WO2022037496A1 - 一种新型边界线、边界线系统以及自动工作系统 - Google Patents

一种新型边界线、边界线系统以及自动工作系统 Download PDF

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Publication number
WO2022037496A1
WO2022037496A1 PCT/CN2021/112545 CN2021112545W WO2022037496A1 WO 2022037496 A1 WO2022037496 A1 WO 2022037496A1 CN 2021112545 W CN2021112545 W CN 2021112545W WO 2022037496 A1 WO2022037496 A1 WO 2022037496A1
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Prior art keywords
boundary line
boundary
sub
line body
label
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PCT/CN2021/112545
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English (en)
French (fr)
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杨勇
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深圳市杉川机器人有限公司
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Priority claimed from CN202021705422.6U external-priority patent/CN212965859U/zh
Priority claimed from CN202010823031.2A external-priority patent/CN114153196A/zh
Application filed by 深圳市杉川机器人有限公司 filed Critical 深圳市杉川机器人有限公司
Publication of WO2022037496A1 publication Critical patent/WO2022037496A1/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

Definitions

  • the present application relates to the technical field of intelligent garden tools, in particular to a novel boundary line, a boundary line system and an automatic working system.
  • Smart lawn mowers are widely used in home garden lawn maintenance and large lawn mowing. In order to realize the predetermined function of the smart lawn mower, it is necessary to work movement within the designated work area.
  • the boundary line is used to define the working area of the smart lawn mower. When the smart lawn mower is working, it only works within the range defined by the boundary line.
  • the existing automatic working system additionally arranges boundary labels at the boundary, and the boundary labels are usually manually arranged on the boundary line after the boundary line is laid, so as to ensure that the boundary label is set upward, In order to facilitate the identification of automatic walking equipment.
  • the above-mentioned setting method of the boundary label has the defects of complicated layout process, time-consuming and labor-intensive. Therefore, it is necessary to study a new type of boundary line, boundary line system and automatic working system.
  • the purpose of this application is to propose a new type of boundary line, a boundary line system and an automatic working system, which can effectively simplify the process of arranging the boundary label group on the boundary line body.
  • the present application provides a new type of boundary line for enclosing a working area of automatic walking equipment, the automatic walking equipment walking and working in the working area, including: a boundary line body, an elongated line body , for passing the boundary signal and for the identification of the automatic running equipment; and the boundary label group, the number of the boundary label group is multiple, and the plurality of the boundary label groups are arranged at intervals along the length direction of the boundary line body.
  • each of the boundary label groups has unique identification information; wherein each of the boundary label groups includes a plurality of sub-labels set centrally, and a plurality of the sub-labels are sequentially arranged on the boundary
  • the circumferential surface of the line body, each of the sub-tags has a limited identifiable range with respect to its mounting direction, and the identifiable ranges of a plurality of the sub-tags are combined to roughly surround the circumference of the boundary line body , no matter how the boundary line body is laid, at least one of the sub-tags is generally upward, so as to facilitate the identification of the automatic walking device.
  • a plurality of boundary label groups are arranged at intervals along the length direction of the boundary line body, and each boundary label group has different identification information, thereby realizing its own position positioning.
  • each boundary label group includes a plurality of sub-labels set centrally, and the identifiable ranges of the plurality of sub-labels are combined to roughly surround the circumference of the boundary line body. Therefore, no matter how the boundary line body rotates, it can always be guaranteed.
  • At least one of the sub-tags is generally upward, so as to facilitate the identification of the automatic walking device, and can effectively simplify the process of arranging the boundary label group on the boundary line body.
  • novel boundary line according to the above-mentioned embodiments of the present application may also have the following additional technical features:
  • the plurality of sub-tags in each of the boundary label groups are sequentially staggered and arranged along the length direction of the boundary line body.
  • the sub-tags are arranged in an elongated strip shape, and are sequentially arranged around the circumference of the boundary line body.
  • the novel border line further includes a wrapping layer wrapped outside the border label group, and the border line body and the border label group are wrapped by the wrapping layer to form a whole.
  • the number of the sub-tags included in each of the border tag groups is 2-5.
  • the boundary label groups are distributed at equal intervals.
