WO2021047068A1 - 一种自动工作系统及其控制方法 - Google Patents

一种自动工作系统及其控制方法 Download PDF

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Publication number
WO2021047068A1
WO2021047068A1 PCT/CN2019/122363 CN2019122363W WO2021047068A1 WO 2021047068 A1 WO2021047068 A1 WO 2021047068A1 CN 2019122363 W CN2019122363 W CN 2019122363W WO 2021047068 A1 WO2021047068 A1 WO 2021047068A1
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Prior art keywords
boundary
self
working
state
information
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PCT/CN2019/122363
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English (en)
French (fr)
Inventor
多尔夫·达维德
康蒂·伊曼纽尔
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苏州宝时得电动工具有限公司
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Publication of WO2021047068A1 publication Critical patent/WO2021047068A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the invention relates to an automatic working system, and also relates to a control method of the automatic working system.
  • a boundary can be set in the working range of the self-mobile device, and the sensor on the self-mobile device is used to detect the electronic signal transmitted by the boundary, thereby determining the positional relationship between the self-mobile device and the boundary, and controlling the self-mobile device to work based on the positional relationship Do not exceed the working range during the process, and return to the charging station quickly.
  • the self-mobile device when working range of the self-mobile device is more than several thousand square meters of grassland, when working in such a large working range, the self-mobile device may not be able to accurately know the electronic signal in the boundary, and thus cannot accurately know the relationship between it and the boundary. Position relationship; and, during the working process of electronic equipment such as motors installed on the mobile device, it may affect the detection result of the electronic signal in the boundary by the mobile device, so that the position relationship with the boundary cannot be accurately known, which affects the self-mobile device The effect of the work.
  • the problem to be solved by the present invention is to provide an automatic working system and a control method thereof that can accurately monitor the boundary state.
  • an automatic working system may include: at least one boundary detection device, the boundary detection device includes: a sensing unit, the sensing unit is used for A boundary state is sensed from the boundary; a self-moving device, the self-moving device walks and works in a working range defined by the boundary, the self-moving device includes: a housing; a walking mechanism that supports and drives the housing The self-moving device walks; a power module, which provides driving force for walking and working for the self-moving device; a working module, which is installed on the housing and performs a predetermined work; a control module, which is electrically connected to and controls the power Module to realize the automatic walking and automatic work of the self-moving equipment; the self-moving equipment further includes: a signal receiving device, the signal receiving device is used to wirelessly receive the information sent by the at least one boundary detection device, wherein, The information is related to the boundary state, and the control module controls the walking and/or work of
  • the information may include: boundary state information, and the boundary state information is used to characterize the boundary state sensed by the sensing unit from the boundary.
  • the information may include: control information related to the boundary state, and the control information is used to control walking and/or work of the self-mobile device in the working range.
  • the boundary detection device is not electrically connected to the boundary.
  • the boundary detection device is located at at least one of the following positions, which may include but is not limited to at least one of the following: on a base station for charging the self-mobile device, on the boundary, and The position where the boundary meets the preset distance.
  • the boundary state includes: an abnormal working state of the boundary,
  • control module controls the self-moving device to stop walking and/or working.
  • the abnormal working state of the boundary may include: boundary disconnection and/or boundary failure.
  • the boundary detection device when the sensing unit senses an abnormally working boundary state, the boundary detection device sends information related to the abnormally working boundary state to the signal receiving device, so that the control The module controls the self-moving device to stop walking and/or work.
  • the control module controls the self-moving device to stop walking and/or work.
  • control module may determine the distance between the self-mobile device and the boundary detection device based on the signal strength of the information received by the signal receiving device.
  • the boundary detection device may further include: a signal sending unit connected to the sensing unit and configured to send the information to the signal receiving device.
  • the signal receiving device may perform identity matching authentication with the boundary detection device before receiving the information sent by the boundary detection device.
  • the sensing unit is built in a housing made of non-metallic materials.
  • the self-moving device may further include: at least one sensing element, the sensing element is of the same type as the sensing unit, the sensing element is mounted on the housing, and the sensing element is used for A boundary signal is sensed, and the control module controls the walking and/or work of the self-moving device according to the sensed boundary signal.
  • the boundary detection device determines the boundary state based on whether the sensing unit senses a boundary signal.
  • the boundary transmits current to generate a magnetic field signal
  • the boundary detection device determines the boundary state based on whether the sensing unit senses the magnetic field signal, and the sensing unit includes a magnetic sensor.
  • the embodiment of the present invention also provides a control method of an automatic working system.
  • the automatic working system may include: at least one boundary detection device and a self-moving device.
  • the boundary detection device includes a sensing unit and the self-moving device. Walking and working in a working range defined by a boundary, the sensing unit is used to sense a boundary state from the boundary, and the method may include: wirelessly receiving information sent by the boundary detection device from the mobile device, and The information is related to the boundary state; based on receiving the information sent by the boundary detection device, the self-mobile device is controlled to walk and/or work in the working range.
  • the information may include: boundary state information, and the boundary state information is used to characterize the boundary state sensed by the sensing unit from the boundary.
  • the information may include: control information related to the boundary state, and the control information is used to control walking and/or work of the self-mobile device in the working range.
  • the boundary detection device is not electrically connected to the boundary.
  • the boundary detection device is located at but not limited to at least one of the following positions, which may include: on a base station for charging the self-mobile device, on the boundary, and meeting the pre-determined relationship with the boundary. Set the location of the distance.
  • the boundary state may include: an abnormal working state of the boundary,
  • controlling the self-moving device to walk and/or work in the working range includes: controlling the self-moving device to stop walking and/or based on an abnormal working boundary state jobs.
  • the abnormal working state of the boundary may include: a broken line on the boundary and/or a boundary failure.
  • controlling the self-mobile device to stop walking and/or working based on the boundary state of abnormal operation includes:
  • the boundary detection device sends information related to the abnormal working boundary state to the signal receiving device;
  • Control the self-moving device to stop walking and/or working.
  • controlling the self-mobile device to stop walking and/or working based on the boundary state of abnormal operation includes:
  • the sensing unit senses an abnormally working boundary state
  • the information sent by the boundary detection device is interrupted
  • Control the self-moving device to stop walking and/or working.
  • the method may further include: determining the distance between the self-mobile device and the boundary detection device based on the signal strength of the information received by the signal receiving device.
  • the method may further include: performing identity matching authentication between the self-mobile device and the boundary detection device.
  • the present invention has the beneficial effects that the automatic working system can accurately monitor the boundary state of the self-mobile device, ensure the normal operation of the self-mobile device, and effectively improve the mowing efficiency of the self-mobile device.
  • Figure 1 is a schematic diagram of an automatic working system in an embodiment of the present invention
  • Figure 2 is a schematic structural diagram of an automatic lawn mower in an embodiment of the present invention.
  • Figure 3 is a schematic diagram of functional modules of an automatic lawn mower in an embodiment of the present invention.
  • Fig. 4 is a flow chart of a control method of an automatic working system according to an embodiment of the present invention.
  • the automatic working system of the specific embodiment may include: a mobile device 1, a border 2, and a base station 3.
  • the self-mobile device 1 walks and works within the working range defined by the boundary 2, and the base station 3 can be used for the self-mobile device to return supplementary energy when the energy is insufficient.
  • Boundary 2 can include the periphery of the entire working area, usually end-to-end to close the working area.
  • Boundary 2 can be electronic, and electronic boundary 2 can be a boundary signal emitted by a boundary signal generating device, such as electromagnetic signals, acoustic signals, or Light signal and so on.
