WO2021093856A1 - 智能割草系统 - Google Patents

智能割草系统 Download PDF

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Publication number
WO2021093856A1
WO2021093856A1 PCT/CN2020/128717 CN2020128717W WO2021093856A1 WO 2021093856 A1 WO2021093856 A1 WO 2021093856A1 CN 2020128717 W CN2020128717 W CN 2020128717W WO 2021093856 A1 WO2021093856 A1 WO 2021093856A1
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WO
WIPO (PCT)
Prior art keywords
signal
boundary line
receiving module
sensing signal
line sensing
Prior art date
Application number
PCT/CN2020/128717
Other languages
English (en)
French (fr)
Inventor
王宏伟
杨德中
高庆
Original Assignee
南京德朔实业有限公司
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 CN201911362095.0A external-priority patent/CN112806149B/zh
Application filed by 南京德朔实业有限公司 filed Critical 南京德朔实业有限公司
Priority to EP20887633.4A priority Critical patent/EP4043986B1/en
Publication of WO2021093856A1 publication Critical patent/WO2021093856A1/zh
Priority to US17/726,955 priority patent/US20220240444A1/en

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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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • 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
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers

Definitions

  • This application relates to a garden tool, for example, to an intelligent mowing system.
  • outdoor gardening cutting tools such as lawn mowers are provided with operating handles for pushing, and the operating handles are provided with switch boxes and control mechanisms that are convenient for the operator to operate and control near the gripping part.
  • the lawn mower relies on the thrust exerted by the operator on the operating handle to travel on the ground and perform cutting operations.
  • the operator's labor intensity in operating this push lawn mower is very high.
  • intelligent lawn mowers that can walk by themselves have also been developed. Because the intelligent lawn mower can walk automatically and perform pre-set related tasks without human operation and intervention, it greatly saves manpower and material resources and brings convenience to the operator.
  • An embodiment provides an intelligent lawn mower system, including: a boundary line for planning the working area of the smart lawn mower; a signal transmitting unit electrically connected to the boundary line for generating a boundary signal and sending it to the boundary line, When the boundary signal flows through the boundary line, a magnetic field is generated; and the intelligent lawn mower includes: a first signal receiving module for sensing the change in the magnetic field generated by the boundary signal to generate the first boundary line sensing signal; and a second signal receiving module, using In order to sense the change of the magnetic field generated by the boundary signal to generate the second boundary line sensing signal, the second receiving module is arranged at a preset distance position relative to the first signal receiving module; the control module is used to: receive the first boundary line sensing signal and the second boundary line sensing signal; Two boundary line sensing signals, at least determining whether the first signal receiving module is located within the boundary line according to the first boundary line sensing signal; determining whether the second signal receiving module is located within the boundary line at least according to the second boundary line sensing signal; When at least one of the receiving
  • the boundary signal includes a transmitted signal segment and an vacant signal segment that alternately appear, and the transmitted signal segment is a first sine wave of a first phase.
  • the boundary signal includes a transmission signal segment and a suppression signal segment that alternately appear, the transmission signal segment is the first sine wave of the first phase; the suppression signal segment is the second sine wave of the second phase; the second phase is the same as the first phase.
  • the phase is opposite.
  • the first boundary line sensing signal includes a first signal segment and a second signal segment; when the first boundary line sensing signal is the first signal segment, if it is first acquired that the voltage peak value VH1 is less than the voltage peak value VH2, then the first A signal receiving module is located in the work area.
  • the first boundary line sensing signal includes a first signal segment and a second signal segment; when the first boundary line sensing signal is the second signal segment, if it is first acquired that the voltage peak value VH1 is greater than the voltage peak value VH2, then the first A signal receiving module is located in the work area.
  • control module is configured to:
  • the value range of the phase of the first boundary line sensing signal is greater than or equal to -90° and less than 90°, it is determined that the first signal receiving module is located in the working area.
  • control module is configured to:
  • the value range of the phase of the first boundary line sensing signal is greater than or equal to -90° and less than 90°, it is determined that the first signal receiving module is located in the working area.
  • At least the second boundary line sensing signal is used to obtain the voltage peak value SH2 and the bottom value SL2 of the second boundary line sensing signal in the current period, and the voltage peak value SH1 and the bottom value SL1 of the previous period to determine whether the second signal receiving module Located within the boundary line.
  • the second boundary line sensing signal includes a first signal segment and a second signal segment; when the second boundary line sensing signal is the first signal segment, if the voltage peak value SH1 is less than the voltage peak value SH2 obtained first, then the first signal segment The second signal receiving module is located in the working area.
  • the second boundary line sensing signal includes a first signal segment and a second signal segment; when the second boundary line sensing signal is the second signal segment, if the voltage peak value SH1 is greater than the voltage peak value SH2, then the first A signal receiving module is located in the work area.
  • control module is configured to:
  • the value range of the phase of the second boundary line sensing signal is greater than or equal to -90° and less than 90°, it is determined that the second signal receiving module is located in the working area.
  • control module is configured to:
  • the value range of the phase of the second boundary line sensing signal is greater than or equal to -90° and less than 90°, it is determined that the second signal receiving module is located in the working area.
  • the first boundary line sensing signal includes a first signal segment and a second signal segment; when the first boundary line sensing signal is the first signal segment, if it is first acquired that the voltage peak value VH1 is greater than the voltage peak value VH2, then the first A signal receiving module is located in the work area.
  • the first boundary line sensing signal includes a first signal segment and a second signal segment; when the first boundary line sensing signal is the second signal segment, if the voltage peak value VH1 is less than the voltage peak value VH2, the second signal segment A signal receiving module is located in the work area.
  • At least the second boundary line sensing signal is used to obtain the voltage peak value SH2 and the bottom value SL2 of the second boundary line sensing signal in the current period, and the voltage peak value SH1 and the bottom value SL1 of the previous period to determine whether the second signal receiving module Located within the boundary line.
  • the second boundary line sensing signal includes a first signal segment and a second signal segment; when the second boundary line sensing signal is the first signal segment, if it is first acquired that the voltage peak value SH1 is greater than the voltage peak value SH2, then The second signal receiving module is located in the working area.
  • the second boundary line sensing signal includes a first signal segment and a second signal segment; when the second boundary line sensing signal is the second signal segment, if the voltage peak value SH1 is less than the voltage peak value SH2 obtained first, then the first signal segment A signal receiving module is located in the work area.
  • control module is configured as:
  • the first signal receiving module or the second signal receiving module When at least one of the first signal receiving module or the second signal receiving module is located outside the boundary line, acquire the attitude of the intelligent lawn mower relative to the boundary line, and control the intelligent lawn mower according to the attitude control of the intelligent lawn mower relative to the boundary line
  • the machine basically walks along the boundary line.
  • the attitude of the smart lawn mower relative to the boundary line includes: the angle between the advancing direction of the smart lawn mower and the boundary line; and the first vertical distance Y1 between the first signal receiving module and the boundary line and the second signal receiving At least one of the second vertical distances Y2 between the module and the boundary line.
  • control module is configured to: calculate the first vertical distance between the first signal receiving module and the boundary line according to the amplitude of the first boundary line sensing signal; and calculate the second signal reception according to the amplitude of the second boundary line sensing signal
  • the second vertical distance between the module and the boundary line; the angle between the forward direction of the smart lawn mower and the boundary line is calculated according to the first vertical distance Y1, the second vertical distance Y2 and the preset distance D.
  • the intersection of the straight line where the first signal receiving module and the second signal receiving module are located and the boundary line is defined as the first intersection; the control module is configured to: calculate the first signal receiving module and the second signal receiving module according to the first vertical distance and the included angle. The first distance of an intersection point; the second distance between the second signal receiving module and the first intersection point is calculated according to the second vertical distance and the included angle; the intelligent lawn mower is controlled to basically walk along the boundary line according to the first distance and the second distance.
  • An embodiment provides an intelligent mowing system, including: a boundary line including a first boundary line and a second boundary line adjacent to the first boundary line, wherein a walking is defined between the first boundary line and the second boundary line Channel; a signal transmitting unit, which is electrically connected to the boundary line, is used to generate a boundary signal and send it to the boundary line, and when the boundary signal flows through the boundary line, a magnetic field is generated; and an intelligent lawn mower includes: a first signal receiving module for The magnetic field generated by the boundary signal is sensed to generate the first boundary line sensing signal; the second signal receiving module is used to sense the magnetic field change generated by the boundary signal to generate the second boundary line sensing signal, and the second receiving module is set relative to the first boundary line sensing signal.
  • a signal receiving module presets a distance position; a control module for receiving the first boundary line sensing signal and the second boundary line sensing signal, and determining whether the first signal receiving module is located within the boundary line at least according to the first boundary line sensing signal; Determine whether the second signal receiving module is located within the boundary line at least according to the second boundary line sensing signal; when at least one of the first signal receiving module or the second signal receiving module is located within the boundary line, the smart lawn mower is controlled to pass through the walking channel.
  • Figure 1 is a schematic diagram of an intelligent mowing system
  • Fig. 2 is a schematic structural diagram of the intelligent lawn mower in the intelligent lawn mower system shown in Fig. 1;
  • Fig. 3 is a circuit block diagram of the intelligent mowing system shown in Fig. 1;
  • Fig. 4a is a waveform diagram of a boundary line sensing signal in one of the embodiments.
  • Fig. 4b is an amplitude-frequency curve diagram obtained after the boundary line induction signal waveform shown in Fig. 4a is calculated by the control module;
  • Fig. 4c is a phase-frequency curve diagram obtained after the boundary line induction signal waveform shown in Fig. 4a is calculated by the control module;
  • Figure 5 is the boundary signal waveform diagram of the smart lawn mower system shown in Figure 1 (a), the boundary line induction signal waveform diagram of the smart lawn mower within the boundary line (b) and the boundary line outside the boundary line of the smart lawn mower Induction signal waveform (c);
  • Fig. 6 is a circuit block diagram of the intelligent mowing system shown in Fig. 3;
  • Fig. 7 is a boundary signal waveform diagram (a), a boundary line induction signal waveform diagram (b), and a processed signal waveform diagram (c) of the second embodiment;
  • Fig. 8 is a boundary signal waveform diagram (a), a boundary line induction signal waveform diagram (b), and a processed signal waveform diagram (c) of the third embodiment;
  • Fig. 9 is a boundary signal waveform diagram (a), a boundary line induction signal waveform diagram (b), and a processed signal waveform diagram (c) of the fourth embodiment;
  • Fig. 10 is a boundary signal waveform diagram (a), a boundary line induction signal waveform diagram (b), and a processed signal waveform diagram (c) of the fifth embodiment;
  • Fig. 11 is a boundary signal waveform diagram (a), a boundary line induction signal waveform diagram (b), and a processed signal waveform diagram (c) of the sixth embodiment;
  • FIG. 13 is a boundary signal waveform diagram (a), a boundary line induction signal waveform diagram (b), and a processed signal waveform diagram (c) of the eighth embodiment;
  • Figure 15 is a flow chart of a method for an intelligent lawn mower to determine whether it is inside or outside the boundary line;
  • 16 is a schematic diagram of an embodiment of the smart lawn mower basically walking along the boundary line;
  • Figure 17a is a schematic diagram of another embodiment of the smart lawn mower basically walking along the boundary line;
  • Fig. 17b is a schematic diagram of another embodiment of the smart lawn mower basically walking along the boundary line;
  • FIG. 18 is a schematic diagram of the principle of the intelligent lawn mower in the embodiment shown in FIG. 16 calculating its relative boundary line 11 attitude related parameters;
  • FIG. 19 is a schematic diagram of the principle of the smart lawn mower of the embodiment shown in FIG. 16 calculating its relative boundary line 11 attitude related parameters in a narrow channel;
  • FIG. 20 is a schematic diagram of the smart lawn mower in the embodiment shown in FIG. 16 walking through a narrow channel.
  • the intelligent lawn mower system 100 includes a boundary module 10 and an intelligent lawn mower 20.
  • the boundary module 10 includes a boundary line 11 and a signal transmitting unit 12.
  • the boundary line 11 is used to plan the working area of the smart lawn mower 20, where the area located within the boundary line 11 is the working area and the area outside the boundary line 11 is the non-working area, and the boundary line 11 is set on the ground.
  • the signal transmitting unit 12 is electrically connected to the boundary line 11.
  • the signal transmitting unit 12 generates a boundary signal BS and sends it to the boundary line 11.
  • the boundary signal BS may be a current signal.