  • the border tag group is an electronic tag group
  • the sub-tags are radio frequency identification electronic tags.
  • a plurality of the sub-tags in each of the boundary label groups are spirally arranged on the outer peripheral surface of the boundary line body; wherein, the outer peripheral surface of the boundary line body is substantially cylindrical .
  • a boundary line system includes: the new type of boundary line as described above; and a charging station electrically connected to the new type of boundary line for providing boundary signals for the new type of boundary line.
  • An automatic working system comprising: the aforementioned new boundary line; a charging station electrically connected with the new boundary line for providing boundary signals for the new boundary line; and an automatic walking device for using autonomously move and perform work tasks within the work area enclosed by the new boundary line.
  • Fig. 1 is the schematic diagram of the boundary line system proposed by this application.
  • FIG. 2 is a schematic structural diagram of a novel boundary line proposed by the present application in an embodiment
  • FIG. 3 is a schematic structural diagram of a novel boundary line proposed by the present application in another embodiment
  • FIG. 4 is a schematic diagram of the positional relationship between the boundary line body and the wrapping layer in the present application.
  • FIG. 5 is a schematic diagram of the automatic working system proposed in the present application.
  • a novel boundary line provided in an embodiment of the present application is used to enclose the working area A of the automatic traveling equipment 200, and the automatic traveling equipment 200 walks and works in the working area A, It includes: a boundary line body 100, which is an elongated line body, used for passing boundary signals and being recognized by the automatic walking device 200; and a boundary label group 300, the number of which is multiple, and the plurality of boundary label groups 300 are along the edge
  • the length direction of the boundary line body 100 is arranged on the boundary line body 100 at intervals; each boundary label group 300 has unique identification information; wherein, each boundary label group 300 includes a plurality of centrally arranged sub-labels 3001, and the plurality of sub-labels 3001 are arranged in sequence Arranged on the circumferential surface of the boundary line body 100, each sub-tag 3001 has a limited identifiable range with respect to its mounting direction, and the identifiable ranges of the plurality of sub-tags 3001 are combined to roughly surround the circumference of the boundary
  • the present application is provided with a plurality of boundary label groups 300 at intervals along the length direction of the boundary line body 100 , each boundary label group 300 has unique identification information, and the automatic walking device 200 identifies the identification information of the boundary label group 300 by Determine your own location. Since the orientation of the sub-tags 3001 in the boundary tag group 300 affects the recognition accuracy of the automatic walking device 200 . If the sub-tag 3001 is set upward, the automatic walking device 200 can recognize the identification information of the sub-tag 3001 relatively quickly and accurately, and the probability of successful identification is high.
  • each boundary label group 300 includes a plurality of sub-labels 3001 that are centrally arranged, and the identifiable ranges of the plurality of sub-labels 3001 are combined to roughly surround the circumference of the boundary line body 100 . Therefore, regardless of the boundary line body 100 Rotation can always ensure that at least one sub-tag 3001 is generally facing upwards, which facilitates identification by the automatic walking device 200 and can effectively simplify the process of arranging the boundary label group 300 on the boundary line body 100 .
  • the automatic walking device 200 can be an intelligent lawn mower, or can be an automatic cleaning device, such as an automatic sweeper, an automatic mopping machine, etc.
  • the working area A is a lawn
  • the boundary The wire body 100 is laid on the edge of the lawn.
  • an intelligent lawn mower is used as an example.
  • the boundary line body 100 is a wire that can form a loop after being energized.
  • the boundary line body 100 is provided with a plurality of groups of boundary label groups 300 along its length direction, which are respectively a first group of boundary label groups 310, a second group of boundary label groups 320, and a third group of boundary label groups 330, etc. Each boundary label The identification information of the group 300 is not the same to distinguish it from other boundary tag groups 300 .
  • the border tag group 300 is an electronic tag group, and a plurality of sub-tags in each border tag group 300 are radio frequency identification electronic tags. Subtags in the same group may have the same or different identification information. Preferably, the subtags 3001 in each border tag group 300 have the same and unique identification information.
  • the automatic traveling device 200 is provided with a boundary label detection unit (not shown) for detecting the boundary label group 300 to obtain the identification information carried in the radio frequency signal.