  • the automatic working system as shown in FIG. 1 may also include at least one boundary detection device 4.
  • the boundary detection device 4 can be used to sense the boundary signal from the boundary 2 and send the information related to the boundary state corresponding to the boundary signal to the self-mobile device, so that the self-mobile device controls its walking and walking in the working range based on the information. / Or work.
  • the boundary detection device 4 in the automatic working system may include: a sensing unit that can sense a boundary signal from the boundary 2.
  • the sensing unit can sense an electromagnetic signal, an acoustic signal, or a light signal from the boundary 2.
  • the boundary signal is not limited in this application. Determine the boundary state in the automatic working system through the sensed boundary signal, and send information related to the boundary state to the self-mobile device, so that the self-mobile device can control its walking and/or in the working range according to the received information Or work.
  • the self-mobile device when the self-mobile device does not receive the boundary signal representing the boundary state within a few seconds, it will stop walking and/or work to prevent the self-mobile device from crossing the boundary due to boundary disconnection or boundary failure, which may harm the user Wait for the consequences.
  • the self-mobile device when the self-mobile device is used to detect the boundary signal when the self-mobile device is normally walking within the boundary, when the self-mobile device is far away from the boundary, the self-mobile device may not be able to detect the boundary signal; and , Due to the influence of the magnetic field generated by the motor and other components on the mobile device on the working efficiency of the related electronic components on the mobile device, it may also cause the self-mobile device to fail to detect the boundary signal.
  • the control module will mistakenly think that the boundary is disconnected, and incorrectly control the self-mobile device to stop walking and/or work , Affect the normal working efficiency of the mobile device.
  • the sensing unit in the above-mentioned automatic working system is used to sense the boundary signal, the information related to the boundary state in the automatic working system is determined through the sensed boundary signal, and the information is sent to the self-moving device, so that the self-moving device It can control its walking and/or work in the working range according to the received information related to the boundary, which solves the defect that the self-moving device stops due to the inability to detect the boundary signal in the prior art, thereby improving the self-movement The efficiency of the equipment.
  • the foregoing boundary state may include state information such as a normal working state of the boundary and an abnormal working state of the boundary.
  • the abnormal working state of the boundary may represent the boundary state of the boundary disconnection and/or the boundary fault
  • the normal working state of the boundary may represent the boundary state where the boundary is not disconnected and no fault has occurred.
  • the self-mobile device can control its walking and/or work in the working range based on the received information related to the boundary state.
  • 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 working system is an automatic lawn mower system for description.
  • the self-moving device 1 is an automatic lawn mower 20.
  • the boundary 2 defines the working range of the automatic lawn mower 20, and a boundary signal generator can be set at the base station 3.
  • the boundary signal generator is connected to the boundary 2 and the base station 3 to form a closed electrical circuit.
  • the boundary signal generator generates a periodic current signal and sends it to the boundary 2.
  • the boundary 2 is a wire on which a corresponding periodic current flows. The current generates a periodic current signal near the boundary. magnetic field.
  • the magnetic field is directional and strong.
  • the above-mentioned periodic current signal may be a square wave pulse signal, because its generation method and identification are easy, so that the cost can be reduced and the efficiency can be improved.
  • the automatic lawn mower 20 has a housing 27, and the automatic lawn mower 20 may also include a walking mechanism 21, a working module 22, a power module 23, a control module 24, an energy module 25, and a signal receiving device 26.
  • the energy module 25 can be used to power the automatic lawn mower 20 and/or store external electric energy in the energy module 25 through the automatic lawn mower 20.
  • the control module 24 is connected to and controls the power module 23 to realize the automatic walking and automatic operation of the automatic lawn mower 20.
  • the signal receiving device 26 is used to receive messages sent from the outside.
  • the traveling mechanism 21 includes a wheel set and a traveling motor driving the wheel set.
  • the wheel set includes a driving wheel 211 driven by a walking motor and an auxiliary wheel 212 that is an auxiliary support housing.
  • the number of driving wheels can be one, two or more, and the auxiliary wheels can also be set to one or two accordingly. Or more.
  • the right driving wheel and the left driving wheel are symmetrically arranged with respect to the central axis of the lawn mower 20.
  • the center of the auxiliary wheel is located on the central axis.
  • the right drive wheel and the left drive wheel are preferably located at the rear of the housing, and the auxiliary wheel is located at the front.
  • the right drive wheel and the left drive wheel are each equipped with a drive motor to achieve differential output to control steering.
  • the drive motor can be directly connected to the drive wheel, but a transmission device can also be provided between the drive motor and the drive wheel, such as a planetary gear train commonly used in this technical field.
  • two driving wheels and one driving motor may also be provided. In this case, the driving motor drives the right driving wheel through the first transmission device, and the left driving wheel through the second transmission device. That is, the same motor drives the right drive wheel and the left drive wheel through different transmission devices.
  • the working module 22 is a mowing module, specifically a cutting component 221, such as a cutting blade.
  • the working module 22 is driven by the cutting motor 222 to work.
  • the center of the working module 22 is located on the central axis of the lawn mower 20 or offset to one side, and is arranged under the housing, between the auxiliary wheel and the driving wheel.
  • the energy module 25 is detachably or fixedly installed in the housing, and may include gasoline, battery packs, and the like. During operation, the battery pack releases electric energy to keep the lawn mower 20 working and walking. When it is not working, the battery can be connected to an external power source to supplement the power; the automatic lawn mower 20 can also automatically find the base station to supplement the power when it detects that the power is insufficient.
  • the power module 23 may include the above-mentioned motors. Specifically, it may include various types of motors, as well as a transmission structure connected to the motor. The motor is directly driven or driven by a transmission mechanism. The transmission action of the transmission mechanism makes the walking mechanism and the working module move.
  • the mechanism can be a worm gear mechanism, a bevel gear mechanism, and the like.
  • the power module 23 may be provided with two sets of motors, one set of motors drives the walking mechanism to move, and the other set of motors drives the working module 22 to work.
  • the control module 24 is, for example, a controller, which can be an embedded digital signal processor (Digital Signal Processor, DSP), a microprocessor (Micro Processor Unit, MPU), a specific integrated circuit (Application Specific Integrated Circuit, ASIC), and programmable logic Device (Programmable Logic Device, PLD) System on Chip (SOC), Central Processing Unit (CPU), Field Programmable Gate Array (Field Programmable Gate Array, FPGA), etc.
  • the control module 24 is electrically connected to and controls the power module 23, and can control the operation of the automatic lawnmower 20 according to a preset program or received instructions, so as to realize the automatic walking and automatic operation of the lawnmower 20.
  • the automatic mowing system may further include one or more boundary detection devices, and the boundary detection device may include: a sensing unit for sensing the boundary state from the boundary, and the automatic lawn mower
  • the signal receiving device 26 of 20 may be used to receive information sent by at least one boundary detection device, the information is related to the boundary state, and the control module controls the walking and/or work of the self-mobile device in the working range based on the information.
  • the boundary state may include an abnormal working state of the boundary and a normal working state of the boundary.
  • the abnormal working state of the boundary may represent the boundary state of the boundary signal interruption, including: boundary disconnection and/or boundary failure.
  • the automatic lawn mower 20 can control its walking and/or work in the working range based on the received information related to the boundary state.
  • the automatic lawn mower 20 When the automatic lawn mower 20 receives the information that the boundary is not working properly, for example: the boundary is disconnected, the automatic lawn mower can be controlled to stop; when the automatic lawn mower receives the information that the boundary is working normally, it indicates that the boundary is not broken, and further Yes, when the automatic lawn mower receives the information that it is located outside the boundary, it indicates that the lawn mower is located outside the boundary, thereby controlling the automatic lawn mower to stop; when the automatic lawn mower receives the information that it is located within the boundary, it indicates that the grass is cut The machine is located within the boundary, thereby controlling the automatic lawn mower to continue its current work.
