WO2017181995A1 - Système de travail automatique et son procédé de commande - Google Patents

Système de travail automatique et son procédé de commande Download PDF

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Publication number
WO2017181995A1
WO2017181995A1 PCT/CN2017/081452 CN2017081452W WO2017181995A1 WO 2017181995 A1 WO2017181995 A1 WO 2017181995A1 CN 2017081452 W CN2017081452 W CN 2017081452W WO 2017181995 A1 WO2017181995 A1 WO 2017181995A1
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WIPO (PCT)
Prior art keywords
signal
boundary
automatic
working system
wire
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Ceased
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PCT/CN2017/081452
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English (en)
Chinese (zh)
Inventor
多尔夫达维德
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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Publication of WO2017181995A1 publication Critical patent/WO2017181995A1/fr
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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
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • 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
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/23—Gardens or lawns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/30—Radio signals
    • G05D2111/36—Radio signals generated or reflected by cables or wires carrying current, e.g. boundary wires or leaky feeder cables

Definitions

  • the invention relates to an automatic working system and a control method thereof.
  • an automatic working system is usually used to control the working range of the automatic walking equipment.
  • the automatic working system includes a boundary line laid on the ground surface, a signal generating device connected to the boundary line, a signal detecting unit on the automatic walking device, and a control unit that processes the signal and controls the walking path of the automatic walking device.
  • the control unit confirms the distance of the automatic walking device from the boundary line according to the electrical signal transmitted by the boundary line, thereby controlling the automatic walking device to switch the walking direction when approaching the boundary line, preventing the automatic walking device from walking outside the boundary line, so that the automatic walking device is always in the Work within the boundary line.
  • the automatic walking device detects the boundary line signal during operation, and also detects the interference signal.
  • the interference signal may come from the radiation signal from other devices near the automatic working system, or may be from the boundary line of other automatic working system nearby. Signals, especially when there is an automatic working system produced by the same manufacturer in the vicinity, because the boundary line signals are similar in form, it is easy to interfere with the walking of the automatic walking equipment, resulting in misjudgment of the automatic walking equipment.
  • the signal generating device continuously generates an electrical signal and consumes a large amount of electric energy.
  • the boundary signal is attenuated in the center of the working area, so that the boundary signal can be detected in the working area for the automatic walking device.
  • the signal generating device must generate a high-intensity electrical signal, resulting in excessive power consumption.
  • the technical problem solved by the present invention is to provide an automatic working system capable of effectively avoiding the influence of an interference signal on a boundary line signal.
  • the technical solution of the present invention is:
  • An automatic working system comprising a signal station, a boundary line and an autonomous walking device; the signal station generates and transmits a boundary signal in the boundary line; the autonomous walking device detects a boundary signal, and defines a work at the boundary line Walking and working in the area; the automatic working system further comprises a non-wire signal generator for transmitting a non-wire signal; a time interval for the signal station to generate a boundary signal and a time interval and a non-wire signal for detecting the boundary signal by the autonomous walking device Correspondingly, the time interval in which the signal station generates the boundary signal is within a time interval in which the autonomous walking device detects the boundary signal.
  • the time for transmitting the non-wire signal by the non-wire signal generator is a time reference, and the signal station determines the time interval for generating the boundary signal.
  • a time interval between the time interval in which the signal station generates the boundary signal and the time reference form a first time interval, and the first time interval is not fixed.
  • the data of the non-wire signal includes the first interval time data.
  • the signal station determines a time interval in which the boundary signal is generated.
  • the time for transmitting the non-wire signal by the non-wire signal generator is a time reference, and the automatic walking device determines the time interval for detecting the boundary signal.
  • the autonomous walking device determines the time interval in which the boundary signal is detected.
  • the time interval in which the signal station generates the boundary signal is not fixed with respect to the time interval in which the automatic walking device detects the boundary signal.
  • the second time interval is formed between the time when the non-wire signal generator sends the non-wire signal twice, and the second time interval is not fixed.
  • the non-wire signal generator is disposed on the autonomous walking device to communicate with the autonomous walking device, and the signal station receives a non-wire signal.
