boundary signal.
  • Step 1303 controlling the signal stabilizing component to adjust the boundary current of the boundary line according to the detection result.
  • the detection result is the first detection result.
  • the control component controls the signal stabilization component to work to increase the boundary current of the boundary line.
  • the detection result is the second detection result
  • the control component controls the signal stabilization component to work to increase the boundary current of the boundary line when the boundary sensing module does not detect the boundary signal.
  • the automatic control method provided in this embodiment can ensure that the smart lawn mower can detect the boundary signal on the boundary line when the boundary line is not broken, thereby ensuring that the smart lawn mower follows the extension of the boundary line. It still works.
  • the present application also provides an automatic control system including the charging station, and the automatic control system includes FIG. 2, FIG. 6 and/or Or the charging station 1401 and at least one signal amplifying component 1402 in FIG. 7; the charging station 1401 is connected to the boundary line 1403 and provides boundary current for the boundary line 1403 for the smart lawn mower to determine the current working position according to the boundary signal on the boundary line And/or working status.
  • the input end of the signal amplifying component 1402 is connected to the boundary line, and the output end is connected to the boundary extension line 1404; the signal amplifying component 1402 is used to amplify the boundary current on the boundary line 1403 and output it to the boundary extension line 1404; the boundary extension line 1404 is at the boundary In the work area enclosed by the line 1403.
  • the present application also provides a computer-readable storage medium in which a program is stored, and the program is loaded and executed by a processor to implement the automatic control method of the foregoing method embodiment.
  • the present application also provides a computer product, which includes a computer-readable storage medium in which a program is stored, and the program is loaded and executed by a processor to implement the foregoing method embodiments Automatic control method.
  • At least one boundary sensing module 15 is provided on the smart lawn mower 1 to detect boundary signals on the boundary line 3.
  • the number of boundary sensing modules 15 is two, and the two first signal detection components 11 are symmetrically arranged along the longitudinal axis of the intelligent lawn mower 1.
  • the boundary signal may be a magnetic signal.
  • the boundary sensing module 15 may be a magnetic sensor; or, the boundary signal may also be an optical signal.
  • the boundary sensing module 15 may be a photoelectric sensor; or, the boundary signal may also be a photoelectric sensor. It may be an acoustic signal.
  • the boundary sensing module 15 may be an acoustic wave sensor. This embodiment does not limit the boundary signal and the type of the boundary sensing module 15.
  • the upper boundary sensor module 15 of the smart lawn mower 1 has limited sensitivity to boundary signals. At this time, there may be areas in the working area 4 where the boundary sensor module 15 cannot detect the boundary signals. When the smart lawn mower 1 cannot detect the boundary signal 3 When it exists, the smart lawn mower 1 will stop working, which causes the smart lawn mower 1 to fail to work even if the boundary line 3 is not disconnected.
  • the smart lawn mower 1 in addition to the first signal detection component 16 (the first signal detection component may be the boundary sensing module 15 in the above embodiment), the smart lawn mower 1 provided by the present application is also installed with a second The signal detection component 17, the sensitivity of the second signal detection component 17 to detect the boundary signal is higher than the sensitivity of the first signal detection component 16 to detect the boundary signal, so that when the first signal detection component 16 does not detect the boundary signal, it can Using the second signal detection component 17 to detect the boundary signal can ensure that the smart lawn mower 1 can detect the boundary signal when the boundary line 3 is not broken, and thus can work normally.
  • FIG. 17 is a schematic structural diagram of an intelligent lawn mower provided by an embodiment of the present application, including: at least one first signal detection component 16 (two second signal detection components are taken as an example in FIG. 17), at least one second signal Detection component 17 and control module.
  • the first signal detection component 16 is used to detect the boundary signal generated by the boundary line, and the intelligent lawn mower determines the current working position and/or working state according to the boundary signal.
  • the current working position is used for the smart lawn mower to determine the current mowing position, or for the smart lawn mower to determine the path when returning to charging.
  • the working state includes but is not limited to: a stopped working state and a mowing state.
  • the control module is signal-connected with at least one first signal detection component 16; the control module is used to determine the working state of the smart lawn mower according to the detection result of the first signal detection component 16.
  • the control module is also signal-connected with at least one second signal detection component 17, and the sensitivity of the second signal detection component 17 to detect the boundary signal is higher than the sensitivity of the first signal detection component 16 to detect the boundary signal.