  • the sensing unit may be a magnetic sensor, such as a Hall sensor.
  • the magnetic sensor can determine the boundary state information by sensing the magnetic field signal generated by the current in the boundary. Specifically, when the sensing unit does not sense the magnetic field signal, the boundary state information is the boundary signal interruption, indicating that the boundary is disconnected, and the automatic lawnmower is controlled to stop; when the sensing unit senses the magnetic field signal, the boundary state information is the boundary signal connection, It indicates that the boundary is not broken, and the automatic lawn mower continues to maintain its current work.
  • acoustic signals or light signals can also be generated in the boundary, so the sensing unit can also be other types of sensing units that can sense acoustic signals or light signals.
  • the boundary detection device may include: a signal sending unit connected to the sensing unit, sensing the boundary state from the boundary 2 through the sensing unit, and sending the information related to the boundary state sensed by the sensing unit to the automatic lawn mower through the signal transmitting unit.
  • the boundary detection device may further include: a signal processing unit, which may be used to process the boundary state sensed by the sensing unit, and then send it to the lawn mower through the signal sending unit.
  • the above-mentioned information may include: boundary state information, and the boundary state information may be the boundary state sensed by the sensing unit from the boundary. After the sensing unit senses the boundary state, the boundary state information can be directly sent to the automatic lawn mower through the signal sending unit.
  • the above information may also include: control information related to the boundary state. After the sensing unit senses the boundary state, the signal processing unit may be used to perform information processing on the boundary state information to obtain control information corresponding to the boundary state information, for example, : Control the information of stopping or continuing the work of the automatic lawn mower, and then the signal sending unit sends the control information to the automatic lawn mower, so as to control the walking and/or work of the automatic lawn mower in the working range.
  • the signal sending unit may wirelessly send information related to the boundary state to the signal receiving device in the lawn mower.
  • the signal sending unit may include, but is not limited to, at least one of the following: a cellular wireless communication unit (for example: 4G unit, 5G unit, etc.), a non-cellular wireless communication unit (for example: radio frequency signal RF transmitter, wifi, Bluetooth, etc.).
  • a communication unit with a large wireless transmission distance such as an RF transmitter can be used, so that when the working range is large, the automatic lawnmower can also receive the boundary signal sent by the wireless transmission unit to realize the automatic lawnmower and boundary detection Uninterrupted real-time communication between devices.
  • the signal receiving device 26 that communicates with the signal sending unit in the automatic lawn mower can be used to receive the information related to the boundary state sent by at least one boundary detection device 4, and the signal receiving device 26 and the signal sending unit are of type The same communication unit.
  • the boundary detection device further includes: a power supply unit, which can be used to provide power to the signal sending unit, the sensing unit, and the like.
  • the boundary detection device further includes: a housing, the housing may be made of a non-metallic material, and the above-mentioned sensing unit may be built in the housing made of a non-metallic material, so that the sensing unit It has higher sensitivity when sensing boundary signals.
  • the boundary detection device composed of the sensing unit, the signal sending unit and the power supply unit can also be built in a housing made of non-metallic materials.
  • other materials such as metal can also be used, which is not limited in this application.
  • the boundary detection device may be non-electrically connected to the boundary when sensing the boundary state.
  • the boundary detection device may be located at at least one of the following locations, including: a base station, a boundary, or a location meeting a preset distance from the boundary (located within or outside the working area), and the boundary detection device may not be in contact with the boundary And the closed electrical loop formed by the base station is electrically connected.
  • the boundary detection device may be located at the base station, electrically connected to the base station, and powered by the base station, but there is no electrical connection with the boundary and the closed electrical loop formed by the base station; the boundary detection device may also be installed at the boundary
  • the boundary detection device can be located in the working area or outside the working area, and it can meet the preset distance from the boundary.
  • the preset distance may be the position where the automatic lawn mower can sense the boundary signal in the boundary.
  • the boundary detection device may also be electrically connected to the boundary, and the power supply in the circuit where the boundary is located is used to supply power to it, and information related to the state of the boundary is determined by sensing the boundary.
  • the information related to the boundary state may be determined based on whether the boundary detection device 4 senses the boundary signal.
  • the boundary detection device 4 does not sense the boundary signal, it means that the boundary signal is interrupted, that is, the boundary is in an abnormal working state, and the control module can control the automatic lawn mower to stop working and/or walk; when the boundary detection device 4 can sense the boundary
  • the signal indicates that the boundary signal is connected, that is, the boundary is working normally, and the control module can control the automatic lawn mower to work and/or walk based on the boundary signal.
  • the distance between the automatic lawn mower and the boundary detection device may be determined based on the signal strength of the information related to the boundary state received by the signal receiving device. If the boundary detection device is located at the base station, when the power of the automatic lawn mower is insufficient, the distance can be used to control the automatic lawn mower to quickly return to the base station for charging.
  • the signal receiving device may perform identity matching authentication with the boundary detection device before receiving the boundary detection device, that is, the information related to the boundary state sent by the signal sending unit, so as to ensure that the signal receiving device can Communicate with the boundary detection device.
  • the boundary detection device may send the unique identification information of the signal sending unit to the automatic lawn mower, and the identification information may include at least one of the following: the physical address of the signal sending unit mac address, The product serial number SN code, the software protocol used by the signal sending unit, etc., so that when the automatic lawn mower receives new data information, it can determine whether the received data information carries these identification information.
  • the automatic lawn mower can also send the unique identification information of the signal receiving device to the boundary detection device.
  • the specific principle is similar to the above method, and will not be repeated in this application.
  • the sensing unit senses the boundary to generate boundary state information that characterizes the boundary state.
  • the boundary state may include: the boundary abnormal working state, and accordingly, based on the boundary state of the boundary abnormal working state sensed, the control module controls the automatic lawn mower to stop walking and/or working.
  • the boundary state may include: the boundary is not disconnected and/or the boundary is not faulted, etc., the boundary state is normal.
  • the control module may control the automatic The lawn mower continues to work within the boundary.
  • the boundary detection device when the sensing unit senses the abnormally working boundary state of the boundary, the boundary detection device sends information related to the abnormally working boundary state to the signal receiving device, so that the control module can, based on the information, Control the automatic lawn mower to stop walking and/or work. That is to say, when the boundary detection device cannot sense the boundary signal, the boundary detection device sends the boundary state information of the abnormal operation of the boundary to the lawn mower, and the signal receiving device on the lawn mower receives the abnormal operation information, thereby controlling The automatic lawn mower stops walking and/or working.
  • the boundary state information sent by the boundary detection device is interrupted, so that the control module controls the automatic lawn mower to stop walking and/or working.
  • the boundary detection device stops sending information to the automatic lawn mower, and the automatic lawn mower cannot receive the information related to the boundary state, so as to control the automatic lawn mower to stop walking and / Or work.
  • the automatic lawn mower may further include: at least one sensing element, the sensing element is of the same type as the above-mentioned sensing unit, for example: the sensing element may be a magnetic sensor, that is, a Hall sensor, etc., the sensing element Installed on the shell, it can be used to sense boundary signals.
  • the control module can determine whether the automatic lawn mower is located outside the working area according to the boundary signal sensed by the sensing element.
  • At least one sensing unit is provided in the automatic working system, the sensing unit is used to sense the boundary state from the boundary, and the information related to the boundary state is sent to the signal receiving device in the self-moving device.