  • the non-wire signal generator is disposed on the signal station to communicate with the signal station, and the autonomous device receives a non-wire signal.
  • the non-wire signal generator is disposed outside the autonomous device and the signal station, and the autonomous device and the signal station receive a non-wire signal.
  • the non-wire signal is a radio signal, or an audio signal, or an optical signal.
  • the invention has the beneficial effects that the automatic walking device sends a request signal to the signal station, and the signal station responds
  • the boundary signal is generated by the request signal of the automatic walking device, and the automatic detection device detects the boundary signal correspondingly, so that the automatic working system can effectively avoid the influence of the interference signal in the working environment.
  • Another technical problem solved by the present invention is to provide a method for controlling an automatic working system that can effectively avoid the influence of an interference signal on a boundary line signal.
  • the technical solution of the present invention is:
  • a method of controlling an automatic working system comprising a signal station, a boundary line, an autonomous walking device, and a non-wire signal generator; the method of controlling an automatic working system includes the following steps: the signal station generates and Transmitting a boundary signal in the boundary line; the autonomous device detects a boundary signal, walks and works in a working area defined by the boundary line; and the non-wire signal generator transmits a non-wire signal, so that the signal station generates The time interval of the boundary signal and the time interval of the automatic walking device detecting the boundary signal are associated with the non-wire signal, and the time interval during which the signal station generates the boundary signal is within a time interval of the automatic walking device detecting the boundary signal.
  • the time for transmitting the non-wire signal by the non-wire signal generator is a time reference, and the signal station determines the time interval for generating the boundary signal.
  • the signal station determines a time interval in which the boundary signal is generated.
  • the time for transmitting the non-wire signal by the non-wire signal generator is a time reference, and the automatic walking device determines the time interval for detecting the boundary signal.
  • the autonomous walking device determines the time interval in which the boundary signal is detected.
  • the non-wire signal generator is disposed on the autonomous walking device to communicate with the autonomous walking device, and the signal station receives a non-wire signal.
  • the non-wire signal generator is disposed on the signal station to communicate with the signal station, and the autonomous device receives a non-wire signal.
  • the non-wire signal generator is disposed outside the autonomous device and the signal station, and the autonomous device and the signal station receive a non-wire signal.
  • the invention has the beneficial effects that the automatic lawn mower sends a request signal to the signal station, the signal station generates a boundary signal in response to the request signal of the automatic lawn mower, and the automatic lawn mower correspondingly detects the boundary signal, so that the automatic working system can effectively Avoid being affected by interference signals in the working environment.
  • Another technical problem to be solved by the present invention is to provide an edge that can further avoid interference signals.
  • the automatic working system of the influence of the boundary signal is to provide an edge that can further avoid interference signals.
  • the technical solution of the present invention is:
  • An automatic working system comprising a signal station, a boundary line and an autonomous walking device; the signal station generates and transmits a boundary signal in the boundary line; the autonomous walking device detects a boundary signal, and defines a work at the boundary line Walking and working in the area; the automatic working system further comprises a non-wire signal generator for transmitting a non-wire signal; the time at which the signal station generates the boundary signal and the time at which the autonomous device detects the boundary signal are associated with the non-wire signal.
  • the automated working system further includes a non-wire signal receiver that receives the non-wire signal; the non-wire signal receiver is paired with the non-wire signal generator.
  • one of the non-wire signal generator and the non-wire signal receiver is disposed on the autonomous device, and the other is disposed on the signal station.
  • the non-wire signal generator is disposed outside the autonomous device and the signal station, and the non-wire signal receiver is disposed on the autonomous device and the signal station.
  • the time interval in which the signal station generates the non-wire signal is within a time interval of the automatic walking device detecting the boundary signal.
  • the invention has the beneficial effects that the non-wire signal generator is paired with the non-wire signal receiver, so that the signal station and the automatic lawn mower in different automatic working systems avoid mutual interference.
  • Another technical problem solved by the present invention is to provide a method of controlling an automatic working system that can further avoid the influence of an interference signal on a boundary line signal.