  • the number of sub-tags 3001 included in each border tag group 300 is limited to 2-5. According to the identification angle of the sub-tags 3001 , about 2-5 can be covered in the circumferential direction of the boundary line body 100 , which is convenient for identification.
  • the boundary line body 100 is an elongated line body, the size of its circumferential surface is small.
  • the plurality of sub-labels 3001 in each boundary label group 300 are sequentially staggered and arranged along the length direction of the boundary line body 100 .
  • the above-mentioned staggered arrangement means that the projections of the plurality of sub-labels 3001 in each boundary label group 300 in the longitudinal direction of the boundary line body 100 do not overlap.
  • the boundary line body 100 is generally cylindrical, and the plurality of sub-labels 3001 in each boundary label group 300 are sequentially staggered along the axial direction of the boundary line body 100 .
  • the projections of the plurality of sub-labels 3001 in the boundary label group 300 in the axial direction of the boundary line body 100 do not overlap. Therefore, the problem that the size of the peripheral surface of the boundary line body 100 is small can be solved, so that the boundary label group 300 can be arranged on the boundary line body 100 .
  • the outer peripheral surface of the boundary line body 100 is a cylinder
  • the number of multiple sub-labels in each boundary label group 300 is defined as 3
  • the circumference of the boundary line body 100 is defined with the above-mentioned sub-labels one by one.
  • first phase angle, second phase angle and third phase angle the area corresponding to the first phase angle is the identifiable range of the first sub-tag
  • the area corresponding to the second phase angle is the identifiable range of the second sub-tag range
  • the area corresponding to the third phase angle is the identifiable range of the third sub-tag.
  • a plurality of sub-labels in each boundary label group 300 are spirally arranged on the outer peripheral surface of the boundary line body 100 .
  • each boundary label group 300 may be arranged in a gap, or may be arranged overlapping at the boundary.
  • a plurality of sub-labels in each boundary label group 300 may be arranged in a gap, or may be arranged overlapping at the boundary.
  • a plurality of sub-labels in each boundary label group 300 are arranged in different phases along the circumferential direction of the boundary line body 100 , and the sub-labels are arranged in elongated strips, and are sequentially arranged around the boundary line body 100 the circumference.
  • the multiple sub-tags in each boundary tag group 300 have the advantage of compact distribution.
  • the boundary label group 300 can be provided on the outer peripheral surface of the boundary line body 100 by means of pasting, without adding additional structures on the outer peripheral surface of the boundary line body 100 , and has the advantages of simple structure and high production efficiency. The advantage of convenient transportation. In another embodiment, it is considered that if the boundary label group 300 is directly disposed on the outer peripheral surface of the boundary line body 100, whether during transportation, installation or use, it is always in contact with the outside world, which may easily cause the boundary label group 300 to wear Or falling off, shortening the service life of the boundary line body 100 . In the present application, please refer to FIG.
  • the novel border line further includes a wrapping layer 400 wrapped outside the border label group 300 , and the border line body 100 and the border label group 300 are wrapped by the wrapping layer 400 to form a whole.
  • the wrapping layer 400 can bind the border label group 300 to the border line body 100 to form a whole, and on the other hand, can effectively protect the border label group 300 and prolong the service life of the border line body 100 .
  • the wrapping layer 400 is an annular thin layer that wraps around the outside of the border label group 300 along the length direction of the borderline body 100 and whose radial cross section is substantially the same as that of the borderline body 100 .
  • the wrapping layer 400 is made of a material that does not affect the identification information of the automatic walking device 200 .
  • Adjacent boundary label groups 300 may be distributed at equal intervals, or may be distributed at unequal intervals.
  • the method of equal interval distribution can facilitate the smart lawn mower to store the distance of the equal interval, which is a constant; if the interval is not set, the intelligent lawn mower needs to store multiple different intervals, and the calculation will be more complicated.
  • adjacent boundary label groups 300 are distributed at equal intervals. Therefore, the automatic traveling device 200 can easily find the boundary label group 300 on the boundary line body 100 , which has the advantage of high positioning accuracy.