  • the device controls its walking and working within the working range based on the received information related to the boundary state, which solves the problem that the boundary state cannot be received due to the long distance when the boundary state is only acquired from the sensor on the mobile device in the prior art.
  • the automatic working system in this embodiment can accurately monitor the working status of the boundary to ensure the normal operation of the self-mobile device, thereby effectively improving the mowing efficiency of the self-mobile device.
  • the present application also provides a control method of an automatic working system.
  • the automatic working system may include: at least one boundary detection device and a self-moving device.
  • the boundary detection device may include a sensing unit. When walking and working in the working range defined by the boundary, the sensing unit is used to sense the boundary state from the boundary.
  • the method may include: S401: the self-mobile device wirelessly receives the information sent by the boundary detection device, the information Related to the boundary state; S402: Based on the received information related to the boundary state, control the walking and/or work of the self-mobile device in the working range.
  • the above-mentioned information may include: boundary state information, and the boundary state information may be used to characterize the boundary state sensed by the sensing unit from the boundary.
  • the above-mentioned information may include: control information related to the boundary state, and the control information may be used to control the walking and/or work of the self-mobile device in the working range.
  • the boundary detection device is not electrically connected to the boundary.
  • the boundary detection device is located at but not limited to at least one of the following positions, which may include: on a base station for charging self-mobile devices, on a boundary, and a position meeting a preset distance from the boundary.
  • the boundary state may include: an abnormal working state of the boundary. Accordingly, based on the sensed information, the self-mobile device is controlled to walk and/or work in the working range. Including: control the self-mobile device to stop walking and/or work based on the boundary state of abnormal work.
  • the abnormal working state of the boundary may include: boundary disconnection and/or boundary failure.
  • the control module controls the self-mobile device to stop walking and/or working, which may include: when the sensing unit senses the abnormal working boundary state, the boundary detection device sends The information related to the border state side of the abnormal operation is sent to the signal receiving device; the mobile device is controlled to stop walking and/or work.
  • the control module controls the self-mobile device to stop walking and/or working, which may include: when the sensing unit senses the abnormal working boundary state, the boundary detection device sends Information interruption; control the self-mobile device to stop walking and/or work.
  • the distance between the mobile device and the boundary detection device may be determined based on the signal strength of the information received from the mobile device.
  • the sensing unit before receiving the information sensed from the boundary by the sensing unit from the mobile device, it may perform identity matching authentication with the boundary detection device.
  • the sensing unit is built in a housing made of non-metallic materials.
  • the self-moving device may further include: at least one sensing element for sensing the boundary state
  • the method may include: controlling the walking and/or working of the self-moving device according to the sensed boundary state .