  • the technical solution of the present invention is:
  • a method of controlling an automatic working system comprising a signal station, a boundary line, an autonomous walking device, a non-wire signal generator, and a non-wire signal receiver;
  • the method for controlling an automatic working system comprises the following steps: The signal station generates and transmits a boundary signal in the boundary line; the autonomous walking device detects a boundary signal, walks and works in a working area defined by the boundary line; the non-wire signal generator and the non-wire An exclusive non-wire signal transmission is performed between the signal receivers such that the time interval in which the signal station generates the boundary signal and the time interval in which the autonomous walking device detects the boundary signal are associated with the non-wire signal.
  • one of the non-wire signal generator and the non-wire signal receiver is disposed on the autonomous device, and the other is disposed on the signal station.
  • the non-wire signal generator is disposed outside the autonomous device and the signal station, and the non-wire signal receiver is disposed on the autonomous device and the signal station.
  • the time interval in which the signal station generates the non-wire signal is within a time interval of the automatic walking device detecting the boundary signal.
  • the invention has the beneficial effects that the non-wire signal generator is paired with the non-wire signal receiver, so that the signal station and the automatic lawn mower in different automatic working systems avoid mutual interference.
  • Another technical problem to be solved by the present invention is to provide an automatic working system capable of effectively avoiding the influence of an interference signal on a boundary line signal and ensuring stable operation.
  • the technical solution of the present invention is:
  • An automatic working system comprising a signal station, a boundary line and an autonomous walking device; the signal station generates and transmits a boundary signal in the boundary line; the autonomous walking device detects a boundary signal, and defines a work at the boundary line Walking and working in the area; the automatic working system further comprises a non-wire signal generator for transmitting a non-wire signal; the automatic working system optionally operating in the first working mode or the second working mode; in the first working mode, The time at which the signal station generates the boundary signal and the time at which the automatic walking device detects the boundary signal are associated with the non-wire signal; in the second working mode, the time at which the signal station generates the boundary signal and the time and non-wire signal of the automatic walking device detecting the boundary signal are not Related.
  • the automatic working system works in the first working mode
  • the automatic working system if the working of the automatic working system meets the preset condition, the automatic working system is switched from the first working mode to the second working mode.
  • the preset condition is that the transmission or reception of the non-wire signal is unreliable.
  • the preset condition is that the automatic walking device does not detect the boundary signal within a preset time.
  • the preset condition is that the signal station does not generate a boundary signal within a preset time.
  • the preset condition is that the automatic walking device or the signal station determines that no non-wire signal is transmitted within the preset time.
  • the time interval in which the signal station generates the boundary signal is located within a time interval of the automatic walking device detecting the boundary signal.
  • the automatic walking device when the automatic working system operates in the first working mode, the automatic walking device does not detect the boundary signal within the time interval of detecting the boundary signal, and then switches the automatic working system from the first working mode to the second working mode.
  • the signal station continuously generates a boundary signal, and the automatic walking device continues Detect boundary signals.
  • the non-wire signal generator is disposed on one of the autonomous walking device and the signal station, and in the first mode of operation, the other of the autonomous device and the signal station receives the non-wire signal.
  • the non-wire signal generator is disposed outside the autonomous device and the signal station.
  • the autonomous device and the signal station receive the non-wire signal.
  • the invention has the beneficial effects that the automatic working system can selectively operate in the first working mode or the second working mode.
  • the first working mode the time when the signal station generates the boundary signal and the time when the automatic mower detects the boundary signal
  • the non-wire signal is associated, so that the detection of the boundary signal by the automatic walking device can effectively avoid the influence of the interference signal in the working environment; when the non-wire signal is unreliable, the automatic working system switches to the second working mode, and the signal station generates The time of the boundary signal and the time when the automatic mower detects the boundary signal are not related to the non-wire signal, so that the automatic working system can work stably.
  • Another technical problem to be solved by the present invention is to provide a method for controlling an automatic working system that can effectively avoid the influence of an interference signal on a boundary line signal and can ensure stable operation.