  • the type of the second signal detection component 17 is the same as the type of the first signal detection component 16, for example, both are magnetic induction sensors.
  • the control module is also used to determine the working state of the intelligent lawn mower according to the detection result of the second signal detection component 17 when the at least one first signal detection component 16 does not detect the boundary signal.
  • the detection result of the second signal detection component 17 is that the boundary signal is detected, it is determined that the boundary signal is present, the boundary line is not broken, and the working state of the intelligent lawn mower is the mowing state; in the second signal detection component
  • the detection result of 17 is that the boundary signal is not detected, it is determined that the boundary signal does not exist, the boundary line is disconnected, and the working state of the smart lawn mower is stopped. At this time, the smart lawn mower stops working.
  • control module is further configured to determine the smart lawn mower's status according to the detection result of the first signal detection component 16 when the at least one first signal detection component 16 and the at least one second signal detection component 17 both detect the boundary signal. Work status and/or current work location.
  • the smart lawn mower provided in this embodiment is provided with at least one second signal detection component additionally on the original smart lawn mower, and the sensitivity of the second signal detection component to detect the boundary signal is higher than that of the first signal detection.
  • the sensitivity of the component detecting the boundary signal; the control component determines the working status of the smart lawn mower according to the detection result of the second signal detection component when the boundary signal is not detected by the at least one first signal detection component; Large, the smart lawn mower may not work properly; because the second signal detection component that is more sensitive to boundary signals is installed on the smart lawn mower, as the working area increases, the smart lawn mower can be in the first signal When the detection component cannot detect the boundary signal, the second signal detection component is used to detect the boundary signal, and the working status of the smart lawn mower is determined according to the detection result of the second signal detection component to ensure that the smart lawn mower is not disconnected. The machine still works normally.
  • the second signal detection component is used to detect the boundary signal
  • the second signal detection component is only used to determine whether the boundary line signal can be detected currently.
  • the smart lawn mower is When working in the working area, when the boundary line signal cannot be detected, the intelligent lawn mower stops to meet the safety requirements.
  • the first signal detection component is used to implement work such as the return of the intelligent lawnmower. Such a work requires the first signal detection component to have high accuracy. Therefore, the first detection component cannot be simply replaced with a high-sensitivity component.
  • the smart lawn mower can use the second signal detection component to detect whether there is a boundary signal; use the detection result of the first signal detection component to perform regression, which can ensure the return of the smart lawn mower The accuracy of the charging station.
  • the first signal detection component detects the boundary signal
  • the current position and/or working state are determined first based on the detection result of the first signal detection component, which can ensure that the smart lawn mower accurately determines the current position and/or working state Sex.
  • the smart lawn mower further includes: a motor arranged on the housing, the motor includes a cutting motor and/or a driving motor; wherein the cutting motor is used to drive the cutting assembly that performs the cutting work; the driving motor Used to drive the smart lawn mower to move. Since interference will occur to the signal detection component during the operation of the motor, and the higher the sensitivity of the signal detection component, the worse the anti-interference ability of the signal detection component. Therefore, in this embodiment, the position of the second signal detection 17 is far away from the motor.
  • a circuit board is also provided in the body, and at least one second signal detection component 17 is mounted on the circuit board, and the second signal detection component 17 is located far away from the motor on the circuit board.
  • the ways of setting the second signal detection component 17 on the circuit board away from the motor include but are not limited to the following:
  • the first type the distance from the second signal detection component 17 to the motor is greater than the distance from other components on the circuit board to the motor. In this way, it can be ensured that the second signal detection component 17 is the farthest away from the motor.
  • the second type the distance from the second signal detection component 17 to the motor is greater than the preset distance threshold.
  • the preset distance threshold can ensure that the second signal detection component 17 is not interfered by the motor.
  • the distance from the circuit board to the motor is greater than the distance from other components in the body to the motor, or other related components that generate electromagnetic interference, so that it can be guaranteed