  • the boundary line system includes the new-type boundary line; and a charging station 500, which is electrically connected with the new-type boundary line, and is used for providing a boundary signal for the new-type boundary line.
  • the charging station 500 is detachably provided with a power source, and the power source is a battery pack capable of storing electrical energy.
  • the battery pack can be used for the electrical energy demand of the charging station 500, and there is no need for the charging station 500 to be externally connected to a home circuit or a market. Electric, easy to use.
  • the power source can also be a charging circuit and a charging interface provided in the charging station 500, and when charging is required, it can be connected to a home circuit or a commercial power through an adapted charging cable.
  • novel boundary lines in this application are also applied to automatic work systems, see Figure 5.
  • the novel boundary line can be used in an automatic working system, including: the novel boundary line; a charging station 500, which is electrically connected to the novel boundary line and used to provide a boundary for the novel boundary line signal; and an autonomous running device 200 for autonomously moving and performing work tasks in the work area A enclosed by the novel boundary line.
  • the automatic traveling device 200 is provided with a charging pole piece that can be docked with the charging station 500. After the charging pole piece and the charging station 500 are docked, an electrical connection is formed between the charging station 500 and the charging pole piece, which is used for automatic walking. Device 200 is charged.
  • the charging pole piece includes a charging pole piece positive pole 210 and a charging pole piece negative pole 220 . After the charging pole piece and the charging station 500 are docked, a communication loop is formed between the automatic traveling device 200 and the charging station 500 to realize information exchange.
  • the automatic traveling equipment 200 has a built-in automatic traveling equipment control board 230
  • the charging station 500 has a built-in charging station control board 510.
  • the automatic traveling equipment control board 230 and the charging station control board 510 electrically connected to form the communication loop.
  • the charging pole piece positive electrode 210 and the charging pole piece negative pole 220 on the charging station 500 can also be used as a signal transmission medium.
  • the automatic traveling device 200 After the automatic traveling device 200 is docked, it first communicates with the charging pole piece positive pole 210 and the charging pole piece negative pole 220 to communicate with the charging station 500 to inform the charging station 500.
  • the station parameters are convenient for the automatic walking device 200 to adopt different charging protection strategies.
  • the software upgrade of the charging station 500 can also be completed through this communication loop.
  • the automatic traveling device 200 when it returns to the charging station 500, it can also transmit information such as the length of the boundary line body 100, the length of the lawn, and the width of the lawn to the charging station control board 510 of the charging station 500, and the charging station control board 510 according to the above
  • the boundary line information enhances or reduces the radiation energy of the boundary line body 100, and can reduce the energy consumption of the boundary line for a small area of lawn.
  • a plurality of boundary label groups are arranged at intervals in the length direction of the boundary line body, each boundary label group has unique identification information, and each boundary label group includes The identifiable ranges of the sub-tags are combined roughly around the circumference of the boundary line body. Therefore, no matter how the boundary line body rotates, it can always be ensured that at least one sub-label is generally facing upwards, which is convenient for automatic walking equipment to identify and can effectively It simplifies the layout process of the boundary label group on the boundary line body.
  • the wrapping layer enables the boundary line body and the boundary label set to form an integral whole. On the one hand, the wrapping layer can bind the boundary label group to the boundary line body, so that the two can form a whole; on the other hand, it can effectively protect the boundary label group and prolong the service life of the boundary line body.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • plurality means two or more, unless otherwise expressly and specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements.
  • installed may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements.
  • a first feature "on” or “under” a second feature may be in direct contact with the first and second features, or the first and second features indirectly through an intermediary touch.