  • the technical solution of the present invention is:
  • a method for controlling an automatic working system comprising: a signal station, generating a boundary signal; a boundary line electrically connected to the signal station, transmitting a boundary signal; an automatic walking device detecting a boundary signal, defined at the boundary line Walking and working in the work area; a non-wire signal generator transmitting a non-wire signal;
  • the method of controlling the automatic working system comprises the steps of: operating the automatic working system in a first working mode, so that the signal station generates a boundary signal The time and the time when the automatic walking device detects the boundary signal are associated with the non-wire signal; when the non-wire signal is unreliable, the automatic working system is switched from the first working mode to the second working mode, so that the signal station generates the boundary signal and The time at which the auto-walking device detects the boundary signal is not related to the non-wire signal.
  • the automatic working system is switched from the first working mode to the second working mode.
  • the automatic walking device does not detect the boundary signal within a preset time, it is determined that the non-wire signal is unreliable.
  • the signal station does not generate a boundary signal within a preset time, it is determined that the non-wire signal is unreliable.
  • the automatic walking device or the signal station determines that no non-wire signal is transmitted within the preset time, it is determined that the non-wire signal is unreliable.
  • the automatic walking device is configured to receive the non-wire signal, and if the automatic walking device does not receive the non-wire signal within the preset time, it is determined that the non-wire signal is unreliable.
  • the signal station is configured to receive the non-wire signal, and if the signal station does not receive the non-wire signal within the preset time, it is determined that the non-wire signal is unreliable.
  • the time interval in which the signal station generates the boundary signal is located within a time interval of the automatic walking device detecting the boundary signal.
  • the automatic walking device does not detect the boundary signal within the time interval in which the boundary signal is detected, and determines that the non-wire signal is unreliable.
  • the invention has the beneficial effects that the automatic working system can selectively operate in the first working mode or the second working mode.
  • the first working mode the time when the signal station generates the boundary signal and the time when the automatic mower detects the boundary signal
  • the non-wire signal is associated, so that the detection of the boundary signal by the automatic walking device can effectively avoid the influence of the interference signal in the working environment; when the non-wire signal is unreliable, the automatic working system switches to the second working mode, and the signal station generates The time of the boundary signal and the time when the automatic mower detects the boundary signal are not related to the non-wire signal, so that the automatic working system can work stably.
  • Another technical problem solved by the present invention is to provide an automatic working system capable of reducing the power consumption of a boundary signal.
  • the technical solution of the present invention is:
  • An automatic working system comprising a signal station, a boundary line, and an autonomous walking device; the signal station generates a boundary signal; the boundary line transmits the boundary signal and generates an electromagnetic field; and the autonomous walking device detects the electromagnetic field, Walking and working within a working area defined by the boundary line; the autonomous walking device adjusts the current level of the boundary signal according to its own distance from the boundary line.
  • the autonomous walking device reduces the current level of the boundary signal when it determines that the distance from the boundary line is reduced; and the autonomous walking device increases the current level of the boundary signal when it determines that the distance from the boundary line increases.
  • the autonomous walking device communicates with the signal station to adjust the current level of the boundary signal.
  • the autonomous walking device transmits its own distance signal to the boundary line to the signal station.
  • the automatic walking device determines its own distance to the boundary line based on the intensity of the detected electromagnetic field.
  • the automatic working system stores the distance of the autonomous walking device to the boundary line, and the boundary signal The mapping relationship between the target values of the current levels.
  • the autonomous walking device transmits its own distance signal to the boundary line to the signal station, and the signal station determines a target value of the current level of the boundary signal according to the distance signal and the mapping relationship, and adjusts the boundary signal according to the target value. Current level.
  • the autonomous walking device determines a target value of the current level of the boundary signal according to the distance from the boundary line and the mapping relationship, and transmits the target value to the signal station.
  • the automatic walking device transmits the intensity signal of the detected electromagnetic field to the signal station, and the signal station determines the distance of the automatic walking device to the boundary line according to the intensity signal of the electromagnetic field detected by the automatic walking device.
  • the invention has the beneficial effects that the intensity of the boundary signal is generated according to the distance adjustment of the automatic walking device to the boundary line, and the power consumption of the boundary signal is reduced.
  • Another technical problem solved by the present invention is to provide a method of controlling an automatic working system capable of reducing the power consumption of a boundary signal.