  • the signal transmitting unit 12 periodically provides an alternating current signal to the boundary line 11, and an alternating magnetic field is generated when the current signal flows through the boundary line 11.
  • the signal transmitting unit 12 may be a charging post, which can periodically provide an alternating current signal to the boundary line 11, and the charging post can also charge the smart lawn mower.
  • the smart lawn mower 20 includes a cutting blade (not shown) for cutting grass or vegetation; a main body 21 for supporting the cutting blade; at least one wheel 23 supported by the main body 21 and capable of rotation; connected The driving module 24 to the at least one wheel 23, which provides driving force to drive the at least one wheel 23; the power module 25, which provides electric energy for the intelligent lawn mower 20; the power supply circuit, which is electrically connected to the power module 25 And a motor, so that the electric energy output from the power module 25 is provided to the motor to drive the at least one wheel 23 to walk.
  • the smart lawn mower 20 can choose a fully automatic mowing mode or a manual mowing mode, that is, the user manually controls the smart lawn mower 20 to perform operations.
  • the driving module 24 includes a driving motor and a cutting motor, the driving motor is configured to provide torque to the at least one wheel to drive the smart lawn mower 20 to travel, and the cutting motor is configured to provide torque
  • the cutting blade 22 is provided to drive the cutting blade 22 to rotate for mowing operations.
  • the driving module 24 may include only one motor, and the motor drives the wheel and the cutting blade 22 at the same time.
  • the structural elements of the smart lawn mower 20 can be changed so that it can complete the mowing performance of the smart lawn mower 20.
  • the smart lawn mower 20 also includes a signal receiving module 26 and a control module 27.
  • the signal receiving module 26 is used to sense the magnetic field and generate a boundary line sensing signal MS according to the induced magnetic field change.
  • the control module 27 is configured to receive the boundary line sensing signal MS and control the boundary line sensing signal MS according to the boundary line sensing signal MS.
  • the intelligent lawn mower 20 walks in the work area.
  • the control module is configured to determine whether the smart lawn mower 20 is in the working area within the boundary line 11 according to the boundary line sensing signal MS.
  • the signal receiving module 26 can convert the magnetic field into a corresponding electrical signal.
  • the signal receiving module 26 includes an inductor, which induces a magnetic field and generates a corresponding electromotive force, thereby converting the magnetic field into a boundary line induction signal and transmitting it to the control module 27.
  • the signal receiving module 26 includes a magnetic field detection sensor, which can detect an alternating magnetic field and convert it into an electrical signal for output.
  • the signal transmitting unit 12 provides an alternating current signal to the boundary line 11, the alternating current flows through the boundary line 11 to generate a magnetic field, and the signal receiving module 26 converts the magnetic field into a corresponding boundary line induction signal MS and transmits it to Control module 27.
  • the control module is configured to acquire the phase of the boundary line sensing signal, and if the value range of the boundary line sensing signal is greater than or equal to -90° and less than 90°, it is determined that the first signal receiving module is located in the working area .
  • the control module 27 includes a signal processor 273 and a microcontroller 274.
  • the signal processor 273 receives the boundary line sensing signal MS and transmits it to the microcontroller 274.
  • the microcontroller 274 receives the boundary line sensing signal MS.
  • the signal MS is used to calculate the amplitude and phase of the boundary line sensing signal MS, so as to determine the distance of the smart lawn mower 20 from the boundary line 11 and the working area within the boundary line 11 or the non-working area outside the boundary line 11, thereby Control the walking direction of the smart lawn mower 20.
  • the microcontroller 274 After the microcontroller 274 receives the boundary line sensing signal MS, it can multiply and add the waveform function of the boundary line sensing signal MS with the sine function or the cosine function to calculate the amplitude and phase of the boundary line sensing signal MS to determine The distance of the smart lawn mower 20 from the boundary line 11 and whether the lawn mower is located within the boundary line 11 can control the walking direction of the smart lawn mower 20 according to the judgment result.
  • control module is configured to obtain the phase of the boundary line sensing signal by multiplying the boundary line sensing signal by the first preset function, if the value range of the boundary line sensing signal phase is greater than or equal to -90° and When it is less than 90°, it proves that the boundary line sensing signal MS is a sine wave signal and the boundary signal BS has the same phase, then it is determined that the signal receiving module is located in the working area, that is, the intelligent lawn mower is located in the boundary line.
  • the boundary line sensing signal and the second preset function are multiplied and added, the phase value range is greater than or equal to -90° and less than 90 degrees, the boundary line sensing signal MS and the boundary signal BS have opposite phases, which proves that the lawn mower Located outside the boundary line.
  • the first preset function is a cosine function
  • the second preset function is a sine function.
  • FIG. 4a is a boundary line induction signal MS.
  • the frequency of the boundary line induction signal MS is 5KHz
  • the waveform of the boundary line induction signal is multiplied by a sine function or a cosine function.
  • the microcontroller 274 can determine the distance of the smart lawn mower 20 from the boundary line 11 and whether the lawn mower is located within the boundary line 11 according to the amplitude and phase results, thereby sending a control signal to the control unit to control the smart lawn mower 20 walking directions.
  • the frequency of the boundary line induction signal is not limited to 5KHz.
  • the boundary signal BS is a periodic signal in which the transmitted signal segment ES and the auxiliary signal segment AS signals alternately appear.
  • FIG. 5 shows the waveform diagram of the boundary signal of the intelligent mowing system of the embodiment shown in FIG.
  • the signal segment ES is a sine wave signal, and the signal transmitting unit 12 transmits a sine wave signal of a predetermined duration every fixed duration;
  • the auxiliary signal segment AS is a signal with at least one of amplitude, phase, and frequency that is different from the transmitted signal AS. Referring to FIG. 5a, the amplitude of the auxiliary signal segment AS is different from the transmitted signal segment ES.
  • the signal receiving module 26 detects the boundary signal BS and converts it into a boundary line sensing signal MS and transmits it to the control module 27.
  • the signal receiving module will also detect the sudden change of the boundary signal BS corresponding to the auxiliary signal segment AS.
  • the signal processor 273 receives the boundary line sensing signal MS, and determines the starting point of the transmission signal ES according to the auxiliary signal segment AS.
  • the microcontroller 274 is configured to sample at the starting point of the transmission signal segment and perform multiplication and addition operations with a sine function or a cosine function, Calculate the amplitude and phase.
  • Fig. 5b shows the boundary line sensing signal waveform diagram of the smart lawn mower inside the boundary line
  • Fig. 5c shows the boundary line sensing signal waveform diagram of the smart lawn mower inside the boundary line
  • FIG. 5c shows the boundary line sensing signal waveform diagram of the smart lawn mower outside the boundary line; as another embodiment, for example, When the direction of the current flowing through the boundary line 11 is opposite to that of the boundary line 11 shown in Figure 1, that is, the positive and negative poles of the boundary line 11 are reversed, then Figure 5b shows the boundary line induction of the smart lawn mower outside the boundary line. Signal waveform diagram, Figure 5c shows the boundary line induction signal waveform diagram of the smart lawn mower within the boundary line.
  • the microcontroller 274 can determine whether the smart lawn mower 20 is located within the boundary line 11 according to the phase result, and the microcontroller 274 can determine the distance between the smart lawn mower 20 and the boundary line 11 according to the amplitude, thereby sending a control signal to the drive
  • the module 24 controls the walking direction of the intelligent lawn mower 20.
  • the boundary signal BS is a periodic signal in which the transmitted signal ES and the vacant signal VS appear alternately, and the waveform of the transmitted signal ES is a continuous change of a time function, such as the first sine wave of the first phase, the vacant signal VS means that no current signal flows through the boundary line 11.
  • the signal receiving module 26 detects the boundary signal BS and converts it into a boundary line sensing signal MS and transmits it to the control module 27.
  • the control module 27 is configured to determine whether the smart lawn mower 20 is in the working area according to the change of the boundary line sensing signal.
  • the control module 27 includes a signal processor 273 and a microcontroller 274.
  • the signal processor 273 includes an amplifying unit 2731 electrically connected to the signal receiving module 26.
  • the amplifying unit 2731 is configured to amplify the boundary line sensing signal MS transmitted by the signal receiving module 26 and generate a processing signal PS.
  • the signal processor 273 receives the boundary line sensing signal MS and transmits the processed signal PS to the microcontroller 274.
  • the microcontroller 274 receives the processed signal PS and calculates the peak or valley value of the adjacent period of the processed signal PS.
  • the microcontroller 274 receives the processed signal PS, compares the amplitude change rates of the processed signal PS before and after the period, and determines whether the lawn mower is in the working area according to the comparison result.
  • the microcontroller 274 is also configured to output a walking control signal to the driving module 24 according to whether the smart lawn mower 20 is in the working area to control the walking direction of the smart lawn mower 20. For example, when the smart lawn mower 20 is outside the boundary line, that is, when the smart lawn mower is in the non-working area, the microcontroller 274 outputs a walking control signal to the driving module 24 to drive the smart lawn mower 20 into the working area walk.
  • the processed signal PS includes a first signal segment and a second signal segment.
  • the first signal segment corresponds to the abrupt waveform at the junction of the vacant signal segment VS and the emission signal segment ES; the second signal segment corresponds to the abrupt waveform at the junction of the emission signal segment ES and the vacant signal segment VS; the abrupt manifestation can be signal amplitude s difference.
  • the microcontroller 274 includes a detection unit 2741, a comparison unit 2742, and a control unit 2743.
  • the detection unit 2741 is used to detect and record the peak and bottom values of the two adjacent periods of the processed signal PS, and transmit the comparison signal to the comparison unit 2742.
  • 2742 compares the peak and valley values of the received adjacent periods to determine whether the smart lawn mower 20 is in the working area within the boundary line 11 or the non-working area outside the boundary line 11, and sends a control signal to the control unit to control the smart cutting The walking direction of the lawn mower 20.
  • the detection unit 2741 is used to detect and record the change in the amplitude of the same sampling time of the upper half wave and the lower half wave of the processed signal PS in two adjacent periods, and transmit the comparison signal to the comparison unit 2742, the comparison unit Compare the amplitude change rate of the received adjacent periods to determine whether the smart lawn mower 20 is in the working area within the boundary line 11 or the non-working area outside the boundary line 11, and send a control signal to the control unit to control the smart mowing The traveling direction of the machine 20.
  • the boundary signal BS is a periodic signal in which the transmitted signal segment ES and the vacant signal segment VS alternately appear, where the transmitted signal segment ES is a sine wave signal, and the signal transmitting unit 12 is fixed at regular intervals. Transmit a sine wave signal of a predetermined length of time.
  • the signal receiving module 26 can convert the boundary signal into the boundary line sensing signal MS, and transfer the boundary line sensing signal MS to the signal processor 273.
  • the signal processor 273 further processes the boundary line sensing signal MS and transmits the processed signal PS to the micro
  • the detection unit in the microcontroller 274 detects the voltage peak value VH2 and the valley value VL2 of the current cycle of the first signal segment corresponding to the sudden change at the junction of the vacant signal VS and the emission signal ES, and the voltage peak value of the previous cycle VH1 and the valley value VL1.
  • the voltage values VH1 and VL1 of the previous cycle are zero, and are recorded and passed to the comparison unit 2742 for comparison.
  • the peak enhancement is detected first, that is, the voltage peak value VH1 is less than the voltage peak value VH2.
  • the comparison unit When it is determined that the smart lawn mower 20 is in the working area within the boundary line 11, the comparison unit sends a first control signal to the control unit 2743 to drive the smart lawn mower 20 to walk.
  • the detection unit detects the amplitude change rate of the same sampling time in two adjacent periods of the first signal segment, records and transmits it to the comparison unit 2742 for comparison, and first detects the amplitude change of the upper half wave The rate increases, and it is determined that the smart lawn mower 20 is in the working area within the boundary line.
  • the signal receiving module 26 detects the magnetic field and generates the boundary line induction signal MS as shown in FIG. 8b. Since the magnetic fields inside and outside the boundary line 11 have opposite directions, Therefore, when the smart lawn mower 20 is outside the boundary line 11, the boundary line sensing signal MS generated by the signal receiving module 26 is opposite to the boundary line sensing signal MS detected when it is inside the boundary line 11, and other parameters are the same.
  • the signal receiving module 26 detects the boundary line sensing signal MS and transmits the boundary line sensing signal MS to the signal processor 273.
  • the signal processor 273 further processes the boundary line sensing signal MS and transmits the processed signal to the microcontroller 274.