  • the boundary state information is determined based on whether the sensing unit senses the boundary state.
  • the sensing unit may include: a magnetic sensor.
  • At least one sensing unit is provided in the automatic working system, the sensing unit is used to sense the boundary state from the boundary, and the information related to the boundary state is sent to the signal receiving device in the self-moving device.
  • the device controls its walking and working within the working range based on receiving information related to the boundary state, which solves the problem that when the boundary state is acquired only from the sensor on the mobile device in the prior art, the boundary state cannot be received due to the long distance. Or due to the influence of the motor and other components on the self-mobile device on the sensor results, the boundary state cannot be obtained, and the self-mobile device cannot determine the working condition of the boundary. Or work, which ultimately affects the normal operation of the self-mobile device.
  • the automatic working system in this embodiment can accurately monitor the working status of the boundary to ensure the normal operation of the self-mobile device, thereby effectively improving the mowing efficiency of the self-mobile device.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

本发明涉及一种自动工作系统及其控制方法，自动工作系统可以包括：至少一个边界检测装置，边界检测装置包括：感应单元；以及自移动设备，自移动设备在由边界限定的工作范围中行走并工作，其中，自移动设备还可以包括：信号接收装置，信号接收装置可以用于无线接收至少一个边界检测装置发送的信息，该信息与边界状态相关，控制模块基于该信息控制自移动设备在工作范围中的行走和/或工作。本发明的有益效果是：自动工作系统能够精确监控边界状态，保证自移动设备的正常工作，从而有效提高了自移动设备的割草效率。

Description

一种自动工作系统及其控制方法
本申请要求了申请日为2019年9月12日，申请号为201910863799.X的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种自动工作系统，还涉及一种自动工作系统的控制方法。
背景技术
随着计算机技术和人工智能技术的不断进步，越来越多的人在日常生活中选择使用自动工作系统。在自动工作系统中自动工作的自移动设备，例如：智能割草机以及扫地机器人等，一般在进行一次设置之后，能自动在用户的草坪中或室内工作，从而将用户从清洁房间、维护草坪等繁琐枯燥费时的家务劳动中解放出来。一般来说，自移动设备的工作范围中可以设置边界，利用自移动设备上的传感器检测边界传输的电子信号，从而确定自移动设备与边界的位置关系，基于该位置关系控制自移动设备在工作过程中不超出工作范围，以及快速回归充电站。
然而，在自移动设备的工作范围为几千平米以上草地的情况下，在如此大的工作范围中工作时，自移动设备可能无法准确获知边界中的电子信号，从而无法准确获知其与边界的位置关系；并且，自移动设备上安装的马达等电子设备在工作过程中，可能会影响自移动设备对于边界中电子信号的检测结果，从而无法准确获知其与边界的位置关系，影响自移动设备的工作效果。
因此，需要提出一种新的自动工作系统及其控制方法。
发明内容
为克服现有技术的缺陷，本发明所要解决的问题是提供一种能精确监控边界状态的自动工作系统及其控制方法。
本发明解决现有技术问题所采用的技术方案是：一种自动工作系统，所述自动工作系统可以包括：至少一个边界检测装置，所述边界检测装置包括：感应单元，所述感应单元用于从边界中感应边界状态；自移动设备，所述自移动设备在由所述边界限定的工作范围中行走并工作，所述自移动设备包括：壳体；行走机构，支撑所述壳体并带动所述自移动设备行走；动力模块，为 所述自移动设备提供行走及工作的驱动力；工作模块，安装在所述壳体上，执行预定工作；控制模块，电性连接并且控制所述动力模块，以实现所述自移动设备的自动行走及自动工作；所述自移动设备还包括：信号接收装置，所述信号接收装置用于无线接收所述至少一个边界检测装置发送的信息，其中，所述信息与所述边界状态相关，所述控制模块基于所述信息控制所述自移动设备在所述工作范围中的行走和/或工作。
在一个实施例中，所述信息可以包括：边界状态信息，所述边界状态信息用于表征所述感应单元从所述边界中感应到的边界状态。
在一个实施例中，所述信息可以包括：与所述边界状态相关的控制信息，所述控制信息用于控制所述自移动设备在所述工作范围中的行走和/或工作。
在一个实施例中，所述边界检测装置非电性连接于所述边界。
在一个实施例中，所述边界检测装置位于以下至少之一的位置处，可以包括但不限于以下至少之一：用于给所述自移动设备充电的基站上、所述边界上、与所述边界满足预设距离的位置。
在一个实施例中，所述边界状态包括：边界非正常工作状态，
相应的，
基于非正常工作的边界状态，所述控制模块控制所述自移动设备停止行走和/或工作。
在一个实施例中，边界非正常工作状态可以包括：边界断线和/或边界故障。
在一个实施例中，当所述感应单元感应到非正常工作的边界状态时，所述边界检测装置发送与所述非正常工作的边界状态相关的信息至所述信号接收装置，从而所述控制模块控制所述自移动设备停止行走和/或工作。
在一个实施例中，当所述感应单元感应到非正常工作的边界状态时，所述边界检测装置发送的信息中断，从而所述控制模块控制所述自移动设备停止行走和/或工作。
在一个实施例中，所述控制模块可以基于所述信号接收装置接收到的所述信息的信号强度，确定所述自移动设备与所述边界检测装置之间的距离。
在一个实施例中，所述边界检测装置还可以包括：信号发送单元，所述信号发送单元与所述感应单元相连，用于向所述信号接收装置发送所述信息。
在一个实施例中，所述信号接收装置在接收所述边界检测装置发送的信 息之前，可以与所述边界检测装置进行身份匹配认证。
在一个实施例中，所述感应单元内置于由非金属材料制成的壳体中。
在一个实施例中，所述自移动设备还可以包括：至少一个感应元件，所述感应元件与所述感应单元类型相同，所述感应元件安装在所述壳体上，所述感应元件用于感应边界信号，所述控制模块根据感应到的所述边界信号控制所述自移动设备的行走和/或工作。
在一个实施例中，所述边界检测装置基于所述感应单元有无感应到边界信号确定所述边界状态。
在一个实施例中，所述边界传输电流以生成磁场信号，所述边界检测装置基于所述感应单元有无感应到所述磁场信号确定所述边界状态，所述感应单元包括：磁传感器。
本发明实施例中还提供了一种自动工作系统的控制方法，所述自动工作系统可以包括：至少一个边界检测装置、自移动设备，所述边界检测装置包括：感应单元，所述自移动设备在由边界限定的工作范围中行走并工作，所述感应单元用于从所述边界中感应边界状态，所述方法可以包括：所述自移动设备无线接收所述边界检测装置发送的信息，所述信息与所述边界状态相关；基于对所述边界检测装置发送的信息的接收，控制所述自移动设备在所述工作范围中的行走和/或工作。
在一个实施例中，所述信息可以包括：边界状态信息，所述边界状态信息用于表征所述感应单元从所述边界中感应到的边界状态。
在一个实施例中，所述信息可以包括：与所述边界状态相关的控制信息，所述控制信息用于控制所述自移动设备在所述工作范围中的行走和/或工作。