  • the distance between the circuit board and the motor is the farthest, thereby increasing the distance between the second signal detection component and the motor.
  • the motor includes a cutting motor and/or a driving motor, where the cutting motor is used to drive the cutting assembly that performs cutting work; the driving motor is used to drive the smart lawn mower to move.
  • the number of the first signal detection components 16 is two, and the two first signal detection components 16 are symmetrically arranged at the front end of the housing along the longitudinal axis of the smart lawn mower.
  • the number of the second signal detection assembly 17 is one.
  • the second signal detection assembly 17 is arranged at a position other than the central axis of the rear end of the lawn mower.
  • the interference of the motor to the second signal detection component can be reduced, thereby improving the accuracy of the detection result obtained by the second signal detection component.
  • the body of the smart lawn mower is also provided with a heat dissipation cavity, which communicates with the external air, and the circuit board is arranged in the heat dissipation cavity, thereby reducing the influence of temperature factors on the second signal detection component 17 on the circuit board. The accuracy of the detection result obtained by the second signal detection component 17 is improved.
  • the circuit board on which the second signal detection component 17 is installed may also be installed with at least one signal detection component 16 and/or a control module.
  • the present application also provides a flow chart of an automatic control method of an intelligent lawn mower including the following steps: Step 1801: Obtain the detection result of the boundary signal on the boundary line by the first signal detection component.
  • the number of first signal detection components may be one; alternatively, there may be more than one, and this embodiment does not limit the number of first signal detection components.
  • Step 1802 Obtain the detection result of the boundary signal on the boundary line by the second signal detection component.
  • the sensitivity of the second signal detection component to detect the boundary signal is higher than the sensitivity of the first signal detection component to detect the boundary signal.
  • the number of the second signal detection component may be one; alternatively, there may be more than one, and this embodiment does not limit the number of the first signal detection component.
  • the type of the second signal detection component is the same as the type of the first signal detection component.
  • Step 1803 When the first signal detection component does not detect the boundary signal, determine the working state of the smart lawn mower according to the detection result of the second signal detection component.
  • case 1 the detection result of the second signal detection component is that the boundary signal is not detected, the control component determines that the boundary signal exists, the boundary line is not disconnected, and the The working state is stopped working state.
  • Case 2 The detection result of the second signal detection component is that the boundary signal is detected, and the control component determines that the boundary signal is present, the boundary line is not disconnected, and the working state of the intelligent lawn mower is the mowing state.
  • the working state of the smart lawn mower is determined according to the detection result of the first signal detection component.
  • the sensitivity of the signal detection component is high, more interference will be introduced into the detection result, which is not conducive to the smart lawn mower to obtain detailed detection information. Therefore, in this embodiment, by preferentially determining the working state according to the detection result of the first signal detection component, the accuracy of determining the working state of the smart lawn mower can be guaranteed.
  • the intelligent lawn mower is controlled to return to the charging station according to the detection result of the first signal detection component.
  • the signal detection component due to the high sensitivity of the signal detection component, more interference will be introduced in the detection result, which is not conducive to the smart lawn mower to obtain detailed detection information. Therefore, in this embodiment, by first determining the current position according to the detection result of the first signal detection component, and returning to the charging station according to the current position, the accuracy of the intelligent lawn mower when returning to the charging station can be ensured.
  • the automatic control method of the smart lawn mower determines the smart lawn mower's performance according to the detection result of the second signal detection component when the boundary signal is not detected by at least one first signal detection component.
  • Working status it can solve the problem that the smart lawn mower may not work normally as the working area increases; because the second signal detection component that is more sensitive to boundary signals is installed on the smart lawn mower, as the working area increases It can make the smart lawn mower use the second signal detection component to detect the boundary signal when the first signal detection component cannot detect the boundary signal, and determine the working status of the smart lawn mower according to the detection result of the second signal detection component to ensure When the boundary line is not broken, the smart lawn mower still works normally.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)