  • the detection unit 3741 in the controller 274 detects the voltage peak value VH2 and the valley value VL2 of the current cycle of the first signal segment corresponding to the sudden change at the junction of the vacant signal segment VS and the emission signal segment ES, and the voltage peak value VH1 and VH1 of the previous cycle.
  • the valley value VL2 in this embodiment, the voltage values VH1 and VL1 of the previous cycle are zero, and are recorded and passed to the comparison unit 2742 for comparison.
  • the comparison unit 2742 sends a second control signal to the control unit 2743 to drive the smart lawn mower 20 to walk inside the boundary line 11.
  • the detection unit detects the amplitude change rate of the same sampling time in two adjacent periods of the first signal segment, records and transmits it to the comparison unit 2742 for comparison, and detects the lower half wave amplitude change first. If the rate increases, it is determined that the smart lawn mower 20 is in a non-working area outside the boundary line 11, and the comparison unit 2742 sends a second control signal to the control unit 2743 to drive the smart lawn mower 20 to walk inside the boundary line 11.
  • the microcontroller 274 detects the peak value VH1, VH2, and the valley value VL1 of the two adjacent periods of the first signal segment. In addition to the above implementation of VL2, it can also be set to detect the peak voltage VH2 and valley value VL2 of the current cycle of the second signal segment at the junction of the emission signal segment ES and the vacant signal segment VS, and the voltage of the previous cycle Peak value VH1 and bottom value VL1.
  • the signal receiving module 26 detects the boundary line sensing signal MS, and transmits the boundary line sensing signal MS to the signal processor 273
  • the signal processor 273 further processes the boundary line sensing signal MS and transfers the processed signal PS to the microcontroller 274.
  • the detection unit 2741 in the microcontroller 274 detects the voltage peak value VH2 and valley of the current period of the second signal segment.
  • the value VL2, as well as the voltage peak value VH1 and valley value VL1 of the previous cycle, are recorded and transmitted to the comparison unit 2742 for comparison.
  • the comparison unit 2742 sends a first control signal to the control unit 2743 to drive the smart lawn mower 20 to walk.
  • the signal receiving module 26 detects the boundary line sensing signal MS and sends it to the signal processor 273, and the signal processor 273 further controls the boundary line
  • the sensing signal is processed and the processed signal PS is transmitted to the microcontroller 274.
  • the detection unit 2741 in the microcontroller 274 detects the voltage peak value VH2 and valley value VL2 of the current cycle of the second signal segment, and the voltage of the previous cycle
  • the peak value VH1 and the valley value VL1 are recorded and passed to the comparison unit 2742 for comparison.
  • the comparison unit 2742 sends a second control signal to the control unit 2743 to drive the smart lawn mower 20 to walk within the boundary line 11.
  • the waveforms of the transmitted signal segment ES and the vacant signal segment VS are not continuously changed, a sudden change in the waveform occurs at the junction of the vacant signal segment VS and the transmitted signal segment ES. Therefore, by detecting the change of the waveform, such as the change of the amplitude, it can be accurately determined whether the smart lawn mower is in the working area within the boundary line 11. Since the vacant signal segment VS is provided in the boundary signal BS, no current flows in the boundary line when the vacant signal segment VS is left, which makes the boundary module more energy-saving. Moreover, the boundary signal BS only contains a sine wave signal, and the structure of the signal transmitting unit 12 is also simpler.
  • the transmission signal ES In order to determine whether the smart lawn mower 20 is in the working area within the boundary line 11 or the non-working area outside the boundary line 11, in addition to the transmission signal ES being set to transmit a sine wave signal of a predetermined duration at regular intervals, the transmission signal also It can be a sine wave signal whose phase changes every preset duration.
  • the boundary signal BS includes a transmission signal section and a suppression signal section, where the transmission signal section is a first sine wave signal FS with a first phase, and the suppression signal section is a second sine wave signal SS with a second phase.
  • the first sine wave signal FS is converted into a second sine wave signal SS every preset time length, and the second sine wave signal SS is a suppression signal.
  • the first sine wave signal FS and the second sine wave signal SS have opposite phases. Since the waveforms of the first sine wave signal FS and the second sine wave signal SS are not continuously changing, a sudden change in the waveform, such as a change in amplitude, occurs at the junction of the first sine wave signal FS and the second sine wave signal SS.
  • the first signal segment corresponds to the abrupt waveform at the junction of the first sine wave signal FS and the second sine wave signal SS; the second signal segment corresponds to the abrupt change at the junction of the second sine wave signal SS and the first sine wave signal FS Waveform. Sudden changes are manifested as differences in signal amplitude.
  • the signal receiving module 26 senses the boundary line sensing signal MS and sends it to the signal processor 273.
  • the signal processor 273 further processes the boundary line sensing signal MS.
  • the processed signal PS is transferred to the microcontroller 274.
  • the processed signal PS includes the first signal segment corresponding to the junction of the first sine wave signal FS and the second sine wave signal SS, and the second sine wave signal SS and the first sine wave signal.
  • the detection unit 2741 in the microcontroller 274 detects the voltage peak value VH2, the valley value VL2 of the current cycle of the first signal segment, and the voltage peak value VH1 and the voltage valley value VL1 of the previous cycle, records and transmits them to
  • the comparison unit 2742 performs comparison, and when the peak value is weakened first, that is, VL1 is greater than VL2, it is determined that the smart lawn mower 20 is in the working area within the boundary line 11, and the comparison unit 2742 sends the first control signal to the control unit 2743.
  • the signal receiving module 26 detects the magnetic field and generates the boundary line induction signal MS as shown in Fig. 12b. Since the magnetic fields inside and outside the boundary line 11 have opposite directions, Therefore, when the smart lawn mower 20 is outside the boundary line 11, the boundary line sensing signal MS generated by the signal receiving module 26 is opposite to the boundary line sensing signal MS detected when it is inside the boundary line 11, and other parameters are the same.
  • the signal receiving module 26 senses the boundary line sensing signal MS and sends it to the signal processor 273.
  • the signal processor 273 further processes the boundary line sensing signal MS and transmits the processed signal PS to the microcontroller 274.
  • the microcontroller 274 The detection unit 2741 detects the voltage peak value VH2 and valley value VL2 of the current cycle of the first signal segment, and the voltage peak value VH1 and valley value VL1 of the previous cycle, records and transmits to the comparison unit 2742 for comparison, and the valley value is detected first Attenuation, that is, when the voltage valley value VL1 is greater than the voltage valley value VL2, it is determined that the smart lawn mower 20 is in a non-working area outside the boundary line 11, and the comparison unit 2742 sends a second control signal to the control unit 2743 to drive the smart lawn mower 20 to the boundary Walk within line 11.
  • the detection unit 2741 in the microcontroller 274 can also record and transfer the voltage peak value VH2 and valley value VL2 of the current cycle and the voltage peak value VH1 and valley value VL1 of the previous cycle in the second signal segment to the comparison unit 2742.
  • the peak enhancement is detected first, that is, when the voltage peak value VH1 is smaller than the voltage peak value VH2, it is determined that the smart lawn mower 20 is in the working area within the boundary line 11, and the comparison unit 2742 sends the first control signal to the control unit 2743.
  • the comparison unit 2742 sends a second control signal to the control unit 2743 to drive the smart mower.
  • the lawn mower 20 walks within the boundary line 11.
  • the second sine wave signal SS whose phase is different from the first sine wave signal FS is used as the boundary signal BS, where the second sine wave signal is equivalent to the suppression signal, which can suppress the amplitude of the first sine wave signal, so that the micro-control
  • the device 274 detects more obvious changes in the peak or valley value of the two adjacent periodic waveforms, so that the microcontroller 274 can more accurately determine the area where the smart lawn mower 20 is located.
  • the boundary signal BS may also be provided with a timed vacant signal section.
  • a timed vacant signal section VS is provided after a period of the first sine wave signal and the second sine wave signal. Therefore, the first signal segment corresponds to the abrupt waveform at the junction of the first sine wave signal FS and the second sine wave signal SS; the second signal segment corresponds to the abrupt waveform at the junction of the vacant signal VS and the first sine wave signal FS.
  • the signal receiving module 26 senses the boundary line sensing signal MS and sends it to the signal processor 273, and the signal processor 273 further controls the boundary line
  • the sensing signal is processed and the processed signal PS is transferred to the microcontroller 274.
  • the detection unit 2741 in the microcontroller 274 detects the voltage peak value VH2 and the valley value VL2 of the current cycle of the first signal segment, and the voltage peak value of the lower and upper cycles. VH1 and the valley value VL1 are recorded and transmitted to the comparison unit 2742 for comparison.
  • the peak value weakening is detected first, that is, when the voltage peak value VH1 is greater than the voltage peak value VH2, it is determined that the smart lawn mower 20 is in the working area within the boundary line 11.
  • the signal receiving module 26 detects the boundary line sensing signal MS, and the signal processor 273 further processes the boundary line sensing signal MS and transmits the processed signal PS to the microcontroller 274.
  • the detection unit 2741 in the microcontroller 274 detects the voltage peak value VH2 and valley value VL2 of the current cycle of the second signal segment, and the voltage peak value VH1 and valley value VL1 of the previous cycle, records and transmits to the comparison unit 2742 for comparison, When it is first detected that the valley value is weakened, that is, the voltage valley value VL1 is greater than the voltage valley value VL2, it is determined that the intelligent lawn mower 20 is in the non-working area outside the boundary line 11.
  • the detection unit 2741 in the microcontroller can also detect the voltage peak value VH2 and valley value VL2 of the current cycle in the second signal segment, and the voltage peak value VH1 and valley value VL1 of the previous cycle, record and transmit to the comparison unit 2742 for processing.
  • the comparison unit 2742 sends the first control signal to the control unit 2743.
  • the valley value enhancement is first detected, that is, the voltage valley value VL1 is less than the voltage valley value VL2
  • the comparison unit 2742 sends a second control signal to the control unit 2743 to drive the smart mower.
  • the lawn mower 20 walks within the boundary line 11.
  • the boundary signal BS can be set as a sinusoidal signal whose amplitude, phase, and frequency change every preset duration; the boundary signal BS can also be set as a sine wave signal whose amplitude and phase change; the boundary signal can also be set as a frequency And a sine wave signal whose phase changes.
  • the first sine wave signal FS and the second sine wave signal SS have different phases and frequencies.
  • the signal receiving unit detects the boundary line sensing signal MS and transmits it to the signal processor 273, and the signal processor 273 further processes the boundary line sensing signal MS and
  • the processing signal PS is transferred to the microcontroller 274, and the detection unit 2741 in the microcontroller 274 detects the voltage peak value VH2 and valley value VL2 of the current cycle of the first signal segment, and the voltage peak value VH1 and valley value VL1 of the previous cycle. It is recorded and passed to the comparison unit 2742 for comparison.
  • the signal receiving unit detects the boundary line sensing signal MS, and the signal processor 273 further processes the boundary line sensing signal and transmits the processed signal PS to the microcontroller 274.
  • the device 274 detects the voltage peak value VH2 and the bottom value VL2 of the current cycle of the second signal segment, and the voltage peak value VH1 and the bottom value VL1 of the next cycle.
  • the comparison unit 2742 sends a second control signal to the control unit 2743 to drive the smart mower.
  • the lawn mower 20 walks within the boundary line 11.
  • the boundary signal BS may also be provided with a timed idle signal.
  • a timed idle signal VS is provided after each cycle of the first sine wave signal and the second sine wave signal.
  • the signal receiving module 26 detects the boundary line sensing signal MS, and the signal processor 273 further processes the boundary line sensing signal and transmits the processed signal PS to the microcontroller 274.
  • the detection unit 2741 in the controller 274 detects the voltage peak value VH2 and valley value VL2 of the current cycle of the second signal segment, and the voltage peak value VH1 and valley value VL1 of the previous cycle, records and transmits to the comparison unit 2742 for comparison.
  • the comparison unit 2742 sends a second control signal to the control unit 2743 to drive the smart lawn mower 20 walk within the boundary line 11.
  • a time-long vacant signal is set in the boundary signal BS, which can make the boundary module more energy-saving.
  • the microcontroller 274 In order to determine whether the smart lawn mower 20 is in the working area within the boundary line 11 or the non-working area outside the boundary line 11, the microcontroller 274 detects the voltage peak value VH1 and valley value VL1 of the current cycle, and the voltage peak value VH2 of the next cycle. In addition to the valley value VL2, the change rate of the amplitude of the same sampling time before and after the boundary line sensing signal MS can also be compared, which is not limited here.