  • the first feature being “above”, “over” and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature being “below”, “below” and “below” the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种边界线、边界线系统以及自动工作系统，该边界线包括：边界线本体（100）以及边界标签组（300），边界标签组（300）的数量为多个，多个边界标签组（300）沿边界线本体（100）的长度方向间隔设于边界线本体（100）上；其中，每个边界标签组（300）包括多个集中设置的子标签（3001），多个子标签（3001）依次布置在边界线本体（100）的周向表面，多个子标签（3001）的可识别范围联合起来大致围绕边界线本体（100）的周向一圈。

Description

一种新型边界线、边界线系统以及自动工作系统
相关申请的交叉引用
本申请要求了申请日为2020年8月17日，申请号为202010823031.2，发明名称为“一种新型边界线、边界线系统以及自动工作系统”的中国发明专利申请和申请日为2020年8月17日，申请号为202021705422.6，发明名称为“一种新型边界线、边界线系统以及自动工作系统”的中国实用新型专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能园林工具技术领域，尤其涉及新型边界线、边界线系统以及自动工作系统。
背景技术
智能割草机被广泛应用于家庭庭院草坪的维护、大型草地的修剪。为了实现智能割草机的预定功能，需要在指定的工作区域内工作移动。边界线用于界定智能割草机的工作区域，智能割草机工作时，仅在边界线界定的范围内工作。
为了辅助智能割草机定位，现有的自动工作系统在边界处额外布置边界标签，而边界标签通常是在边界线铺设完成后，通过人工布置于边界线上，从而确保边界标签朝上设置，以利于自动行走设备识别。边界标签的上述设置方式存在布置过程复杂，费时费力的缺陷。因此，有必要研究一种新型边界线、边界线系统以及自动工作系统。
发明内容
本申请的目的在于提出一种新型边界线、边界线系统以及自动工作系统，能够有效地简化边界标签组在边界线本体上的布置过程。
为此，本申请提供一种新型边界线，用于围设自动行走设备的工作区域，所述自动行走设备在所述工作区域内行走和工作，包括：边界线本体，呈细长的线体，用于通边界信号以及供所述自动行走设备识别；以及边界标签组，所述边界标签组的数量为多个，多个所述边界标签组沿所述边界线本体的长度方向间隔设于所述边界线本体上；每个所述边界标签组具有唯一的识别信息；其中，每个所述边界标签组包括多个集中设置的子标签，多个所述子标签依次布置在所述边界线本体的周向表面，每个所述子标签关于其安装方向具有有限的可识别范围，多个所述子标签的所述可识别范围联合起来大致围绕所述边界线本体的周向一圈，无论如何铺设所述边界线本体至少有一个所述子标签大致朝上，以利于所述 自动行走设备识别。
根据本申请的新型边界线，其在边界线本体的长度方向上间隔设有多个边界标签组，每个边界标签组具有不同的识别信息，从而实现自身位置的定位。
进一步地，每个边界标签组包括多个集中设置的子标签，多个子标签的可识别范围联合起来大致围绕边界线本体的周向一圈，由此，无论边界线本体如何转动，始终能够保证至少有一个子标签大致朝上，从而便于自动行走设备识别，能够有效地简化边界标签组在边界线本体上的布置过程。
另外，根据本申请上述实施例的新型边界线还可以具有如下附加的技术特征：
根据本申请的一个示例，每个所述边界标签组中的多个子标签沿所述边界线本体的长度方向依次错开排布。
根据本申请的一个示例，所述子标签呈细长条状设置，依次围绕布置在所述边界线本体的周向。
根据本申请的一个示例，所述新型边界线还包括包裹于所述边界标签组外的裹层，所述边界线本体与所述边界标签组由所述裹层包裹形成一个整体。
根据本申请的一个示例，每一所述边界标签组包括的所述子标签的数量为2-5个。
根据本申请的一个示例，所述边界标签组之间等间隔分布。
根据本申请的一个示例，所述边界标签组为电子标签组，所述子标签为无线射频识别电子标签。
根据本申请的一个示例，每个所述边界标签组中的多个所述子标签螺旋排布于所述边界线本体的外周面上；其中，所述边界线本体的外周面大致呈圆柱面体。