  • the technical solution of the present invention is:
  • a control method of an automatic working system comprising a signal station, a boundary line, and an automatic walking device; the control method of the automatic working system comprising the steps of: generating, by the signal station, a boundary signal; the boundary line Transmitting the boundary signal and generating an electromagnetic field; the autowalk device detects the electromagnetic field, walks and works in a working area defined by the boundary line; and the automatic walking device adjusts a boundary signal according to a distance from the boundary line Current level.
  • the autonomous walking device reduces the current level of the boundary signal when it determines that the distance from the boundary line is reduced; and the autonomous walking device increases the current level of the boundary signal when it determines that the distance from the boundary line increases.
  • the autonomous walking device communicates with the signal station to adjust the current level of the boundary signal.
  • the autonomous walking device transmits its own distance signal to the boundary line to the signal station.
  • the automatic walking device determines its own distance to the boundary line based on the intensity of the detected electromagnetic field.
  • the automatic working system stores a mapping relationship between the distance of the autonomous walking device to the boundary line and the target value of the current level of the boundary signal.
  • the autonomous walking device transmits its own distance signal to the boundary line to the signal station, and the signal station root Determining a target value of a current level of the boundary signal according to the distance signal and the mapping relationship, and adjusting a current level of the boundary signal according to the target value.
  • the autonomous walking device determines a target value of the current level of the boundary signal according to the distance from the boundary line and the mapping relationship, and transmits the target value to the signal station.
  • the automatic walking device transmits the intensity signal of the detected electromagnetic field to the signal station, and the signal station determines the distance of the automatic walking device to the boundary line according to the intensity signal of the electromagnetic field detected by the automatic walking device.
  • the invention has the beneficial effects that the intensity of the boundary signal is generated according to the distance adjustment of the automatic walking device to the boundary line, and the power consumption of the boundary signal is reduced.
  • Another technical problem solved by the present invention is to provide an automatic working system capable of reducing the power consumption of a boundary signal.
  • the technical solution of the present invention is:
  • An automatic working system comprising a signal station, a boundary line, and an autonomous walking device; the signal station generates a boundary signal; the boundary line transmits the boundary signal and generates an electromagnetic field;
  • the automatic walking device detects the electromagnetic field and walks and operates in a working area defined by the boundary line; a time interval at which the signal station generates a boundary signal is associated with an intensity of an electromagnetic field detected by the automatic walking device.
  • the intensity of the electromagnetic field detected by the autonomous walking device is reduced, and the time interval at which the signal station generates the boundary signal is increased; the intensity of the electromagnetic field detected by the autonomous walking device is increased, and the time interval at which the signal station generates the boundary signal is decreased.
  • the autonomous walking device communicates with the signal station to adjust the time interval at which the signal station generates the boundary signal.
  • the autonomous walking device transmits an intensity signal of the electromagnetic field detected by itself to the signal station, and the signal station adjusts the time interval for generating the boundary signal according to the intensity signal of the electromagnetic field.
  • the signal station determines the distance from the automatic walking device to the boundary line according to the intensity signal of the electromagnetic field, and adjusts the time interval for generating the boundary signal according to the distance from the automatic walking device to the boundary line.
  • the signal station calculates a maximum time interval for generating the boundary signal according to the distance from the autonomous walking device to the boundary line, and generates a boundary signal such that the time interval for generating the boundary signal is not greater than the maximum time interval.
  • the automatic walking device determines its own distance to the boundary line based on the intensity of the detected electromagnetic field.
  • the autonomous walking device transmits its own distance signal to the boundary line to the signal station, and the signal station adjusts the time interval for generating the boundary signal according to the distance signal.
  • the distance from the automatic walking device to the boundary line is reduced, and the time interval at which the signal station generates the boundary signal is decreased; the distance from the automatic walking device to the boundary line is increased, and the time interval at which the signal station generates the boundary signal is increased.
  • the autonomous device includes a non-wire signal generator that transmits a non-wire signal, and the signal station receives the non-wire signal to generate a boundary signal.
  • the automatic walking device adjusts the time interval for transmitting the non-wire signal according to the intensity of the detected electromagnetic field.
  • the automatic walking device determines the distance from the boundary line according to the intensity of the detected electromagnetic field, and adjusts the time interval for transmitting the non-wire signal according to the distance from the automatic line to the boundary line.