  • a method for judging whether the smart lawn mower is inside or outside the boundary line as described above includes step S101 to step S106.
  • step S101 a boundary signal is received.
  • the signal transmitting unit 12 generates a boundary signal BS and sends it to the boundary line 11.
  • a magnetic field is generated.
  • the signal receiving module 26 can sense the magnetic field and generate a boundary line sensing signal MS.
  • step S102 the peak value and the bottom value of the signal are detected.
  • the control module 27 is configured to receive the boundary line sensing signal MS.
  • the signal processor 273 in the control module 27 is configured to receive the boundary line sensing signal MS, so that it can amplify the boundary line sensing signal MS and generate a processing signal PS.
  • the microcontroller 274 in the control module 27 is set to receive the processed signal PS, and the detection unit 2741 in the microcontroller 274 is set to receive the processed signal PS, so that the peak and valley values of the processed signal PS can be detected.
  • step S103 it is judged whether the peak value and the bottom value of the two adjacent periods change first.
  • the comparison unit 2742 in the microcontroller 274 is configured to compare the peak and bottom values of adjacent cycles respectively. Based on the first change of the peak value of two adjacent periods, go to step S104; based on the first change of the valley value of the two adjacent periods, go to step S105. S104. Determine that the smart lawn mower is within the boundary line.
  • step S104 it is determined that the smart lawn mower is within the boundary line.
  • the peak value of two adjacent periods first changes, increases or decreases, it is judged that the intelligent lawn mower is within the boundary line.
  • the comparison unit 2742 in the microcontroller 274 sends a first control signal to the control unit 2743 to drive the smart lawn mower 20 to continue walking.
  • step S105 it is judged whether the peak value and the bottom value of the two adjacent periods change first.
  • the comparison unit 2742 in the microcontroller 274 is configured to compare the peak and bottom values of adjacent cycles respectively. Based on the first change of the valley value of two adjacent periods, go to step S106; otherwise, start execution from step S101 again.
  • step S106 it is determined that the smart lawn mower is outside the boundary line.
  • the valley value of two adjacent periods first changes, increases or decreases, it is judged that the intelligent lawn mower is outside the boundary line.
  • the comparison unit 2742 in the microcontroller 274 sends a second control signal to the control unit 2743 to drive the smart lawn mower 20 to walk within the boundary line 11.
  • the smart lawn mower 30 includes at least two signal receiving modules, namely a first signal receiving module 311 and a second signal receiving module 312, and a first signal receiving module 311 and a second signal receiving module 312.
  • the signal receiving module 312 is arranged on the intelligent lawn mower 30.
  • the first signal receiving module 311 and the second signal receiving module 312 are symmetrically distributed around the central axis of the intelligent lawn mower 30.
  • the first signal receiving module 311 and the second signal receiving module 312 are used to detect the magnetic field emitted by the boundary line 11 and convert the magnetic field into a corresponding electrical signal to generate the boundary line sensing signal MS'.
  • the first signal receiving module 311 senses the magnetic field change generated by the boundary signal to generate a first boundary line sensing signal FMS'
  • the second signal receiving module 312 senses the magnetic field change generated by the boundary signal to generate a second boundary line sensing signal SMS'.
  • the second receiving module 312 is arranged at a predetermined distance D relative to the first signal receiving module 311, that is, the distance between the first signal receiving module 311 and the second signal receiving module 312 is the predetermined distance D.
  • the control module 33 is configured to receive the first boundary line sensing signal FMS' and the second boundary line sensing signal SMS' of the signal receiving module 31, and the control module 33 can determine that the signal receiving module is located within the boundary line 11 according to the boundary line sensing signal MS'
  • the working area of is also a non-working area outside the boundary line 11, and when at least one of the first signal receiving module or the second signal receiving module is located outside the boundary line, the intelligent lawn mower is controlled to basically walk along the boundary line.
  • the intelligent lawn mower basically walks along the boundary line including: the intelligent lawn mower as shown in FIG. 16 walks along the boundary line 11, and the intelligent lawn mower as shown in FIGS. 17a and 17b walks along the boundary line inside or outside the boundary line 11.
  • the method of determining whether the first signal receiving module 311 and the second signal receiving module 312 are located within the boundary line can adopt the above-mentioned embodiments described in FIG. 4 to FIG. 15.
  • the first boundary line sensing Signal acquisition of the voltage peak value VH1 and valley value of the first boundary line sensing signal in the current cycle, and the voltage peak value VH2 and valley value VL2 of the previous cycle to determine whether the first signal receiving module is located within the boundary line; at least according to the second boundary The line sensing signal acquires the voltage peak value SH2 and the bottom value SL2 of the second boundary line sensing signal in the current period, and the voltage peak value SH1 and the bottom value SL1 of the previous period to determine whether the second signal receiving module is located on the boundary line Inside, I won’t repeat it here.
  • the control module 33 is configured to obtain the attitude of the smart lawn mower relative to the boundary line when at least one of the first signal receiving module 311 or the second signal receiving module 312 is located outside the boundary line, so as to obtain the attitude of the smart lawn mower relative to the boundary line.
  • the posture relative to the boundary line controls the intelligent lawn mower to walk along the boundary line.
  • the attitude of the smart lawn mower relative to the boundary line includes: the angle between the advancing direction of the smart lawn mower and the boundary line 11; and the first vertical distance Y1 and the second signal receiving between the first signal receiving module 311 and the boundary line 11 At least one of the second vertical distance Y2 between the module 312 and the boundary line 11.
  • the control module 33 is configured to calculate the first vertical distance between the first signal receiving module 311 and the boundary line 11 according to the amplitude of the first boundary line sensing signal; and to calculate the second signal receiving module according to the amplitude of the second boundary line sensing signal
  • the second vertical distance from the boundary line; the included angle ⁇ of the smart lawn mower relative to the boundary line 11 is calculated according to the first vertical distance Y1, the second vertical distance Y2 and the preset distance D.
  • control module 33 can also determine the distance between the first signal receiving module 311 and the second signal receiving module 312 from the boundary line 11 according to the signal amplitudes of the first boundary line sensing signal FMS' and the second boundary line sensing signal SMS'.
  • the intersection point O of the straight line where the first signal receiving module 311 and the second signal receiving module 312 are located and the boundary line is defined as the first intersection point.
  • the control module is configured to calculate the first distance X1 and the second vertical distance Y2 between the first signal receiving module 311 and the first intersection O according to the first vertical distance Y1 and the included angle ⁇ to calculate the second signal
  • the control module 33 can calculate the angle ⁇ between the travel direction of the smart lawn mower 30 and the boundary line 11, the first distance X1 and the first distance X1 between the first signal receiving module 311 and the first intersection O The second distance X2 between the second signal receiving module 312 and the first intersection O.
  • the control module 33 can obtain the angle ⁇ between the travel direction of the smart lawn mower 30 and the boundary line 11, and the distance X1 between the first signal receiving module 311 and the boundary line along the line where the first signal receiving module 311 and the second signal receiving module 312 are located The distance X2 between the boundary line and the second signal receiving module 312 along the line where the first signal receiving module 311 and the second signal receiving module 312 are located.
  • the control module 33 calculates that the angle ⁇ between the traveling direction of the smart lawn mower 20 and the boundary line 11 is 0°, and the first signal
  • the first boundary line sensing signal FMS' of the receiving module and the second boundary line sensing signal SMS' generated by the second signal receiving module are in opposite phases. Therefore, one signal receiving module is located in the working area within the boundary line 11, and the other is located at the boundary line 11. Outside the working area, refer to Figure 16a.
  • the angle ⁇ between the traveling direction of the smart lawn mower 30 and the boundary line 11 is not 0°, the first boundary line sensing signal FMS' generated by the first signal receiving module 311 has a smaller intensity than the second signal receiving module 312.
  • control module 33 can calculate the posture related parameters of the intelligent lawn mower 30 relative to the boundary line 11 to provide a control signal to control the intelligent lawn mower 30 to basically walk along the boundary line.
  • the controller calculates the smart lawn mower 20 and the phase according to the amplitude and phase of the first boundary line sensing signal FMS' of the first signal receiving module 311 and the second boundary line sensing signal SMS' of the second signal receiving module 312
  • the relative posture of the boundary line 11 is related to parameters, and a control signal is given to control the intelligent lawn mower 20 to basically walk along the boundary line 11.
  • the boundary line 11 may also be a preset route.
  • the controller may also determine the relative boundary of the smart lawn mower 30 in the above-mentioned method.
  • the posture related parameters of the line 11 are adjusted to adjust the walking direction of the smart lawn mower 30 to pass through the narrow passage area.
  • the boundary line includes a first boundary line 11 and a second boundary line 11' adjacent to the first boundary line, wherein a walking path is defined between the first boundary line 11 and the second boundary line 11' .
  • the preset distance D between the first signal receiving module 311 and the second signal receiving module 312, the control module 33 can also determine the signal strength of the first boundary line sensing signal FMS' and the second boundary line sensing signal SMS' respectively The vertical distances Y1 and Y2 between the first signal receiving module and the second signal receiving module from the boundary line 11 are obtained.
  • the controller can also calculate the travel direction of the smart lawn mower 30 and the boundary line 11 according to the first boundary line sensing signal FMS', the second boundary line sensing signal SMS' and the preset distance D. , The first distance X1 between the first signal receiving module 311 and the first intersection O, and the second distance X2 between the second signal receiving module 312 and the second intersection O.
  • the smart mowing is controlled when at least one of the first signal receiving module or the second signal receiving module is located within the boundary line
  • the machine passes through the walking channel.
  • the intelligent lawn mower 30 continuously reduces the angle ⁇ between the traveling direction and the boundary line 11 during the process of passing through the narrow passage area. In this way, the smart lawn mower is more efficient through narrow passages.