为解决上述技术问题，本申请提出的另一个解决方案是：
一种边界线系统，包括：如前所述的新型边界线；以及充电站，与所述的新型边界线电性连接，用于为所述的新型边界线提供边界信号。
为解决上述技术问题，本申请提出的又一个解决方案是：
一种自动工作系统，包括：如前所述的新型边界线；充电站，与所述的新型边界线电性连接，用于为所述的新型边界线提供边界信号；以及自动行走设备，用于在所述新型边界线围设的工作区域内自主移动和执行工作任务。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和 容易理解，其中：
图1是本申请提出的边界线系统的示意图；
图2是本申请提出的新型边界线在一实施例中的结构示意图；
图3是本申请提出的新型边界线在另一实施例中的结构示意图；
图4是本申请中边界线本体和裹层之间的位置关系示意图；
图5是本申请提出的自动工作系统的示意图。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。
如图1至图3所示，本申请的一实施例中提供的一种新型边界线，用于围设自动行走设备200的工作区域A，自动行走设备200在工作区域A内行走和工作，包括：边界线本体100，呈细长的线体，用于通边界信号以及供自动行走设备200识别；以及边界标签组300，边界标签组300的数量为多个，多个边界标签组300沿边界线本体100的长度方向间隔设于边界线本体100上；每个边界标签组300具有唯一的识别信息；其中，每个边界标签组300包括多个集中设置的子标签3001，多个子标签3001依次布置在边界线本体100的周向表面，每个子标签3001关于其安装方向具有有限的可识别范围，多个子标签3001的可识别范围联合起来大致围绕边界线本体100的周向一圈，无论如何铺设边界线本体100至少有一个子标签3001大致朝上，以利于自动行走设备200识别。
通过上述方式，本申请在边界线本体100的长度方向上间隔设有多个边界标签组300，每一边界标签组300具有唯一的识别信息，自动行走设备200通过识别边界标签组300的识别信息确定自身位置。由于边界标签组300内的子标签3001的设置朝向影响着自动行走设备200的识别精度。若子标签3001朝上设置，那么，自动行走设备200则能够较为快速、精准的识别到子标签3001的识别信息，识别成功的概率较高。具体地，每一边界标签组300包括多个集中设置的子标签3001，多个子标签3001的可识别范围联合起来大致围绕边界线本体100的周向一圈，由此，无论边界线本体100如何转动，始终能够保证至少有一个子标签3001大致朝上，从而便于自动行走设备200识别，能够有效地简化边界标签组300在边界线本体100上的布置过程。
具体地，自动行走设备200可以为智能割草机，也可以是自动清洁设备，如自动扫地机，自动拖地机等，自动行走设备200为智能割草机时，工作区域A为草坪，边界线本体100铺设于草坪的边缘，本实施例中，以智能割草机为例。边界线本体100是一种通电后能够 形成回路的导线，边界线本体100内部通入边界信号后，如电流信号，会在其周围产生一个环绕边界线本体100的边界磁场，该磁场即为边界信号，自动行走设备200在工作行走过程中，能够识别该边界磁场的磁场强度、方向等信息，从而根据该恒定磁场确定工作区域A。边界线本体100在沿其长度方向上设有多组边界标签组300，分别为第一组边界标签组310、第二组边界标签组320和第三组边界标签组330等，每一边界标签组300具有的识别信息不相同，以和其他边界标签组300区分开来。边界标签组300为电子标签组，每一边界标签组300内的多个子标签为无线射频识别电子标签。同组内的子标签具有的识别信息可以相同，也可以不同，优选的，每一边界标签组300中的子标签3001具有相同且唯一的识别信息。自动行走设备200上设有边界标签检测单元(图未示)，用于检测边界标签组300，以获取射频信号中携带的识别信息。
优选的，每一边界标签组300包括的子标签3001的数量限定为2-5个。根据子标签3001的识别角度，2-5个左右能布满边界线本体100的周向，便于识别。
考虑到边界线本体100呈细长的线体，其周向表面尺寸较小。在一实施例中，请参阅图2，每一边界标签组300中的多个子标签3001沿边界线本体100的长度方向依次错开排布。上述错开排布是指，每一边界标签组300中的多个子标签3001在边界线本体100的纵向方向上的投影不相重叠。具体地，在一实施例中，请参阅图2，边界线本体100大体呈圆柱状，每一边界标签组300中的多个子标签3001沿边界线本体100的轴向方向依次错开排布，每一边界标签组300中的多个子标签3001在边界线本体100轴向方向上的投影不相重叠。由此，能够解决边界线本体100周向表面尺寸较小的问题，以利于边界标签组300设于边界线本体100上。