在一个实施例中，所述边界检测装置非电性连接于所述边界。
在一个实施例中，所述边界检测装置位于但不限于以下至少之一的位置处，可以包括：用于给所述自移动设备充电的基站上、所述边界上、与所述边界满足预设距离的位置。
在一个实施例中，所述边界状态可以包括：边界非正常工作状态，
相应的，基于所感应到的信息，控制所述自移动设备在所述工作范围中的行走和/或工作，包括：基于非正常工作的边界状态，控制所述自移动设备停止行走和/或工作。
在一个实施例中，边界非正常工作状态可以包括：边界断线和/或边界故 障。
在一个实施例中，基于非正常工作的边界状态，控制所述自移动设备停止行走和/或工作，包括：
当所述感应单元感应到非正常工作的边界状态时，所述边界检测装置发送与所述非正常工作的边界状态相关的信息至所述信号接收装置；
控制所述自移动设备停止行走和/或工作。
在一个实施例中，基于非正常工作的边界状态，控制所述自移动设备停止行走和/或工作，包括：
当所述感应单元感应到非正常工作的边界状态时，所述边界检测装置发送的信息中断；
控制所述自移动设备停止行走和/或工作。
在一个实施例中，所述方法还可以包括：基于所述信号接收装置接收到的所述信息的信号强度，确定所述自移动设备与所述边界检测装置之间的距离。
在一个实施例中，在所述信号接收装置在接收所述边界检测装置发送的信息之前，所述方法还可以包括：所述自移动设备与所述边界检测装置进行身份匹配认证。
与现有技术相比，本发明的有益效果是：自动工作系统能够精确监控自移动设备的边界状态，保证自移动设备的正常工作，从而有效提高了自移动设备的割草效率。
附图说明
以上所述的本发明的目的、技术方案以及有益效果可以通过下面附图实现：
图1是本发明一实施例中自动工作系统的示意图；
图2是本发明一实施例中自动割草机的结构示意图；
图3是本发明一实施例中自动割草机的功能模块示意图；
图4是本发明实施例的一种自动工作系统的控制方法流程图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做 出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。并且，本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
如图1所示为本具体实施方式的自动工作系统，可以包括：自移动设备1、边界2、基站3。其中，自移动设备1在边界2所限定的工作范围内行走并工作，基站3可以用于供自移动设备在能源不足时返回补充能量。边界2可以包括整个工作区域的外围，通常首尾相连，将工作区域封闭，边界2可以是电子的，电子的边界2可以是由边界信号发生装置发出的边界信号，例如：电磁信号、声信号或光信号等。
如图1所示的自动工作系统还可以包括至少一个边界检测装置4。该边界检测装置4可以用于从边界2感应边界信号，并将该边界信号对应的与边界状态相关的信息发送给自移动设备，从而自移动设备基于该信息控制其在工作范围中的行走和/或工作。具体的，该自动工作系统中的边界检测装置4可以包括：感应单元，该感应单元可以从边界2中感应边界信号，例如：感应单元可以从边界2中感应电磁信号、声信号或光信号等边界信号，本申请对此不作限定。通过感应到的边界信号确定自动工作系统中的边界状态，并将与该边界状态相关的信息发送给自移动设备，从而自移动设备可以根据接收到的信息控制其在工作范围中的行走和/或工作。
一般情况下，自移动设备在几秒内未接收到表征边界状态的边界信号时，会停止行走和/或工作，以防止由于边界断开或边界故障导致的自移动设备越过边界，可能伤害用户等后果。现有技术中，自移动设备在边界内正常行走的过程中，采用自移动设备检测边界信号时，当自移动设备与边界距离较远，可能会导致自移动设备无法检测到该边界信号；以及，由于自移动设备上马达等元件产生的磁场对自移动设备上相关电子元件工作效率的影响，也可能会导致自移动设备无法检测到该边界信号。在上述两种场景下，当自移动设备在几秒内(如：5s内)未接收到边界信号时，控制模块会误以为边界断开，并错误的控制自移动设备停止行走和/或工作，影响自移动设备的正常工作效率。
在本申请中，利用上述自动工作系统中的感应单元感应边界信号，通过感应到的边界信号确定自动工作系统中与边界状态相关的信息，并将该信息发送给自移动设备，从而自移动设备可以根据接收到的与边界相关的信息控制其在工作范围中的行走和/或工作，解决了现有技术中由于无法检测到边界信号所导致的自移动设备停止的缺陷，从而提高了自移动设备的工作效率。
具体的，上述边界状态可以包括：边界正常工作状态、边界非正常工作状态等状态信息。其中，边界非正常工作状态可以表征边界断线和/或边界故障的边界状态，边界正常工作状态可以表征边界未断开且未出现故障的边界状态。自移动设备可以基于接收到的与边界状态相关的信息，控制其在工作范围中的行走和/或工作。
自移动设备可以是自动割草机、扫地机器人、自动扫雪机等适合无人值守的设备，它们自动行走于工作范围的表面，进行割草、吸尘或者扫雪工作。当然，自移动设备不限于自动割草机、扫地机器人、自动扫雪机，也可以为其它适合无人值守的设备，本申请对此不作限定。
在本申请下面的实施例中，以自动工作系统为自动割草系统进行说明，此时，自移动设备1为自动割草机20。如图1所示，边界2限定自动割草机20的工作范围，可以在基站3处设置边界信号发生器，该边界信号发生器与边界2、基站3相连，形成一个闭合的电性回路。在本申请的一个实施例中，边界信号发生器产生周期性的电流信号，并发送至边界2中，边界2为导线，其上流过相应的周期性电流，该电流在边界附近产生周期性的磁场。磁场具有方向性和强弱，在边界两侧方向相反，即在工作范围的内外方向相反，且越接近边界，磁场信号越强。优选的，上述周期性电流信号可以为方波脉冲信号，因其生成方式和识别均较易，从而可以降低成本，提高效率。
如图2或图3所示，自动割草机20具有壳体27，自动割草机20还可以包括行走机构21、工作模块22、动力模块23、控制模块24、能量模块25以及信号接收装置26，其中，能量模块25可被用于给自动割草机20供电和/或通过自动割草机20将外部电能存储于能量模块25中。控制模块24连接并且控制动力模块23，以实现自动割草机20的自动行走及自动工作。信号接收装置26用于接收外部发送的消息。
本实施例中，行走机构21包括轮组和驱动轮组的行走马达。轮组可以有多种设置方法。通常轮组包括由行走马达驱动的驱动轮211和辅助支撑壳 体的辅助轮212，驱动轮的数量可以为1个、2个或者更多，辅助轮相应地也可以设为1个、2个或者多个。在本实施例中，割草机20的驱动轮为2个，分别为位于右侧的右驱动轮和位于左侧的左驱动轮。右驱动轮和左驱动轮关于割草机20的中轴线对称设置。辅助轮的中心位于中轴线上。右驱动轮和左驱动轮优选的位于壳体的后部，辅助轮位于前部。在本实施例中，右驱动轮和左驱动轮各自配接一个驱动马达，以实现差速输出以控制转向。驱动马达可以直接连接驱动轮，但也可以在驱动马达和驱动轮之间设传动装置，如本技术领域内常见的行星轮系等。在其他的实施例中，也可设置驱动轮2个，驱动马达1个，这种情况下，驱动马达通过第一传动装置驱动右驱动轮，通过第二传动装置驱动左驱动轮。即同一个马达通过不同的传动装置驱动右驱动轮和左驱动轮。
工作模块22即为割草模块，具体为切割部件221，如切割刀片。工作模块22由切割马达222驱动工作。工作模块22的中心位于割草机20的中轴线上或偏置于一侧，设置于壳体下方，位于辅助轮和驱动轮之间。
能量模块25可拆卸或固定的安装于壳体，可以包括汽油、电池包等。在工作时，电池包释放电能以维持割草机20工作和行走。在非工作时，电池可以连接到外部电源以补充电能；自动割草机20也可以在探测到电量不足时，自动地寻找基站补充电能。
动力模块23可以包括上述马达，具体的可以包括各类电机，还包括与电机连接的传动结构，电机直接驱动或通过传动机构驱动，传动机构的传动作用使得行走机构、工作模块运动，其中，传动机构可以是蜗轮蜗杆机构、锥齿轮机构等。动力模块23可以设有两组电机，一组电机驱动行走机构运动，另一组电机驱动工作模块22工作。
控制模块24例如为控制器，可以是嵌入式数字信号处理器(Digital Signal Processor，DSP)、微处理器(Micro Processor Unit，MPU)、特定集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑器件(Programmable Logic Device，PLD)芯上系统(System on Chip，SOC)、中央处理器(Central Processing Unit，CPU)或者现场可编程门阵列(Field Programmable Gate Array，FPGA)等。控制模块24电性连接并且控制动力模块23，可根据预设程序或接受到的指令控制自动割草机20工作，以实现割草机20的自动行走及自动工作。
在本申请的一个实施例中，自动割草系统中还可以包括一个或一个以上数目的边界检测装置，该边界检测装置可以包括：用于从边界中感应边界状态的感应单元，自动割草机20的信号接收装置26可以用于接收至少一个边界检测装置发送的信息，该信息与边界状态相关，控制模块基于该信息控制自移动设备在工作范围中的行走和/或工作。