  • the automatic walking device calculates a maximum time interval for transmitting the non-wire signal according to the intensity of the detected electromagnetic field, and transmits the non-wire signal such that the time interval for transmitting the non-wire signal is not greater than the maximum time interval.
  • the automatic walking device calculates a maximum time interval at which the signal station generates a boundary signal according to the intensity of the detected electromagnetic field, and transmits the maximum time interval signal to the signal station, and the signal station receives the maximum time interval signal to generate a boundary signal. So that the time interval at which the boundary signal is generated is not greater than the maximum time interval.
  • the beneficial effects of the present invention are: adjusting the frequency of the boundary signal generated by the signal station according to the intensity of the electromagnetic field of the boundary signal detected by the autonomous walking device or according to the distance from the autonomous walking device to the boundary line, thereby realizing the reduction of the power consumption of the boundary signal.
  • Another technical problem solved by the present invention is to provide a method of controlling an automatic working system capable of reducing the power consumption of a boundary signal.
  • the technical solution of the present invention is:
  • a control method of an automatic working system comprising a signal station, a boundary line, and an automatic walking device; the control method of the automatic working system comprising the steps of: generating, by the signal station, a boundary signal; the boundary line Transmitting the boundary signal and generating an electromagnetic field; the automatic walking The device detects the electromagnetic field and travels and operates within a working area defined by the boundary line; a time interval at which the signal station generates a boundary signal is associated with an intensity of an electromagnetic field detected by the autonomous walking device.
  • the intensity of the electromagnetic field detected by the autonomous walking device is reduced, and the time interval at which the signal station generates the boundary signal is increased; the intensity of the electromagnetic field detected by the autonomous walking device is increased, and the time interval at which the signal station generates the boundary signal is decreased.
  • the autonomous walking device communicates with the signal station to adjust the time interval at which the signal station generates the boundary signal.
  • the autonomous walking device transmits an intensity signal of the electromagnetic field detected by itself to the signal station, and the signal station adjusts the time interval for generating the boundary signal according to the intensity signal of the electromagnetic field.
  • the signal station determines the distance from the automatic walking device to the boundary line according to the intensity signal of the electromagnetic field, and adjusts the time interval for generating the boundary signal according to the distance from the automatic walking device to the boundary line.
  • the signal station calculates a maximum time interval for generating the boundary signal according to the distance from the autonomous walking device to the boundary line, and generates a boundary signal such that the time interval for generating the boundary signal is not greater than the maximum time interval.
  • the automatic walking device determines its own distance to the boundary line based on the intensity of the detected electromagnetic field.
  • the autonomous walking device transmits its own distance signal to the boundary line to the signal station, and the signal station adjusts the time interval for generating the boundary signal according to the distance signal.
  • the distance from the automatic walking device to the boundary line is reduced, and the time interval at which the signal station generates the boundary signal is decreased; the distance from the automatic walking device to the boundary line is increased, and the time interval at which the signal station generates the boundary signal is increased.
  • the autonomous device includes a non-wire signal generator that transmits a non-wire signal, and the signal station receives the non-wire signal to generate a boundary signal.
  • the automatic walking device adjusts the time interval for transmitting the non-wire signal according to the intensity of the detected electromagnetic field.
  • the automatic walking device determines the distance from the boundary line according to the intensity of the detected electromagnetic field, and adjusts the time interval for transmitting the non-wire signal according to the distance from the automatic line to the boundary line.
  • the automatic walking device calculates the transmitting non-wire signal according to the intensity of the detected electromagnetic field.
  • the maximum time interval and the non-wire signal is sent such that the time interval for transmitting the non-wire signal is not greater than the maximum time interval.
  • the automatic walking device calculates a maximum time interval at which the signal station generates a boundary signal according to the intensity of the detected electromagnetic field, and transmits the maximum time interval signal to the signal station, and the signal station receives the maximum time interval signal to generate a boundary signal. So that the time interval at which the boundary signal is generated is not greater than the maximum time interval.