在本实施例中，边界线本体100的外周面为圆柱面体，每一边界标签组300中的多个子标签的数量定义为3个，边界线本体100的周向定义有与上述子标签一一对应设置的第一相位角、第二相位角和第三相位角，第一相位角所对应区域为第一子标签的可识别范围，第二相位角所对应区域为第二子标签的可识别范围，第三相位角所对应区域为第三子标签的可识别范围。优选的，每个边界标签组300中的多个子标签螺旋排布于边界线本体100的外周面上。可以理解地，在边界线本体100的长度方向上，每一边界标签组300中的多个子标签之间可以间隙设置，也可以边界处重叠设置。同理，在边界线本体100的周向方向上，每一边界标签组300中的多个子标签之间可以间隙设置，也可以边界处重叠设置。
在另一实施例中，请参阅图3，每一边界标签组300中的多个子标签沿边界线本体100的周向设于不同相位，子标签呈细长条状设置，依次围绕布置在边界线本体100的周向。由此，每一边界标签组300中的多个子标签具有分布紧凑的优点。
边界线本体100与边界标签组300之间的连接形式有多种。在一实施例中，请参阅图2， 边界标签组300可以通过粘贴的方式设于边界线本体100的外周面上，无需在边界线本体100的外周面上增加额外结构，具有结构简单、生产运输方便的优点。在另一实施例中，考虑到，若边界标签组300直接设于边界线本体100的外周面上，不管是运输、安装或是使用过程中，时刻与外界接触，易造成边界标签组300磨损或是脱落，缩短了边界线本体100的使用寿命。在本申请中，请参阅图4，所述新型边界线还包括包裹于边界标签组300外的裹层400，边界线本体100与边界标签组300由裹层400包裹形成一个整体。裹层400一方面能够将边界标签组300束缚于边界线本体100上，使两者形成一整体，另一方面，能够形成对边界标签组300地有效保护，延长边界线本体100的使用寿命。裹层400为沿边界线本体100长度方向裹覆于边界标签组300外侧且径向截面与边界线本体100的径向截面大体一致的环状薄层。为了不影响自动行走设备200的识别，裹层400采用不影响自动行走设备200识别信息的材料制成。
相邻边界标签组300之间可以等间隔分布，也可以非等间分布。等间隔分布的方式能够方便智能割草机存储该该等间距的距离，是一个常数；若不等间隔设置，智能割草机要存储多个不同的间距，计算会比较的复杂。为了使得自动行走设备200能够更好的完成对自身位置的定义，相邻边界标签组300之间等间隔分布。由此，自动行走设备200能够较为方便的寻找到边界线本体100上的边界标签组300，具有定位精度高的优点。
可以理解地，本申请中的新型边界线可以应用到不同的使用场景，下面举例进行说明。
本申请中的新型边界线可以应用于边界线系统，请参阅图1和图5。其中，该边界线系统包括所述的新型边界线；以及充电站500，与所述的新型边界线电性连接，用于为所述的新型边界线提供边界信号。
进一步，充电站500上可拆卸设置有电源，电源为能够存储电能的电池包，在边界线系统工作时，电池包能够用于充电站500电能需求，不需要充电站500外接家庭电路或是市电，使用方便。可以理解地，电源也可以为设于充电站500的充电电路以及充电接口，在需要充电时，可通过适配的充电线缆与家庭电路或是市电连接。
本申请中的新型边界线还应用于自动工作系统，请参阅图5。其中，该新型边界线可以用于一种自动工作系统，包括：所述的新型边界线；充电站500，与所述的新型边界线电性连接，用于为所述的新型边界线提供边界信号；以及自动行走设备200，用于在所述新型边界线围设的工作区域A内自主移动和执行工作任务。