边界状态可以包括边界非正常工作状态以及边界正常工作状态。其中，边界非正常工作状态可以表征边界信号中断的边界状态，包括：边界断线和/或边界故障。自动割草机20可以基于接收到的与边界状态相关的信息，控制其在工作范围中的行走和/或工作。当自动割草机20接收到边界非正常工作的信息时，例如：边界断开，可以控制自动割草机停止；当自动割草机接收到边界正常工作的信息时，表明边界未断，进一步的，当自动割草机接收到其位于边界外的信息时，表明割草机位于边界外部，从而控制自动割草机停止；当自动割草机接收到位于边界内的信息时，表明割草机位于边界内，从而控制自动割草机继续保持当前工作。
在本申请的一个实施例中，感应单元可以为：磁传感器，例如：霍尔传感器。磁传感器可以通过有无感应到边界中电流所产生的磁场信号，来确定边界状态信息。具体的，当感应单元未感应到磁场信号时，边界状态信息为边界信号中断，表明边界断开，控制自动割草机停止；当感应单元感应到磁场信号时，边界状态信息为边界信号连通，表明边界未断，自动割草机继续保持当前工作。当然，边界中也可以产生声信号或光信号，从而感应单元也可以为其他类型的能感应声信号或光信号的感应单元。
边界检测装置可以包括：与感应单元相连的信号发送单元，通过感应单元从边界2中感应边界状态，再通过信号发送单元将感应单元感应到的与边界状态相关的信息发送至自动割草机。边界检测装置还可以包括：信号处理单元，可以用于对感应单元感应到的边界状态进行处理，再通过信号发送单元发送至割草机。
相应的，上述信息可以包括：边界状态信息，该边界状态信息可以是感应单元从边界中感应的边界状态。在感应单元感应到边界状态后，可以直接将该边界状态信息通过信号发送单元发送至自动割草机。上述信息还可以包括：与边界状态相关的控制信息，在感应单元感应到边界状态后，可以利用信号处理单元对该边界状态信息进行信息处理，得到与该边界状态信息相对 应的控制信息，例如：控制自动割草机停止或继续工作的信息，之后信号发送单元再将该控制信息发送至自动割草机，从而控制自动割草机在工作范围中的行走和/或工作。
在本申请的一个实施例中，信号发送单元可以向割草机中的信号接收装置无线发送与边界状态相关的信息。具体的，该信号发送单元可以包括但不限于以下至少之一：蜂窝类无线通讯单元(例如：4G单元、5G单元等)、非蜂窝类无线通讯单元(例如：射频信号RF发射器、wifi、蓝牙等)。优选的，可以采用RF发射器等无线传输距离较大的通讯单元，从而当工作范围较大时，自动割草机也可以接收到无线发送单元发送的边界信号，实现自动割草机与边界检测装置之间的无间断实时通信。相应的，自动割草机中与信号发送单元相互通信的信号接收装置26，可以用于接收至少一个边界检测装置4发送的与边界状态相关的信息，该信号接收装置26与信号发送单元为类型相同的通讯单元。
在本申请的一个实施例中，边界检测装置中还包括：供电单元，可以用于给信号发送单元以及感应单元等提供电量。
在本申请的一个实施例中，边界检测装置中还包括：壳体，该壳体可以由非金属材料制成，上述感应单元可以内置于由非金属材料制成的壳体中，从而感应单元感应边界信号时具有更高的灵敏度。或者，由感应单元、信号发送单元以及供电单元组成的边界检测装置也可以内置于由非金属材料制成的壳体中。当然，也可以采用金属等其他材料，本申请对此不作限定。
在本申请的一个实施例中，边界检测装置在感应边界状态时，可以是非电性连接于边界的。该边界检测装置可以位于以下至少之一的位置处，包括：基站，边界，或与边界满足预设距离的位置处(位于工作区域内或工作区域外)、并且该边界检测装置可以不与边界以及基站所形成的闭合电性回路存在电性连接。具体的，该边界检测装置可以是位于基站处，与基站电性连接，由基站供电，但与边界以及基站所形成的闭合电性回路不存在电性连接；该边界检测装置也可以设置于边界上，并具有能单独向其供电的电源，但与边界不存在电性连接的场景；该边界检测装置可以位于工作区域内或工作区域外，与边界满足预设距离景。该预设距离可以是自动割草机能感应到边界中边界信号的位置。
在本申请的另一个实施例中，边界检测装置也可以电性连接于边界，并 利用边界所在电路中的电源对其供电，通过感应边界确定与边界状态相关的信息。
在本申请的一个实施例中，可以基于边界检测装置4有无感应到边界信号确定边界状态相关的信息。当边界检测装置4未感应到边界信号时，说明边界信号中断，即，边界处于非正常工作状态，控制模块可以控制自动割草机停止工作和/或行走；当边界检测装置4能感应到边界信号时，说明边界信号连通，即，边界正常工作，控制模块可以基于边界信号控制自动割草机工作和/或行走。
在本申请的一个实施例中，可以基于信号接收装置接收到的与边界状态相关的信息的信号强度，确定自动割草机与边界检测装置之间的距离。若边界检测装置位于基站时，当自动割草机电量不足时，可以利用该距离控制自动割草机快速回归基站充电。
在本申请的一个实施例中，信号接收装置在接收边界检测装置，即信号发送单元发送的与边界状态相关的信息之前，可以先与边界检测检测装置进行身份匹配认证，从而保证信号接收装置能与边界检测装置通信。具体的，边界检测装置在与自动割草机建立通信时，可以向自动割草机发送信号发送单元的唯一标识信息，该标识信息可以包括以下至少之一：信号发送单元的物理地址mac地址、产品序列号SN码、信号发送单元所使用的软件协议等，从而之后自动割草机在接收到新的数据信息时，可以通过识别所接收到的数据信息中是否携带有这些标识信息，判断该数据信息是否来自于对应的边界检测装置，即，判断是否需要接收这些数据信息。同样的，自动割草机也可以向边界检测装置发送信号接收装置的唯一标识信息，具体原理和上述方式类似，本申请不再赘述。
在本申请的一个实施例中，感应单元感应边界能产生表征边界状态的边界状态信息。在本申请的一个实施例中，边界状态可以包括：边界非正常工作状态，相应的，基于感应到的边界非正常工作状态的边界状态，控制模块控制自动割草机停止行走和/或工作。
在本申请的另一个实施例中，边界状态可以包括：边界未断开和/或未故障等的边界正常工作状态，相应的，基于感应到的边界正常工作的边界状态，控制模块可以控制自动割草机在边界内继续保持当前工作。
在本申请的一个实施例中，当感应单元感应到边界非正常工作的边界状 态时，边界检测装置发送与非正常工作的边界状态相关的信息至信号接收装置，从而控制模块可以根据该信息，控制自动割草机停止行走和/或工作。也就是说，当边界检测装置无法感应到边界信号时，边界检测装置向割草机发送边界非正常工作的边界状态信息，割草机上的信号接收装置接收到该非正常工作的信息，从而控制自动割草机停止行走和/或工作。
在本申请的另一个实施例中，当感应单元感应到边界非正常工作的边界状态时，边界检测装置发送的边界状态信息中断，从而控制模块控制自动割草机停止行走和/工作。也就是说，当边界检测装置无法感应到边界信号时，边界检测装置停止向自动割草机发送信息，自动割草机无法接收到与边界状态相关的信息，从而控制自动割草机停止行走和/或工作。
在本申请的一个实施例中，自动割草机还可以包括：至少一个感应元件，该感应元件与上述感应单元类型相同，例如：感应元件可以是磁传感器，即霍尔传感器等，该感应元件安装在壳体上，可以用于感应边界信号。控制模块可以根据该感应元件感应到的边界信号，判断自动割草机是否位于工作区域外。
在本申请的实施例中，在自动工作系统中设置至少一个感应单元，利用该感应单元从边界感应边界状态，并将与边界状态相关的信息发送至自移动设备中的信号接收装置，自移动设备基于接收到的与边界状态相关的信息控制其在工作范围内的行走和工作，解决了现有技术中仅利用自移动设备上的传感器获取边界状态时，由于距离较远无法接收到边界状态，或者由于自移动设备上的马达等元件对传感器结果的影响导致无法获取边界状态，自移动设备无法确定边界的工作情况，误以为边界断开，从而错误的控制自移动设备停止行走和/工作，最终影响自移动设备正常工作的缺陷，本实施例中的自动工作系统能够精确监控边界工作状态，保证自移动设备的正常工作，从而有效提高了自移动设备的割草效率。
如图4所示，本申请还提供了一种自动工作系统的控制方法，该自动工作系统可以包括：至少一个边界检测装置、自移动设备，边界检测装置可以包括：感应单元，自移动设备在由边界限定的工作范围中行走并工作，感应单元用于从所述边界中感应边界状态，该方法可以包括：S401：所述自移动设备无线接收所述边界检测装置发送的信息，所述信息与所述边界状态相关；S402：基于接收到的与边界状态相关的信息，控制自移动设备在工作范围中 的行走和/或工作。
在本申请的一个实施例中，上述信息可以包括：边界状态信息，边界状态信息可以用于表征感应单元从边界中感应到的边界状态。
在本申请的一个实施例中，上述信息可以包括：与边界状态相关的控制信息，该控制信息可以用于控制自移动设备在工作范围中的行走和/或工作。
在本申请的一个实施例中，边界检测装置非电性连接于边界。
在本申请的一个实施例中，边界检测装置位于但不限于以下至少之一的位置处，可以包括：用于给自移动设备充电的基站上、边界上、与边界满足预设距离的位置。