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Abstract

一种智能割草系统，包括：边界线，用于规划出智能割草机的工作区域；信号发射单元，与边界线电性连接，用于产生边界信号并发送给边界线，边界信号流经边界线时产生磁场；以及智能割草机，包括：第二接收模块设置在相对于第一信号接收模块预设距离位置；控制模块，用于：至少根据第一边界线感应信号判断第一信号接收模块是否位于边界线内；至少依据第二边界线感应信号判断第二信号接收模块是否位于边界线内；在第一信号接收模块或第二信号接收模块中的至少一个位于边界线外时控制智能割草机基本沿边界线行走。

Description

智能割草系统
本申请要求申请日为2019年11月15日、申请号为201911120236.8，申请日为2019年12月26日、申请号为201911362973.9，申请日为2019年12月26日、申请号为201911362972.4，申请日为2019年12月26日、申请号为201911362084.2，以及申请日为2019年12月26日、申请号为201911362095.0的中国专利申请的优先权，以上申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及一种园林工具，例如涉及一种智能割草系统。
背景技术
通常，割草机等户外园艺类切割工具上都设置有用于推行的操作把手，操作把手上靠近握持部位设置有方便操作者操作控制的开关盒及控制机构。割草机依靠操作者施加于操作把手的推力于地面行进并进行切割操作，操作者操作这种推行式割草机的劳动强度非常大。随着人工智能的不断发展，能够自行走的智能割草机也得到了发展。由于智能割草机可以自动行走，执行预先设置的相关任务，无需人为的操作与干预，极大的节省了人力物力，为操作者带来方便。
智能割草机的出现给用户带来了极大的便利，让用户可以从繁重的园艺护理劳动中解脱出来。但是，目前智能割草机仅能感应到自己遇到了障碍或者边界，但无法知道自己的原始行走方向，从而导致在狭窄区域内，智能随机乱撞，离开该区域需要很长的时间，甚至可能无法离开。
发明内容
一实施例提供一种智能割草系统，包括：边界线，用于规划出智能割草机的工作区域；信号发射单元，与边界线电性连接，用于产生边界信号并发送给边界线，边界信号流经边界线时产生磁场；以及智能割草机，包括：第一信号接收模块，用于感应边界信号产生的磁场变化以生成第一边界线感应信号；第二信号接收模块，，用于感应边界信号产生的磁场变化以生成第二边界线感应信号，第二接收模块设置在相对于第一信号接收模块预设距离位置；控制模块，用于：接收第一边界线感应信号和第二边界线感应信号，至少根据第一边界线感应信号判断第一信号接收模块是否位于边界线内；至少依据第二边界线感应信号判断第二信号接收模块是否位于边界线内；在第一信号接收模块或第二信号接收模块中的至少一个位于边 界线外时控制智能割草机基本沿边界线行走。
可选的，边界信号包括交替出现的发射信号段和空置信号段，发射信号段为第一相位的第一正弦波。
可选的，边界信号包括交替出现的发射信号段和抑制信号段，发射信号段为第一相位的第一正弦波；抑制信号段为第二相位的第二正弦波；第二相位与第一相位相反。
可选的，至少依据第一边界线感应信号获取第一边界线感应信号在当前周期的电压峰值VH1和谷值VL1，以及上一周期的电压峰值VH2和谷值VL2判断第一信号接收模块是否位于边界线内。
可选的，第一边界线感应信号包括第一信号段和第二信号段；在第一边界线感应信号为第一信号段时，若先获取到电压峰值VH1小于电压峰值VH2时，则第一信号接收模块位于工作区域内。
可选的，第一边界线感应信号包括第一信号段和第二信号段；在第一边界线感应信号为第二信号段时，若先获取到电压峰值VH1大于电压峰值VH2时，则第一信号接收模块位于工作区域内。
可选的，所述控制模块被配置为：
获取所述第一边界线感应信号的相位；
若所述第一边界线感应信号的相位的取值范围大于等于-90°且小于90°时，则判断所述第一信号接收模块位于所述工作区域内。
可选的，所述控制模块被配置为：
通过所述第一边界线感应信号与第一预设函数相乘以获取第一边界线感应信号的相位；
若所述第一边界线感应信号的相位的取值范围大于等于-90°且小于90°时，则判断所述第一信号接收模块位于所述工作区域内。
可选的，至少依据第二边界线感应信号获取第二边界线感应信号在当前周期的电压峰值SH2和谷值SL2，以及上一周期的电压峰值SH1和谷值SL1判断第二信号接收模块是否位于边界线内。
可选的，第二边界线感应信号包括第一信号段和第二信号段；在第二边界线感应信号为第一信号段时，若先获取到电压峰值SH1小于电压峰值SH2时，则第二信号接收模块位于工作区域内。
可选的，第二边界线感应信号包括第一信号段和第二信号段；在第二边界线感应信号为第二信号段时，若先获取到电压峰值SH1大于电压峰值SH2时，则第一信号接收模块位于工 作区域内。
可选的，所述控制模块被配置为：
获取所述第二边界线感应信号的相位；
若所述第二边界线感应信号的相位的取值范围大于等于-90°且小于90°时，则判断所述第二信号接收模块位于所述工作区域内。
可选的，所述控制模块被配置为：
通过所述第二边界线感应信号与第一预设函数相乘以获取第二边界线感应信号的相位；
若所述第二边界线感应信号的相位的取值范围大于等于-90°且小于90°时，则判断所述第二信号接收模块位于所述工作区域内。
可选的，至少依据第一边界线感应信号获取第一边界线感应信号在当前周期的电压峰值VH1和谷值VL1，以及上一周期的电压峰值VH2和谷值VL2判断第一信号接收模块是否位于边界线内。
可选的，第一边界线感应信号包括第一信号段和第二信号段；在第一边界线感应信号为第一信号段时，若先获取到电压峰值VH1大于电压峰值VH2时，则第一信号接收模块位于工作区域内。
可选的，第一边界线感应信号包括第一信号段和第二信号段；在第一边界线感应信号为第二信号段时，若先获取到电压峰值VH1小于电压峰值VH2时，则第一信号接收模块位于工作区域内。
可选的，至少依据第二边界线感应信号获取第二边界线感应信号在当前周期的电压峰值SH2和谷值SL2，以及上一周期的电压峰值SH1和谷值SL1判断第二信号接收模块是否位于边界线内。
可选的，第二边界线感应信号包括第一信号段和第二信号段；在第二边界线感应信号为第一信号段时，若先获取到电压峰值SH1大于电压峰值SH2时，则第二信号接收模块位于工作区域内。
可选的，第二边界线感应信号包括第一信号段和第二信号段；在第二边界线感应信号为第二信号段时，若先获取到电压峰值SH1小于电压峰值SH2时，则第一信号接收模块位于工作区域内。
可选的，控制模块被配置为：
在第一信号接收模块或第二信号接收模块中的至少一个位于边界线外时，获取智能割草机相对于边界线的姿态，依据智能割草机相对于边界线的姿态控制控制智能割草机基本沿边 界线行走。
可选的，智能割草机相对于边界线的姿态包括：智能割草机前进方向相对于边界线的夹角；以及第一信号接收模块与边界线的第一垂直距离Y1和第二信号接收模块与边界线的第二垂直距离Y2中的至少一个。
可选的，控制模块被配置为：根据第一边界线感应信号的幅值计算第一信号接收模块与边界线的第一垂直距离；根据第二边界线感应信号的幅值计算第二信号接收模块与边界线的第二垂直距离；依据第一垂直距离Y1、第二垂直距离Y2和预设距离D计算智能割草机前进方向相对于边界线的夹角。
可选的，定义第一信号接收模块和第二信号接收模块所在直线与边界线的交点为第一交点；控制模块被配置为：依据第一垂直距离与夹角计算第一信号接收模块与第一交点的第一距离；依据第二垂直距离与夹角计算第二信号接收模块与第一交点的第二距离；依据第一距离和第二距离控制控制智能割草机基本沿边界线行走。
一实施例提供一种智能割草系统，包括：边界线，包括第一边界线、邻近第一边界线的第二边界线，其中，在第一边界线与第二边界线之间界定出行走通道；信号发射单元，与边界线电性连接，用于产生边界信号并发送给边界线，边界信号流经边界线时产生磁场；以及智能割草机，包括：第一信号接收模块，用于感应边界信号产生的磁场变化以生成第一边界线感应信号；第二信号接收模块，，用于感应边界信号产生的磁场变化以生成第二边界线感应信号，第二接收模块设置在相对于第一信号接收模块预设距离位置；控制模块，用于：接收第一边界线感应信号和第二边界线感应信号，至少根据第一边界线感应信号判断第一信号接收模块是否位于边界线内；至少依据第二边界线感应信号判断第二信号接收模块是否位于边界线内；在第一信号接收模块或第二信号接收模块中的至少一个位于边界线内时控制智能割草机通过行走通道。
附图说明
图1是一种智能割草系统的示意图；
图2是图1所示的智能割草系统中的智能割草机的结构示意图；
图3是图1所示智能割草系统的电路模块图；
图4a是实施方式之一的边界线感应信号波形图；
图4b是图4a所示的边界线感应信号波形经过控制模块运算后得到的幅值-频率曲线图；
图4c是图4a所示的边界线感应信号波形经过控制模块运算后得到的相位-频率曲线图；
图5是图1所示的智能割草系统边界信号波形图(a)，智能割草机在边界线内的边界线感 应信号波形图(b)和智能割草机在边界线外的边界线感应信号波形图(c)；
图6是图3所示智能割草系统的电路模块图；
图7是第二实施方式的边界信号波形图(a)、边界线感应信号波形图(b)和处理信号波形图(c)；
图8是第三实施方式的边界信号波形图(a)、边界线感应信号波形图(b)和处理信号波形图(c)；
图9是第四实施方式的边界信号波形图(a)、边界线感应信号波形图(b)和处理信号波形图(c)；
图10是第五实施方式的边界信号波形图(a)、边界线感应信号波形图(b)和处理信号波形图(c)；
图11是第六实施方式的边界信号波形图(a)、边界线感应信号波形图(b)和处理信号波形图(c)；
图12是第七实施方式的边界信号波形图(a)、边界线感应信号波形图(b)和处理信号波形图(c)；
图13是第八实施方式的边界信号波形图(a)、边界线感应信号波形图(b)和处理信号波形图(c)；
图14是第九实施方式的边界信号波形图(a)、边界线感应信号波形图(b)和处理信号波形图(c)；
图15是智能割草机判断处于边界线内还是边界线外的方法流程图；
图16是一种实施方式的智能割草机基本沿边界线行走的示意图；
图17a是另一种实施方式的智能割草机基本沿边界线行走的示意图；
图17b是另一种实施方式的智能割草机基本沿边界线行走的示意图；
图18是图16所示实施例的智能割草机计算其相对边界线11姿态相关参数的原理示意图；
图19是图16所示实施例的智能割草机在窄通道中计算其相对边界线11姿态相关参数的原理示意图；
图20是图16所示实施例的智能割草机经过窄通道的行走示意图。
具体实施方式
图1所示的一种实施方式的智能割草系统100包括边界模块10和智能割草机20。边界模块10包括边界线11和信号发射单元12。边界线11用于规划出智能割草机20的工作区域， 其中位于边界线11内的区域为工作区域和位于边界线11外的区域为非工作区域，边界线11设置在地面。信号发射单元12与边界线11电性连接，信号发射单元12产生边界信号BS发送给边界线11，边界信号BS流经边界线11时产生磁场，可选地，边界信号BS可以为电流信号。在一些实施例中，信号发射单元12周期性地给边界线11提供交变的电流信号，电流信号流经边界线11时产生交变磁场。可选的，信号发射单元12可以是充电桩，充电桩能够周期性地给边界线11提供交变的电流信号，充电桩还可以为智能割草机充电。
参考图2所示，智能割草机20包括切割刀片(未示出)，用于切割草或植被；主体21，用于支撑切割刀片；至少一个车轮23，由主体21支撑并可转动；连接到所述至少一个车轮23的驱动模组24，其提供驱动力以驱动该至少一个车轮23；电源模组25，其为智能割草机20提供电能；供电电路，其电连接电源模组25及电机，使得从电源模组25输出的电能提供给电机，以驱动该至少一个车轮23行走。智能割草机20可选择全自动割草模式，也可增加手动割草模式，即用户手动控制智能割草机20进行作业。
示例性的，驱动模组24包括驱动电机和切割电机，所述驱动电机设置成提供转矩给所述至少一个车轮，从而驱动所述智能割草机20行进，所述切割电机设置提供转矩给所述切割刀片22，从而带动所述切割刀片22旋转进行割草作业。
所述驱动模组24可以仅包括一个电机，所述电机同时驱动所述车轮和所述切割刀片22。智能割草机20的结构元件可以有改变，使其能完成智能割草机20的割草性能即可。
智能割草机20还包括信号接收模块26和控制模块27。信号接收模块26用于感应所述磁场，并根据感应的磁场变化生成边界线感应信号MS，控制模块27设置为接收所述边界线感应信号MS，并根据所述边界线感应信号MS控制所述智能割草机20在工作区域内行走。控制模块设置成能够根据边界线感应信号MS来判断智能割草机20是否在边界线11内的工作区域。