进一步，自动行走设备200，设有能够与充电站500对接的充电极片，当充电极片和充电站500对接后，充电站500与充电极片之间形成电性连接，用于为自动行走设备200充电。其中，充电极片包括充电极片正极210和充电极片负极220。在充电极片和充电站500对接后，自动行走设备200和充电站500之间形成有通讯回路，以实现信息交互。具体地， 自动行走设备200内置有自动行走设备控制板230，充电站500内置有充电站控制板510，在充电极片和充电站500对接后，自动行走设备控制板230和充电站控制板510电性连接，以形成所述通讯回路。充电站500上的充电极片正极210和充电极片负极220还能作为信号传输媒介，自动行走设备200对接后先通过充电极片正极210和充电极片负极220与充电站500通信，告知充电站参数，便于自动行走设备200采用不同的充电保护策略。也可以通过此通讯回路，完成对充电站500的软件升级。另外，自动行走设备200回到充电站500时，还能够将边界线本体100的长度、草坪长度、草坪宽度等信息传输给充电站500的充电站控制板510，充电站控制板510根据上述的边界线信息，增强或减少边界线本体100的辐射能量，针对小面积草坪可以降低边界线的能耗。
综上所述，本申请在边界线本体的长度方向上间隔设有多个边界标签组，每个边界标签组具有唯一的识别信息，每个边界标签组包括多个集中设置的子标签，多个子标签的可识别范围联合起来大致围绕边界线本体的周向一圈，由此，无论边界线本体如何转动，始终能够保证至少有一个子标签大致朝上，从而便于自动行走设备识别，能够有效地简化边界标签组在边界线本体上的布置过程。进一步地，裹层能够使边界线本体与边界标签组形成一个整体。裹层一方面能够将边界标签组束缚于边界线本体上，使两者形成一整体，另一方面，能够形成对边界标签组地有效保护，延长边界线本体的使用寿命。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可 以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (10)

  1. 一种新型边界线，用于围设自动行走设备(200)的工作区域A，所述自动行走设备(200)在所述工作区域A内行走和工作，其特征在于，包括：
    边界线本体(100)，呈细长的线体，用于通边界信号以及供所述自动行走设备(200)识别；以及
    边界标签组(300)，所述边界标签组(300)的数量为多个，多个所述边界标签组(300)沿所述边界线本体(100)的长度方向间隔设于所述边界线本体(100)上；每个所述边界标签组(300)具有唯一的识别信息；
    其中，每个所述边界标签组(300)包括多个集中设置的子标签，多个所述子标签依次布置在所述边界线本体的周向表面，每个所述子标签关于其安装方向具有有限的可识别范围，多个所述子标签的所述可识别范围联合起来大致围绕所述边界线本体的周向一圈，无论如何铺设所述边界线本体(100)至少有一个所述子标签大致朝上，以利于所述自动行走设备(200)识别。
  2. 根据权利要求1所述的新型边界线，其特征在于，
    每个所述边界标签组(300)中的多个子标签沿所述边界线本体(100)的长度方向依次错开排布。
  3. 根据权利要求1所述的新型边界线，其特征在于，
    所述子标签呈细长条状设置，依次围绕布置在所述边界线本体(100)的周向。
  4. 根据权利要求1所述的新型边界线，其特征在于，所述新型边界线还包括包裹于所述边界标签组(300)外的裹层(400)，所述边界线本体(100)与所述边界标签组(300)由所述裹层(400)包裹形成一个整体。
  5. 根据权利要求1所述的新型边界线，其特征在于，每一所述边界标签组(300)包括的所述子标签的数量为2-5个。
  6. 根据权利要求1所述的新型边界线，其特征在于，所述边界标签组(300)之间等间隔分布。
  7. 根据权利要求1所述的新型边界线，其特征在于，所述边界标签组(300)为电子标签组，所述子标签为无线射频识别电子标签。
  8. 根据权利要求1所述的新型边界线，其特征在于，
    每个所述边界标签组(300)中的多个所述子标签螺旋排布于所述边界线本体(100)的外周面上；
    其中，所述边界线本体(100)的外周面大致呈圆柱面体。
  9. 一种边界线系统，其特征在于，包括：
    如权利要求1至8中任一项所述的新型边界线；以及
    充电站(500)，与所述的新型边界线电性连接，用于为所述的新型边界线提供边界信号。
  10. 一种自动工作系统，其特征在于，包括：
    如权利要求1至8中任一项所述的新型边界线；
    充电站(500)，与所述的新型边界线电性连接，用于为所述的新型边界线提供边界信号；以及
    自动行走设备(200)，用于在所述新型边界线围设的工作区域内自主移动和执行工作任务。
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