Abstract

La présente invention concerne un système de commande automatique et son procédé de commande. Le système de commande automatique comprend : un dispositif automoteur (1) et une station de base (2). La station de base (2) est électriquement connectée à une ligne de limite (3) et utilisée pour fournir de l'énergie pour la ligne de limite (3). Le dispositif automoteur (1) comprend : un module de détection de limite (15), le module de détection de limite (15) étant utilisé pour détecter un signal de limite généré par la ligne de limite (3). Un module de commande commande, en fonction du signal de limite, le dispositif automoteur pour se déplacer et/ou fonctionner à l'intérieur d'une région de fonctionnement définie par la ligne de limite ; et sur la base d'un signal de courant de limite ajusté par un composant de stabilisation de signal (13), si le module de détection de limite (15) ne parvient pas à détecter, dans une période de temps prédéfinie, le signal de limite généré par la ligne de limite (3), le module de commande commande le dispositif automoteur (1) pour arrêter le déplacement et/ou le fonctionnement.
PCT/CN2020/098121 2019-06-25 2020-06-24 Système de commande automatique et son procédé de fonctionnement WO2020259586A1 (fr)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
CN201920966138 2019-06-25
CN201910553787.7 2019-06-25
CN201920966191.5U CN210016305U (zh) 2019-06-25 2019-06-25 充电站及自动控制系统
CN201920966138.5 2019-06-25
CN201910553557.0 2019-06-25
CN201910553557.0A CN112119742B (zh) 2019-06-25 2019-06-25 智能割草机及智能割草机的自动控制方法
CN201920966191.5 2019-06-25
CN201910553787.7A CN112134314A (zh) 2019-06-25 2019-06-25 充电站、自动控制系统及方法

Publications (1)

Publication Number Publication Date
WO2020259586A1 true WO2020259586A1 (fr) 2020-12-30

Family

ID=74061473

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/098121 WO2020259586A1 (fr) 2019-06-25 2020-06-24 Système de commande automatique et son procédé de fonctionnement

Country Status (1)

Country Link
WO (1) WO2020259586A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5136830A (en) * 1991-03-08 1992-08-11 Langdon Christopher D Lawn mowers including lift handles
CN107728217A (zh) * 2017-09-09 2018-02-23 浙江亚特电器有限公司 用于智能割草机的区域边界检测电路及方法
CN109557909A (zh) * 2017-09-27 2019-04-02 苏州宝时得电动工具有限公司 自行走设备系统、边界线系统及其控制方法
CN210016305U (zh) * 2019-06-25 2020-02-04 宝时得科技（中国）有限公司 充电站及自动控制系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5136830A (en) * 1991-03-08 1992-08-11 Langdon Christopher D Lawn mowers including lift handles
CN107728217A (zh) * 2017-09-09 2018-02-23 浙江亚特电器有限公司 用于智能割草机的区域边界检测电路及方法
CN109557909A (zh) * 2017-09-27 2019-04-02 苏州宝时得电动工具有限公司 自行走设备系统、边界线系统及其控制方法
CN210016305U (zh) * 2019-06-25 2020-02-04 宝时得科技（中国）有限公司 充电站及自动控制系统

Similar Documents

Publication Publication Date Title
US8676378B2 (en) Robot with docking station, system and method
EP2950417B1 (fr) Système de transmission de puissance sans fil et dispositif de transmission de puissance
KR101775234B1 (ko) 무전전력전송 시스템 및 이의 구동 방법.
CN102801314B (zh) 接通时间恒定的开关调制器实现双控制回路
CN210016305U (zh) 充电站及自动控制系统
JP2018093730A (ja) 無線電力伝送のための送電装置および受電装置ならびに無線電力伝送システム
CN109742833B (zh) 发射端、接收端、无线充电系统及无线充电方法
US20140031979A1 (en) Robot, A Docking System and A Docking Method
US20160318178A1 (en) Automatically travelling device and control method therefor
US20160355095A1 (en) Wireless Power Supply System and Power Transmission Device
CN108664014A (zh) 一种自动行走设备回归充电的控制方法及装置
CN108964288B (zh) 机器人水平移动非接触式无线充电装置及其无线充电方法
KR20170023557A (ko) 무전전력전송 시스템 및 이의 구동 방법.
WO2020259586A1 (fr) Système de commande automatique et son procédé de fonctionnement
CN201207579Y (zh) 电池充电器
CN215181476U (zh) 一种ct取电的电源自动控制系统
CN111049241B (zh) 一种无人机无线充电安全预警系统
CN110063142B (zh) 割草机的回归方法和装置
CN114094716A (zh) 无线充电
CN110444827B (zh) 一种基于mppt的充电控制方法及太阳能光伏系统
CN216086230U (zh) 一种用于智能充电机的充电电路
US20190356169A1 (en) Wireless power transmission device and power transfer system
CN112134314A (zh) 充电站、自动控制系统及方法
CN214281018U (zh) 智能通信负载用电管理器
CN112729588B (zh) 一种微型无源无线温度传感器和测温系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20830654

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20830654

Country of ref document: EP

Kind code of ref document: A1