信号接收模块26能将磁场转换为相应的电信号，在一些实施例中，信号接收模块26包括电感，电感感应磁场，并产生相应的电动势，从而将磁场转换为边界线感应信号传递给控制模块27。在另一些实施例中，信号接收模块26包括磁场检测传感器，可以检测交变磁场并转变成电信号输出。
在一些实施例中，信号发射单元12给边界线11提供交变的电流信号，交变电流流经边界线11产生磁场，信号接收模块26将磁场转换为相应的边界线感应信号MS并传递给控制模块27。
控制模块被配置为获取边界线感应信号的相位，若边界线感应信号的相位的取值范围大 于等于-90°且小于90°时，则判断所述第一信号接收模块位于所述工作区域内。参考图3所示，控制模块27包括信号处理器273和微控制器274，信号处理器273接收边界线感应信号MS，并传递给微控制器274，微控制器274接收到所述边界线感应信号MS，用于计算边界线感应信号MS的幅值及相位，从而判断智能割草机20距离边界线11的距离以及处于边界线11内的工作区域还是边界线11外的非工作区域，从而控制智能割草机20的行走方向。微控制器274接收到边界线感应信号MS后，能够将边界线感应信号MS的波形函数与正弦函数或余弦函数进行乘加运算，计算出边界线感应信号MS的幅值及相位，从而判断出智能割草机20离边界线11的距离以及割草机是否位于边界线11内，根据判断结果以控制智能割草机20行走方向。
可选地，控制模块被配置为通过边界线感应信号与第一预设函数相乘以获取边界线感应信号的相位，若所述边界线感应信号的相位的取值范围大于等于-90°且小于90°时，证明边界线感应信号MS为正弦波信号和边界信号BS相位一致，则判断所述信号接收模块位于所述工作区域内，即智能割草机位于边界线内。而当边界线感应信号与第二预设函数乘加运算后相位的取值范围为大于等于-90°小于90度时，则边界线感应信号MS和边界信号BS相位相反，则证明割草机位于边界线外。示例性地，第一预设函数为余弦函数，第二预设函数为正弦函数。参考图4所示，图4a为边界线感应信号MS，其中，在本实施方式中，边界线感应信号MS的频率为5KHz，将所述边界线感应信号的波形与正弦函数或余弦函数进行乘加运算后得到图4b所示的幅度和频率曲线图以及图4c所示的相位和频率曲线图。如图4b和图4c所示，在频率为5KHz时，幅度值对应1，边界线感应信号与余弦函数乘加运算后相位的取值范围为-90°，证明边界线感应信号MS的信号波形为正弦波信号，其和边界信号BS的信号波形一致，则判断割草机位于边界线内。因此，微控制器274根据幅值及相位结果可以判断出智能割草机20距离边界线11的距离以及割草机是否位于边界线11内，从而发送控制信号至控制单元以控制智能割草机20行走方向。边界线感应信号的频率不限于5KHz。
在一些实施例中，边界信号BS是发射信号段ES和辅助信号段AS信号交替出现的周期性信号，图5示出了图1所示实施方式的智能割草系统的边界信号波形图，发射信号段ES为正弦波信号，信号发射单元12每隔固定的时长发射预定时长的正弦波信号；辅助信号段AS为幅值、相位、频率中至少一个和发射信号AS不同的信号。参考图5a所示，辅助信号段AS的幅值和发射信号段ES不同。信号接收模块26检测边界信号BS并转换为边界线感应信号MS传递给控制模块27。信号接收模块也会检测到与辅助信号段AS对应的边界信号BS的突变。信号处理器273接收边界线感应信号MS，根据辅助信号段AS确定发射信号ES的起始点，微 控制器274被配置为在发射信号段的起始点采样与正弦函数或余弦函数进行乘加运算，计算出幅度值和相位。由于边界线11内外的磁场方向相反，因此当智能割草机20处于边界线11外时，信号接收模块26生成的边界线感应信号MS与其在边界线11内时检测到的边界线感应信号MS相位相反，其他参数相同，参考图5b和5c所示。图5b示出了智能割草机在边界线内的边界线感应信号波形图，图5c示出了智能割草机在边界线外的边界线感应信号波形图；作为另一种实施方式，例如流过边界线11的电流方向与图1所示的边界线11电流方向相反时，即边界线11的正负极调换，则图5b示出了智能割草机在边界线外的边界线感应信号波形图，图5c示出了智能割草机在边界线内的边界线感应信号波形图。微控制器274根据相位结果可以判断出智能割草机20是否位于边界线11内，微控制器274根据幅值可以判断出智能割草机20距离边界线11的距离，从而发送控制信号至驱动模组24以控制智能割草机20行走方向。
在另一些实施例中，边界信号BS是发射信号ES和空置信号VS交替出现的周期性信号，发射信号ES的波形是一时间函数的连续变化，例如第一相位的第一正弦波，空置信号VS是边界线11内没有任何电流信号流过。信号接收模块26检测边界信号BS并转换为边界线感应信号MS传递给控制模块27。
控制模块27设置成能够根据所述边界线感应信号的变化来判断所述智能割草机20是否在所述工作区域内。可选的，控制模块27包括信号处理器273和微控制器274。参考图6所示，信号处理器273包括与信号接收模块26电性连接的放大单元2731，放大单元2731用于对信号接收模块26传递的边界线感应信号MS进行放大，并生成处理信号PS。信号处理器273接收边界线感应信号MS，并传递处理信号PS给微控制器274，微控制器274接收到所述处理信号PS，并将所述处理信号PS的相邻周期的峰值或谷值进行比较，根据比较结果确定割草机是否在工作区域内从而控制智能割草机20的行走方向。作为另一种实施方式，微控制器274接收到所述处理信号PS，并将所述处理信号PS的前后周期的幅值变化率进行比较，根据比较结果确定割草机是否在工作区域内。所述微控制器274还被配置为根据所述智能割草机20是否在所述工作区域内输出行走控制信号至所述驱动模组24以控制所述智能割草机20行走方向。例如，当智能割草机20在边界线外，即智能割草机在非工作区域时，微控制器274输出行走控制信号至所述驱动模组24以驱动智能割草机20向工作区域内行走。
由于发射信号ES和空置信号VS的波形不是连续变化的，导致空置信号段VS和发射信号段ES交界处出现波形的突变，如幅值的变化。处理信号PS包含第一信号段和第二信号段。第一信号段对应空置信号段VS和发射信号段ES交界处出现突变的波形；第二信号段对应发 射信号段ES和空置信号段VS交界处出现的突变波形；突变的表现可以为信号幅值的不同。微控制器274包括检测单元2741、比较单元2742和控制单元2743，检测单元2741用于检测并记录处理信号PS相邻两个周期的峰值和谷值，并传递比较信号给比较单元2742，比较单元2742对接收到的相邻周期的峰值和谷值进行比较，从而判断智能割草机20处于边界线11内的工作区域还是边界线11外非工作区域，发送控制信号至控制单元从而控制智能割草机20的行走方向。作为另一种实施方式，检测单元2741用于检测并记录处理信号PS相邻连两个周期上半波和下半波相同采样时间幅值的变化，并传递比较信号给比较单元2742，比较单元对接收到的相邻周期的幅值变化率进行比较，从而判断智能割草机20处于边界线11内的工作区域还是边界线11外非工作区域，发送控制信号至控制单元从而控制智能割草机20的行走方向。
参考图7所示，作为一种实施方式，边界信号BS是发射信号段ES和空置信号段VS交替出现的周期性信号，其中，发射信号段ES为正弦波信号，信号发射单元12每隔固定的时长发射预定时长的正弦波信号。信号接收模块26能够将边界信号转换为边界线感应信号MS，并传递边界线感应信号MS至信号处理器273，信号处理器273进一步对边界线感应信号MS进行处理并将处理信号PS传递给微控制器274，微控制器274中的检测单元检测到对应空置信号VS和发射信号ES交界处出现突变的第一信号段的当前周期的电压峰值VH2和谷值VL2,以及上一周期的电压峰值VH1和谷值VL1，在本实施例中，上一周期的电压值VH1和VL1为零，记录并传递给比较单元2742进行比较，当先检测到峰值增强，即电压峰值VH1小于所述电压峰值VH2时，判断智能割草机20处于边界线11内的工作区域，比较单元发送第一控制信号给控制单元2743以驱动智能割草机20行走。在另一些实施例中，检测单元检测到第一信号段的相邻两个周期的相同采样时间的幅值变化率，记录并传递给比较单元2742进行比较，当先检测到上半波幅值变化率增大，判断智能割草机20处于边界线内的工作区域。
参考图8所示，当智能割草机20处于边界线11外时，信号接收模块26检测到磁场而生成如图8b所示的边界线感应信号MS，由于边界线11内外的磁场方向相反，因此当智能割草机20处于边界线11外时，信号接收模块26生成的边界线感应信号MS与其在边界线11内时检测到的边界线感应信号MS相位相反，其他参数相同。信号接收模块26检测到边界线感应信号MS，并传递边界线感应信号MS至信号处理器273，信号处理器273进一步对边界线感应信号MS进行处理并将处理信号传递给微控制器274，微控制器274中的检测单元3741检测到对应空置信号段VS和发射信号段ES交界处出现突变的第一信号段的当前周期的电压峰值VH2和谷值VL2，以及上一周期的电压峰值VH1和谷值VL2，在本实施例中，上一周期的电压 值VH1和VL1为零，记录并传递给比较单元2742进行比较，当先检测到谷值增强，即电压谷值VL1小于电压谷值VL2时，判断智能割草机20处于边界线11外非工作区域，比较单元2742发送第二控制信号给控制单元2743以驱动智能割草机20向边界线11内行走。在另一些实施例中，检测单元检测到第一信号段的相邻两个周期的相同采样时间的幅值变化率，记录并传递给比较单元2742进行比较，当先检测到下半波幅值变化率增大，则判断智能割草机20处于边界线11外非工作区域，比较单元2742发送第二控制信号给控制单元2743以驱动智能割草机20向边界线11内行走。
为判断智能割草机20处于边界线11内的工作区域还是边界线11外的非工作区域，微控制器274除检测第一信号段的相邻两个周期的峰值VH1、VH2，谷值VL1、VL2的上述实施方式外，还可以设置为检测发射信号段ES和空置信号段VS交界处出现的突变的第二信号段的当前周期的电压峰值VH2和谷值VL2,以及上一周期的电压峰值VH1和谷值VL1。
示例性地，参考图9所示，当智能割草机20处于边界线11内的工作区域时，信号接收模块26检测到边界线感应信号MS，并传递边界线感应信号MS至信号处理器273，信号处理器273进一步对边界线感应信号MS进行处理并将处理信号PS传递给微控制器274，微控制器274中的检测单元2741检测到第二信号段的当前周期的电压峰值VH2和谷值VL2,以及上一周期的电压峰值VH1和谷值VL1，记录并传递给比较单元2742进行比较，当先检测到峰值减弱，即电压峰值VH1大于所述电压峰值VH2时，判断智能割草机20处于边界线11内的工作区域，比较单元2742发送第一控制信号给控制单元2743以驱动智能割草机20行走。
参考图10所示，当智能割草机20处于边界线11外的工作区域时，信号接收模块26检测到边界线感应信号MS，并发送给信号处理器273，信号处理器273进一步对边界线感应信号进行处理并将处理信号PS传递给微控制器274，微控制器274中的检测单元2741检测到第二信号段的相当前周期的电压峰值VH2和谷值VL2，以及上一周期的电压峰值VH1和谷值VL1，记录并传递给比较单元2742进行比较，当先检测到谷值减弱，即电压谷值VL1大于电压谷值VL2时，判断智能割草机20处于边界线11外非工作区域，比较单元2742发送第二控制信号给控制单元2743以驱动智能割草机20向边界线11内行走。
由于发射信号段ES和空置信号段VS的波形不是连续变化的，导致空置信号段VS和发射信号段ES交界处出现波形的突变。因此通过检测波形的变化，如幅值的变化，可以准确的确定智能割草机是否在边界线11内的工作区域内。由于边界信号BS中设置有空置信号段VS，空置信号段VS时边界线内没有任何电流流过，使边界模块更加节能。而且边界信号BS仅包含一个正弦波信号，信号发射单元12的结构也更简单。
为判断智能割草机20处于边界线11内的工作区域还是边界线11外的非工作区域，除将发射信号ES设置为上述每隔固定的时长发射预定时长的正弦波信号外，发射信号还可以为每隔预设时长相位发生变化的正弦波信号。
参考图11所示，边界信号BS包括发射信号段和抑制信号段，其中，发射信号段为第一相位的第一正弦波信号FS，抑制信号段为第二相位的第二正弦波信号SS，第一正弦波信号FS每隔预设时长转换为第二正弦波信号SS，第二正弦波信号SS为抑制信号。在一些实施例中，第一正弦波信号FS和第二正弦波信号SS相位相反。由于第一正弦波信号FS和第二正弦波信号SS的波形不是连续变化的，导致第一正弦波信号FS和第二正弦波信号SS交界处出现波形的突变，如幅值的变化。因此，第一信号段对应第一正弦波信号FS和第二正弦波信号SS交界处出现的突变波形；第二信号段对应第二正弦波信号SS和第一正弦波信号FS交界处出现的突变波形。突变的表现为信号幅值的不同。