在本申请的一个实施例中，边界状态可以包括：边界非正常工作状态，相应的，基于所感应到的信息，控制所述自移动设备在所述工作范围中的行走和/或工作，可以包括：基于非正常工作的边界状态，控制自移动设备停止行走和/或工作。
在本申请的一个实施例中，边界非正常工作状态可以包括：边界断线和/或边界故障。
在本申请的一个实施例中，基于非正常工作的边界状态，控制模块控制自移动设备停止行走和/或工作，可以包括：当感应单元感应到非正常工作的边界状态时，边界检测装置发送与非正常工作的边界状态边相关的信息至信号接收装置；控制自移动设备停止行走和/或工作。
在本申请的一个实施例中，基于非正常工作的边界状态，控制模块控制自移动设备停止行走和/或工作，可以包括：当感应单元感应到非正常工作的边界状态时，边界检测装置发送的信息中断；控制所述自移动设备停止行走和/或工作。
在本申请的一个实施例中，可以基于自移动设备接收到的信息的信号强度，确定自移动设备与边界检测装置之间的距离。
在本申请的一个实施例中，在自移动设备接收感应单元从边界中感应到的信息之前，可以与边界检测检测装置进行身份匹配认证。
在本申请的一个实施例中，感应单元内置于由非金属材料制成的壳体中。
在本申请的一个实施例中，自移动设备还可以包括：至少一个感应元件，感应元件用于感应边界状态，该方法可以包括：根据感应到的边界状态控制自移动设备的行走和/或工作。
在本申请的一个实施例中，基于感应单元有无感应到边界状态确定边界状态信息。
在本申请的一个实施例中，感应单元可以包括：磁传感器。
在本申请的实施例中，在自动工作系统中设置至少一个感应单元，利用该感应单元从边界感应边界状态，并将与边界状态相关的信息发送至自移动设备中的信号接收装置，自移动设备基于接收到与边界状态相关的信息控制其在工作范围内的行走和工作，解决了现有技术中仅利用自移动设备上的传感器获取边界状态时，由于距离较远无法接收到边界状态，或者由于自移动设备上的马达等元件对传感器结果的影响导致无法获取边界状态，自移动设备无法确定边界的工作情况，误以为边界断开或故障，从而错误的控制自移动设备停止行走和/或工作，最终影响自移动设备正常工作的缺陷，本实施例中的自动工作系统能够精确监控边界工作状态，保证自移动设备的正常工作，从而有效提高了自移动设备的割草效率。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (27)

  1. 一种自动工作系统，其特征在于，所述自动工作系统包括：
    至少一个边界检测装置，所述边界检测装置包括：感应单元，所述感应单元用于从边界中感应边界状态；
    自移动设备，所述自移动设备在由所述边界限定的工作范围中行走并工作，所述自移动设备包括：
    壳体；
    行走机构，支撑所述壳体并带动所述自移动设备行走；
    动力模块，为所述自移动设备提供行走及工作的驱动力；
    工作模块，安装在所述壳体上，执行预定工作；
    控制模块，电性连接并且控制所述动力模块，以实现所述自移动设备的自动行走及自动工作；
    所述自移动设备还包括：信号接收装置，所述信号接收装置用于无线接收所述至少一个边界检测装置发送的信息，其中，所述信息与所述边界状态相关，所述控制模块基于所述信息控制所述自移动设备在所述工作范围中的行走和/或工作。
  2. 如权利要求1所述的自动工作系统，其特征在于，所述信息包括：边界状态信息，所述边界状态信息用于表征所述感应单元从所述边界中感应到的边界状态。
  3. 如权利要求1所述的自动工作系统，其特征在于，所述信息包括：与所述边界状态相关的控制信息，所述控制信息用于控制所述自移动设备在所述工作范围中的行走和/或工作。
  4. 如权利要求1所述的自动工作系统，其特征在于，所述边界检测装置非电性连接于所述边界。
  5. 如权利要求1所述的自动工作系统，其特征在于，所述边界检测装置位于以下至少之一的位置处，包括：用于给所述自移动设备充电的基站上、所述边界上、与所述边界满足预设距离的位置。
  6. 如权利要求1所述的自动工作系统，其特征在于，所述边界状态包括：边界非正常工作状态，
    相应的，
    基于非正常工作的边界状态，所述控制模块控制所述自移动设备停止行走和/ 或工作。
  7. 如权利要求6所述的自动工作系统，其特征在于，边界非正常工作状态包括：边界断线和/或边界故障。
  8. 如权利要求6所述的自动工作系统，其特征在于，当所述感应单元感应到非正常工作的边界状态时，所述边界检测装置发送与所述非正常工作的边界状态相关的信息至所述信号接收装置，从而所述控制模块控制所述自移动设备停止行走和/或工作。
  9. 如权利要求6所述的自动工作系统，其特征在于，当所述感应单元感应到非正常工作的边界状态时，所述边界检测装置发送的信息中断，从而所述控制模块控制所述自移动设备停止行走和/或工作。
  10. 如权利要求1所述的自动工作系统，其特征在于，所述控制模块基于所述信号接收装置接收到的所述信息的信号强度，确定所述自移动设备与所述边界检测装置之间的距离。
  11. 如权利要求1所述的自动工作系统，其特征在于，所述边界检测装置还包括：信号发送单元，所述信号发送单元与所述感应单元相连，用于向所述信号接收装置发送所述信息。
  12. 如权利要求1所述的自动工作系统，其特征在于，所述信号接收装置在接收所述边界检测装置发送的信息之前，与所述边界检测装置进行身份匹配认证。
  13. 如权利要求1所述的自动工作系统，其特征在于，所述感应单元内置于由非金属材料制成的壳体中。
  14. 如权利要求1所述的自动工作系统，其特征在于，所述自移动设备还包括：至少一个感应元件，所述感应元件与所述感应单元类型相同，所述感应元件安装在所述壳体上，所述感应元件用于感应边界信号，所述控制模块根据感应到的所述边界信号控制所述自移动设备的行走和/或工作。
  15. 如权利要求1所述的自动工作系统，其特征在于，所述边界检测装置基于所述感应单元有无感应到边界信号确定所述边界状态。
  16. 如权利要求15所述的自动工作系统，其特征在于，所述边界传输电流以生成磁场信号，所述边界检测装置基于所述感应单元有无感应到所述磁场信号确定所述边界状态，所述感应单元包括：磁传感器。
  17. 一种自动工作系统的控制方法，其特征在于，所述自动工作系统包括： 至少一个边界检测装置、自移动设备，所述边界检测装置包括：感应单元，所述自移动设备在由边界限定的工作范围中行走并工作，所述感应单元用于从所述边界中感应边界状态，所述方法包括：
    所述自移动设备无线接收所述边界检测装置发送的信息，所述信息与所述边界状态相关；
    基于对所述边界检测装置发送的信息的接收，控制所述自移动设备在所述工作范围中的行走和/或工作。
  18. 如权利要求17所述的方法，其特征在于，所述信息包括：边界状态信息，所述边界状态信息用于表征所述感应单元从所述边界中感应到的边界状态。
  19. 如权利要求17所述的方法，其特征在于，所述信息包括：与所述边界状态相关的控制信息，所述控制信息用于控制所述自移动设备在所述工作范围中的行走和/或工作。
  20. 如权利要求17所述的方法，其特征在于，所述边界检测装置非电性连接于所述边界。
  21. 如权利要求17所述的方法，其特征在于，所述边界检测装置位于以下至少之一的位置处，包括：用于给所述自移动设备充电的基站上、所述边界上、与所述边界满足预设距离的位置。
  22. 如权利要求17所述的方法，其特征在于，所述边界状态包括：边界非正常工作状态，
    相应的，基于所感应到的信息，控制所述自移动设备在所述工作范围中的行走和/或工作，包括：
    基于非正常工作的边界状态，控制所述自移动设备停止行走和/或工作。
  23. 如权利要求22所述的方法，其特征在于，边界非正常工作状态包括：边界断线和/或边界故障。
  24. 如权利要求22所述的方法，其特征在于，基于非正常工作的边界状态，控制所述自移动设备停止行走和/或工作，包括：
    当所述感应单元感应到非正常工作的边界状态时，所述边界检测装置发送与所述非正常工作的边界状态相关的信息至所述信号接收装置；
    控制所述自移动设备停止行走和/或工作。
  25. 如权利要求22所述的方法，其特征在于，基于非正常工作的边界状态， 控制所述自移动设备停止行走和/或工作，包括：
    当所述感应单元感应到非正常工作的边界状态时，所述边界检测装置发送的信息中断；
    控制所述自移动设备停止行走和/或工作。
  26. 如权利要求17所述的方法，其特征在于，所述方法还包括：
    基于所述信号接收装置接收到的所述信息的信号强度，确定所述自移动设备与所述边界检测装置之间的距离。
  27. 如权利要求17所述的方法，其特征在于，在所述信号接收装置在接收所述边界检测装置发送的信息之前，所述方法还包括：
    所述自移动设备与所述边界检测装置进行身份匹配认证。
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