当智能割草机20处于边界线11内的工作区域时，信号接收模块26感应到边界线感应信号MS，并发送给信号处理器273，信号处理器273进一步对边界线感应信号MS进行处理并将处理信号PS传递给微控制器274，处理信号PS包含对应第一正弦波信号FS和第二正弦波信号SS交界处的第一信号段以及与第二正弦波信号SS和第一正弦波信号FS交界处相对应的第二信号段。在一些实施例中，微控制器274中的检测单元2741检测到第一信号段的当前周期的电压峰值VH2、谷值VL2与上一周期的电压峰值VH1、电压谷值VL1，记录并传递给比较单元2742进行比较，当先检测到峰值减弱，即VL1大于VL2，判断智能割草机20处于边界线11内的工作区域，比较单元2742发送第一控制信号给控制单元2743。
参考图12所示，当智能割草机20处于边界线11外时，信号接收模块26检测到磁场而生成如图12b所示的边界线感应信号MS，由于边界线11内外的磁场方向相反，因此当智能割草机20处于边界线11外时，信号接收模块26生成的边界线感应信号MS与其在边界线11内时检测到的边界线感应信号MS相位相反，其他参数相同。信号接收模块26感应到边界线感应信号MS，并发送给信号处理器273，信号处理器273进一步对边界线感应信号MS进行处理并将处理信号PS传递给微控制器274，微控制器274中的检测单元2741检测到第一信号段的当前周期的电压峰值VH2和谷值VL2,以及上一周期的电压峰值VH1和谷值VL1，记录并传递给比较单元2742进行比较，当先检测到谷值减弱，即电压谷值VL1大于电压谷值VL2时，判断智能割草机20处于边界线11外非工作区域，比较单元2742发送第二控制信号给控制单元2743以驱动智能割草机20向边界线11内行走。
微控制器274中的检测单元2741也可以通过检测第二信号段中的当前周期的电压峰值 VH2和谷值VL2,以及上一周期的电压峰值VH1和谷值VL1，记录并传递给比较单元2742进行比较，当先检测到峰值增强，即电压峰值VH1小于所述电压峰值VH2时，判断智能割草机20处于边界线11内的工作区域，比较单元2742发送第一控制信号给控制单元2743。当先检测到谷值增强，即电压谷值SL1小于电压谷值SL2时，判断智能割草机20处于边界线11外非工作区域，比较单元2742发送第二控制信号给控制单元2743以驱动智能割草机20向边界线11内行走。
这样，采用和第一正弦波信号FS相位不同的第二正弦波信号SS作为边界信号BS，其中，第二正弦波信号相当于抑制信号，可以抑制第一正弦波信号的幅值，使微控制器274检测到相邻两个周期波形峰值或谷值更明显的变化，从而使微控制器274能够更精准的判断智能割草机20的所在区域。
边界信号BS还可以设置有一定时长的空置信号段，在一些实施例中，在一个周期的第一正弦波信号和第二正弦波信号后设置有一定时长的空置信号段VS。因此，第一信号段对应第一正弦波信号FS和第二正弦波信号SS交界处出现的突变波形；第二信号段对应空置信号VS和第一正弦波信号FS交界处出现的突变波形。参考图13所示，当智能割草机20处于边界线11内的工作区域时，信号接收模块26感应到边界线感应信号MS，并发送给信号处理器273，信号处理器273进一步对边界线感应信号进行处理并将处理信号PS传递给微控制器274，微控制器274中的检测单元2741检测到第一信号段的当前周期的电压峰值VH2和谷值VL2,以及下上周期的电压峰值VH1和谷值VL1，记录并传递给比较单元2742进行比较，当先检测到峰值减弱，即电压峰值VH1大于所述电压峰值VH2时，判断智能割草机20处于边界线11内的工作区域。当智能割草机20处于边界线11外时，信号接收模块26检测到边界线感应信号MS，信号处理器273进一步对边界线感应信号MS进行处理并将处理信号PS传递给微控制器274，微控制器274中的检测单元2741检测到第二信号段的当前周期的电压峰值VH2和谷值VL2,以及上一周期的电压峰值VH1和谷值VL1，记录并传递给比较单元2742进行比较，当先检测到谷值减弱，即电压谷值VL1大于电压谷值VL2时，判断智能割草机20处于边界线11外非工作区域。微控制器中的检测单元2741也可以通过检测第二信号段中的当前周期的电压峰值VH2和谷值VL2,以及上一周期的电压峰值VH1和谷值VL1，记录并传递给比较单元2742进行比较，当先检测到峰值增强，即电压峰值VH1小于所述电压峰值VH2时，判断智能割草机20处于边界线11内的工作区域，比较单元2742发送第一控制信号给控制单元2743。当先检测到谷值增强，即电压谷值VL1小于电压谷值VL2时，判断智能割草机20处于边界线11外非工作区域，比较单元2742发送第二控制信号给控制单元2743以驱动智能割草机20 向边界线11内行走。
边界信号BS可以设置为幅值、相位、频率每隔预设的时长均发生改变的正弦信号；边界信号BS还可以设置为幅值、相位发生改变的正弦波信号；边界信号还可以设置为频率和相位发生改变的正弦波信号。参考图14所示，第一正弦波信号FS和第二正弦波信号SS的相位和频率都不同。当智能割草机20处于边界线11内的工作区域时，信号接收单元检测到边界线感应信号MS，并传递给信号处理器273，信号处理器273进一步对边界线感应信号MS进行处理并将处理信号PS传递给微控制器274，微控制器274中的检测单元2741检测到第一信号段的当前周期的电压峰值VH2和谷值VL2,以及上一周期的电压峰值VH1和谷值VL1，记录并传递给比较单元2742进行比较，当先检测到峰值减弱，即电压峰值VH1大于所述电压峰值VH2时，判断智能割草机20处于边界线11内的工作区域。当智能割草机20处于边界线11外时，信号接收单元检测到边界线感应信号MS，信号处理器273进一步对边界线感应信号进行处理并将处理信号PS传递给微控制器274，微控制器274检测到第二信号段的当前周期的电压峰值VH2和谷值VL2,以及下一周期的电压峰值VH1和谷值VL1。当先检测到谷值减弱，即电压谷值VL1大于电压谷值VL2时，判断智能割草机20处于边界线11外非工作区域，比较单元2742发送第二控制信号给控制单元2743以驱动智能割草机20向边界线11内行走。
边界信号BS还可以设置有一定时长的空置信号，在一些实施例中，每一个周期的第一正弦波信号和第二正弦波信号后设置有一定时长的空置信号VS。当智能割草机20处于边界线11内的工作区域时，信号接收模块26检测到边界线感应信号MS，并发送给信号处理器273，信号处理器273进一步对边界线感应信号进行处理并将处理信号PS传递给微控制器274，微控制器274中的检测单元2741检测到第一信号段的当前周期的电压峰值VH2和谷值VL2,以及上一周期的电压峰值VH1和谷值VL1，记录并传递给比较单元2742进行比较，当先检测到峰值减弱，即电压峰值VH1大于所述电压峰值VH2时，判断智能割草机20处于边界线11内的工作区域。当智能割草机20处于边界线11外时，信号接收模块26检测到边界线感应信号MS，信号处理器273进一步对边界线感应信号进行处理并将处理信号PS传递给微控制器274，微控制器274中的检测单元2741检测到第二信号段的当前周期的电压峰值VH2和谷值VL2,以及上一周期的电压峰值VH1和谷值VL1，记录并传递给比较单元2742进行比较，当先检测到谷值减弱，即电压谷值VL1大于电压谷值VL2时，判断智能割草机20处于边界线11外非工作区域比较单元2742发送第二控制信号给控制单元2743以驱动智能割草机20向边界线11内行走。
这样，在边界信号BS中设置有一定时长的空置信号，可以使边界模块更加节能。
为判断智能割草机20处于边界线11内的工作区域还是边界线11外的非工作区域，微控制器274除了检测当前周期的电压峰值VH1和谷值VL1,以及下一周期的电压峰值VH2和谷值VL2外，还可以将所述边界线感应信号MS的前后周期相同采样时间幅值变化率进行比较，在此并没有限制。
参考图15所示，一种如前述的判断智能割草机处于边界线内还是边界线外的方法，包括步骤S101至步骤S106。
在步骤S101中，接收边界信号。在此步骤中，信号发射单元12产生边界信号BS发送给边界线11，边界信号BS流经边界线11时产生磁场，信号接收模块26能够感应所述磁场，并生成边界线感应信号MS。
在步骤S102中，检测信号的峰值和谷值。在此步骤中，控制模块27设置为接收边界线感应信号MS。控制模块27中的信号处理器273设置为接收边界线感应信号MS，这样可以对边界线感应信号MS进行放大，并生成处理信号PS。控制模块27中的微控制器274设置为接收处理信号PS，微控制器274中的检测单元2741设置为接收处理信号PS，这样可检测处理信号PS的峰值和谷值。
在步骤S103中，判断相邻两个周期的峰值和谷值是否是峰值先变化。在此步骤中，微控制器274中的比较单元2742设置为对相邻周期的峰值和谷值分别进行比较。基于相邻两个周期峰值先变化，转至步骤S104；基于相邻两个周期谷值先变化，转至步骤S105。S104.判断智能割草机在边界线内。
在步骤S104中，判断智能割草机在边界线内。当相邻两个周期的峰值先变化，增大或减小，则判断智能割草机在边界线内。微控制器274中的比较单元2742发送第一控制信号给控制单元2743以驱动智能割草机20继续行走。
在步骤S105中，判断相邻两个周期的峰值和谷值是否是谷值先变化。在此步骤中，微控制器274中的比较单元2742设置为对相邻周期的峰值和谷值分别进行比较。基于相邻两个周期谷值先变化，转至步骤S106；否则，重新从步骤S101开始执行。
在步骤S106中，判断智能割草机在边界线外。当相邻两个周期的谷值先变化，增大或减小，则判断智能割草机在边界线外。微控制器274中的比较单元2742发送第二控制信号给控制单元2743以驱动智能割草机20向边界线11内行走。
在一些实施例中，参考图16所示，智能割草机30包括至少两个信号接收模块，分别为第一信号接收模块311和第二信号接收模块312，第一信号接收模块311和第二信号接收模块312设置在智能割草机30上，在一些实施例中，第一信号接收模块311和第二信号接收模 块312以智能割草机30的中轴线为中心对称分布。
第一信号接收模块311和第二信号接收模块312用于探测边界线11发出的磁场，并将磁场转换为相应的电信号，生成边界线感应信号MS'。第一信号接收模块311感应边界信号产生的磁场变化以生成第一边界线感应信号FMS'，第二信号接收模块312感应边界信号产生的磁场变化以生成第二边界线感应信号SMS'。第二接收模块312设置在相对于所述第一信号接收模块311预设距离D的位置，即第一信号接收模块311和第二信号接收模块312之间的距离为预设距离D。控制模块33用于接收信号接收模块31的第一边界线感应信号FMS'和第二边界线感应信号SMS'，控制模块33根据边界线感应信号MS'可以判断出信号接收模块位于边界线11内的工作区域还是边界线11外的非工作区域，并在第一信号接收模块或第二信号接收模块中的至少一个位于边界线外时控制智能割草机基本沿边界线行走。智能割草机基本沿边界线行走包括：如图16所示的智能割草机沿边界线11行走，以及如图17a和17b所示的智能割草机在边界线11内或外沿边界线行走。
其中，判断第一信号接收模块311和第二信号接收模块312是否位于边界线内的方法可以采用上述图4至图15所描述的实施方式，在一些实施方式中，至少依据第一边界线感应信号获取第一边界线感应信号在当前周期的电压峰值VH1和谷值，以及上一周期的电压峰值VH2和谷值VL2判断第一信号接收模块是否位于边界线内；至少依据所述第二边界线感应信号获取所述第二边界线感应信号在当前周期的电压峰值SH2和谷值SL2，以及上一周期的电压峰值SH1和谷值SL1判断所述第二信号接收模块是否位于所述边界线内，这里不再赘述。
所述控制模块33被配置为在第一信号接收模块311或第二信号接收模块312中的至少一个位于边界线外时，获取智能割草机相对于边界线的姿态，从而依据智能割草机相对于边界线的姿态控制智能割草机沿边界线行走。
智能割草机相对于边界线的姿态包括：智能割草机的前进方向相对于边界线11的夹角；以及第一信号接收模块311与边界线11的第一垂直距离Y1和第二信号接收模块312与边界线11的第二垂直距离Y2中的至少一个。控制模块33被配置为：根据第一边界线感应信号的幅值计算第一信号接收模块311与边界线11的第一垂直距离；根据第二边界线感应信号的幅值计算第二信号接收模块与边界线的第二垂直距离；依据第一垂直距离Y1、第二垂直距离Y2和预设距离D计算智能割草机相对于边界线11的夹角θ。其中，控制模块33还可以根据第一边界线感应信号FMS'和第二边界线感应信号SMS'的信号幅值，分别判断出第一信号接收模块311和第二信号接收模块312距离边界线11的垂直距离Y1和Y2。
参见图18所示，定义第一信号接收模块311和第二信号接收模块312所在直线与边界线 的交点O为第一交点。控制模块被配置为依据第一垂直距离Y1与夹角θ计算第一信号接收模块311与第一交点O的第一距离X1和第二垂直距离Y2与所述夹角θ计算所述第二信号接收模块312与所述第一交点O的第二距离X2；依据第一距离X1和第二距离X2控制智能割草机沿边界线11行走。这样，根据以上信息，即第一信号接收模块311和第二信号接收模块312之间的预设距离D，第一信号接收模块311和边界线11的垂直距离Y1以及第二信号接收模块312和边界线11的垂直距离Y2，控制模块33能够计算出智能割草机30行进方向与边界线11的夹角θ，第一信号接收模块311与所述第一交点O的第一距离X1和第二信号接收模块312与所述第一交点O的第二距离X2。
根据以下公式：
θ＝arccos(Y1±Y2)/D；
X1＝Y1/cosθ；
X2＝Y2/cosθ。
控制模块33能够得到智能割草机30行进方向与边界线11的夹角θ，第一信号接收模块311沿着第一信号接收模块311和第二信号接收模块312所在直线与边界线的距离X1和第二信号接收模块312沿着第一信号接收模块311和第二信号接收模块312所在直线与边界线的距离X2。当智能割草机30沿边界线11行走且行进方向与边界线11相同时，则控制模块33计算得出智能割草机20行进方向与边界线11的夹角θ为0°，且第一信号接收模块的第一边界线感应信号FMS'和第二信号接收模块生成的第二边界线感应信号SMS'相位相反，因此一个信号接收模块位于边界线11内的工作区域内，一个位于边界线11外的工作区域外，参考图16a所示。当智能割草机30行进方向与边界线11的夹角θ不为0°时，第一信号接收模块311生成的第一边界线感应信号FMS'强度小于第二信号接收模块312生成的第二边界线感应信号SMS'强度，且第一信号接收模块311和第二信号接收模块312的生成的边界线感应信号FMS'和SMS'相位相反。根据以上公式，控制模块33可以计算出智能割草机30相对边界线11的姿态相关参数以给出控制信号控制智能割草机30基本沿边界线行走。
这样，控制器根据第一信号接收模块311的第一边界线感应信号FMS'和第二信号接收模块312的第二边界线感应信号SMS'的幅值和相位，计算出智能割草机20和边界线11的相对姿态的相关参数，并以给出控制信号控制智能割草机20基本沿边界线11行走。这里，边界线11也可以是预设的路线。
在一些实施例中，当边界线11内的工作区域较窄或者工作区域中的部分区域较窄，边界线11形成一窄通道时，控制器还可以以上述方法确定智能割草机30相对边界线11的姿态相 关参数，调整智能割草机30行走方向以通过窄通道区域。
参考图19所示，所述边界线包括第一边界线11、邻近第一边界线的第二边界线11'，其中在第一边界线11与第二边界线11'之间界定出行走通道。
第一信号接收模块311和第二信号接收模块312之间的预设距离D，控制模块33还可以根据第一边界线感应信号FMS'和第二边界线感应信号SMS'的信号强度，分别判断出第一信号接收模块和第二信号接收模块距离边界线11的垂直距离Y1和Y2。根据上述公式，控制器还可以根据所述第一边界线感应信号FMS'和所述第二边界线感应信号SMS'及所述预设距离D计算得到智能割草机30行进方向与边界线11的夹角θ，第一信号接收模块311与所述第一交点O的第一距离X1和第二信号接收模块312与所述第二交点O的第二距离X2。从而根据以上智能割草30和边界线11的相对姿态相关参数，在所述第一信号接收模块或所述第二信号接收模块中的至少一个位于所述边界线内时控制所述智能割草机通过所述行走通道。如图20所示，智能割草机30在通过窄通道区域的过程中不断减小行进方向与边界线11的夹角θ。这样，智能割草机通过狭窄通道的效率更高。

Claims (24)

  1. 一种智能割草系统，包括：
    边界线，用于规划出所述智能割草机的工作区域；
    信号发射单元，与所述边界线电性连接，用于产生边界信号并发送给所述边界线，所述边界信号流经所述边界线时产生磁场；以及
    智能割草机，包括：
    第一信号接收模块，用于感应所述边界信号产生的磁场变化以生成第一边界线感应信号；
    第二信号接收模块，，用于感应所述边界信号产生的磁场变化以生成第二边界线感应信号，所述第二接收模块设置在相对于所述第一信号接收模块预设距离的位置；
    控制模块，用于：
    接收所述第一边界线感应信号和所述第二边界线感应信号，
    至少根据所述第一边界线感应信号判断所述第一信号接收模块是否位于所述边界线内；
    至少依据所述第二边界线感应信号判断所述第二信号接收模块是否位于所述边界线内；
    在所述第一信号接收模块或所述第二信号接收模块中的至少一个位于所述边界线外时控制所述智能割草机基本沿所述边界线行走。
  2. 如权利要求1所述的智能割草系统，其中，
    所述边界信号包括交替出现的发射信号段和空置信号段，所述发射信号段为第一相位的第一正弦波。
  3. 如权利要求1所述的智能割草系统，其中，
    所述边界信号包括交替出现的发射信号段和抑制信号段，所述发射信号段为具有第一相位的第一正弦波；所述抑制信号段为具有第二相位的第二正弦波；所述第二相位与所述第一相位相反。
  4. 如权利要求2所述的智能割草系统，其中，
    至少依据所述第一边界线感应信号获取所述第一边界线感应信号在当前周期的电压峰值VH1和谷值VL1，以及上一周期的电压峰值VH2和谷值VL2判断所述第一信号接收模块是否位于所述边界线内。
  5. 如权利要求4所述的智能割草系统，其中，
    所述第一边界线感应信号包括第一信号段和第二信号段；
    在所述第一边界线感应信号为第一信号段时，若先获取到所述电压峰值VH1小于所述电压峰值VH2时，则所述第一信号接收模块位于所述工作区域内。
  6. 如权利要求4所述的智能割草系统，其中，
    所述第一边界线感应信号包括第一信号段和第二信号段；
    在所述第一边界线感应信号为第二信号段时，若先获取到所述电压峰值VH1大于所述电压峰值VH2时，则所述第一信号接收模块位于所述工作区域内。
  7. 如权利要求1所述的智能割草系统，其中，
    所述控制模块被配置为：
    获取所述第一边界线感应信号的相位；
    若所述第一边界线感应信号的相位的取值范围大于等于-90°且小于90°时，则判断所述第一信号接收模块位于所述工作区域内。
  8. 如权利要求1所述的智能割草系统，其中，
    所述控制模块被配置为：
    通过所述第一边界线感应信号与第一预设函数相乘以获取第一边界线感应信号的相位；
    若所述第一边界线感应信号的相位的取值范围大于等于-90°且小于90°时，则判断所述第一信号接收模块位于所述工作区域内。
  9. 如权利要求2所述的智能割草系统，其中，
    至少依据所述第二边界线感应信号获取所述第二边界线感应信号在当前周期的电压峰值SH2和谷值SL2，以及上一周期的电压峰值SH1和谷值SL1判断所述第二信号接收模块是否位于所述边界线内。
  10. 如权利要求9所述的智能割草系统，其中，
    所述第二边界线感应信号包括第一信号段和第二信号段；
    在所述第二边界线感应信号为第一信号段时，若先获取到所述电压峰值SH1小于所述电压峰值SH2时，则所述第二信号接收模块位于所述工作区域内。
  11. 如权利要求9所述的智能割草系统，其中，
    所述第二边界线感应信号包括第一信号段和第二信号段；
    在所述第二边界线感应信号为第二信号段时，若先获取到所述电压峰值SH1大于所述电压峰值SH2时，则所述第一信号接收模块位于所述工作区域内。
  12. 如权利要求1所述的智能割草系统，其中，
    所述控制模块被配置为：
    获取所述第二边界线感应信号的相位；
    若所述第二边界线感应信号的相位的取值范围大于等于-90°且小于90°时，则判断所述第二信号接收模块位于所述工作区域内。
  13. 如权利要求1所述的智能割草系统，其中，
    所述控制模块被配置为：
    通过所述第二边界线感应信号与第一预设函数相乘以获取第二边界线感应信号的相位；
    若所述第二边界线感应信号的相位的取值范围大于等于-90°且小于90°时，则判断所述第二信号接收模块位于所述工作区域内。
  14. 如权利要求3所述的智能割草系统，其中，
    至少依据所述第一边界线感应信号获取所述第一边界线感应信号在当前周期的电压峰值VH1和谷值VL1，以及上一周期的电压峰值VH2和谷值VL2判断所述第一信号接收模块是否位于所述边界线内。
  15. 如权利要求14所述的智能割草系统，其中，
    所述第一边界线感应信号包括第一信号段和第二信号段；
    在所述第一边界线感应信号为第一信号段时，若先获取到所述电压峰值VH1大于所述电压峰值VH2时，则所述第一信号接收模块位于所述工作区域内。
  16. 如权利要求14所述的智能割草系统，其中，
    所述第一边界线感应信号包括第一信号段和第二信号段；
    在所述第一边界线感应信号为第二信号段时，若先获取到所述电压峰值VH1小于所述电压峰值VH2时，则所述第一信号接收模块位于所述工作区域内。
  17. 如权利要求3所述的智能割草系统，其中，
    至少依据所述第二边界线感应信号获取所述第二边界线感应信号在当前周期的电压峰值SH2和谷值SL2，以及上一周期的电压峰值SH1和谷值SL1判断所述第二信号接收模块是否位于所述边界线内。
  18. 如权利要求17所述的智能割草系统，其中，
    所述第二边界线感应信号包括第一信号段和第二信号段；
    在所述第二边界线感应信号为第一信号段时，若先获取到所述电压峰值SH1大于所述电压峰值SH2时，则所述第二信号接收模块位于所述工作区域内。
  19. 如权利要求17所述的智能割草系统，其中，
    所述第二边界线感应信号包括第一信号段和第二信号段；
    在所述第二边界线感应信号为第二信号段时，若先获取到所述电压峰值SH1小于所述电压峰值SH2时，则所述第一信号接收模块位于所述工作区域内。
  20. 如权利要求1所述的智能割草系统，其中，
    所述控制模块被配置为：
    在所述第一信号接收模块或所述第二信号接收模块中的至少一个位于所述边界线外时，获取所述智能割草机相对于所述边界线的姿态，依据所述智能割草机相对于所述边界线的姿态控制所述控制所述智能割草机基本沿所述边界线行走。
  21. 如权利要求20所述的智能割草系统，其中，
    所述智能割草机相对于所述边界线的姿态包括：
    所述智能割草机前进方向相对于所述边界线的夹角；以及
    所述第一信号接收模块与所述边界线的第一垂直距离Y1和
    所述第二信号接收模块与所述边界线的第二垂直距离Y2中的至少一个。
  22. 如权利要求21所述的智能割草系统，其中，
    所述控制模块还被配置为：
    根据所述第一边界线感应信号的幅值计算所述第一信号接收模块与所述边界线的第一垂直距离；
    根据所述第二边界线感应信号的幅值计算所述第二信号接收模块与所述边界线的第二垂直距离；
    依据所述第一垂直距离Y1、所述第二垂直距离Y2和所述预设距离D计算所述智能割草机前进方向相对于所述边界线的夹角。
  23. 如权利要求20所述的智能割草系统，其中，
    定义第一信号接收模块和所述第二信号接收模块所在直线与所述边界线的交点为第一交点；
    所述控制模块还被配置为：
    依据所述第一垂直距离与所述夹角计算所述第一信号接收模块与所述第一交点的第一距离；
    依据所述第二垂直距离与所述夹角计算所述第二信号接收模块与所述第一交点的第二距离；
    依据所述第一距离和所述第二距离控制所述智能割草机基本沿所述边界线行走。
  24. 一种智能割草系统，包括：
    边界线，包括第一边界线、邻近第一边界线的第二边界线，其中，在所述第一边界线与所述第二边界线之间界定出行走通道；
    信号发射单元，与所述边界线电性连接，用于产生边界信号并发送给所述边界线，所述边界信号流经所述边界线时产生磁场；以及
    智能割草机，包括：
    第一信号接收模块，用于感应所述边界信号产生的磁场变化以生成第一边界线感应信号；
    第二信号接收模块，，用于感应所述边界信号产生的磁场变化以生成第二边界线感应信号，所述第二接收模块设置在相对于所述第一信号接收模块预设距离位置；
    控制模块，用于：
    接收所述第一边界线感应信号和所述第二边界线感应信号，
    至少根据所述第一边界线感应信号判断所述第一信号接收模块是否位于所述边界线内；
    至少依据所述第二边界线感应信号判断所述第二信号接收模块是否位于所述边界线内；
    在所述第一信号接收模块或所述第二信号接收模块中的至少一个位于所述边界线内时控制所述智能割草机通过所述行走通道。
PCT/CN2020/128717 2019-11-15 2020-11-13 智能割草系统 WO2021093856A1 (zh)

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