  • the beneficial effects of the present invention are: adjusting the frequency of the boundary signal generated by the signal station according to the intensity of the electromagnetic field of the boundary signal detected by the autonomous walking device or according to the distance from the autonomous walking device to the boundary line, thereby realizing the reduction of the power consumption of the boundary signal.
  • Figure 1 is a schematic view of an automatic working system of a first embodiment of the present invention
  • FIG. 2 is a schematic diagram of a process of generating and detecting a boundary signal of the automatic working system shown in FIG. 1;
  • FIG. 3 is a process diagram of a process of generating and detecting a boundary signal of the automatic working system shown in FIG. 1;
  • FIG. 4 is a schematic view showing a working area of an automatic working system according to another embodiment of the present invention.
  • Figure 5 is a comparison of boundary signals of different working areas of the automatic working system shown in Figure 4;
  • Figure 6 is a flow chart showing the adjustment process of the boundary signal of the automatic working system shown in Figure 4;
  • FIG. 7 is a schematic illustration of the working area of an automated working system in accordance with another embodiment of the present invention.
  • the automatic working system 1 includes a signal station 3, a boundary line 5, and an autonomous walking device.
  • the signal station 3 generates a boundary signal
  • the boundary line 5 is electrically connected to the signal station 3, transmits a boundary signal, and generates an electromagnetic field.
  • the boundary line 5 divides the working plane of the autonomous walking device into the working area and outside the working area.
  • the autonomous walking device walks and works in the work area.
  • the automatic walking device detects the boundary signal, specifically, detects the electromagnetic field in the environment, and judges that it is located in the working area or outside the working area according to the detected electromagnetic field.
  • the automatic walking device is an automatic lawn mower 7 that performs mowing work.
  • the autonomous vehicle may also be an unattended device such as an automatic vacuum cleaner or an automatic spray device.
  • the automatic walking device is the automatic lawn mower 7, the walking module, the cutting module, the detecting module, the energy module, and the control module are included.
  • the walking module drives the automatic mower 7 to walk and turn in the working area, the cutting module performs mowing work, the energy module supplies energy to the automatic mower 7, the detecting module detects the boundary signal, and the control module is electrically connected with other modules.
  • the automatic lawn mower 7 is controlled to walk and work according to a preset program.
  • the control module may include a timer to temporarily start timing when the trigger signal is generated, and generate an indication signal when the timing reaches a preset time.
  • the signal station 3 includes a control module that controls the generation of boundary signals, including the generation time and duration of the boundary signals, and the current level of the boundary signals.
  • the boundary signal generated by the signal station 3 is a pulse-shaped signal, and the automatic walking device detects the rising edge and the falling edge of the boundary signal, and determines that it is located in the working area or outside the working area.
  • the boundary signal can also be a sinusoidal, zigzag signal, or the like.
  • the control module of the signal station 3 may include a timer to temporarily start timing when the trigger signal is generated, and generate an indication signal when the timing reaches a preset time.
  • the automatic working system 1 further includes a non-wire signal generator 9 for transmitting a non-wire signal.
  • the non-wire signal generator 9 is disposed on the automatic lawn mower 7 to communicate with the automatic lawn mower 7.
  • the non-wire signal generator 9 is electrically connected to the automatic lawn mower 7, and the automatic lawn mower 7 is capable of reading the transmission time of the non-wire signal and the data of the non-wire signal.
  • the transmission time of the non-wire signal including the time interval, and the data of the non-wire signal, etc., may be pre-stored in the non-wire signal generator 9, or may be randomly generated by the non-wire signal generator 9 during operation, or may be automatically
  • the lawn mower 7 is pre-stored or generated and transmitted to the non-wire signal generator 9.
  • the signal station 3 receives the non-wire signal, determines the time at which the boundary signal is generated, and the current level of the boundary signal based on the time at which the non-wire signal is received or the data of the non-wire signal.
  • the automatic walking device operates in a working mode based on a non-wire signal, and the time at which the signal station generates the boundary signal is associated with the non-wire signal, and the time at which the automatic walking device detects the boundary signal is associated with the non-wire signal, and the signal station The time at which the boundary signal is generated is within the time that the autonomous vehicle detects the boundary signal.
  • the non-wire signal generator will send a non-wire signal, and the signal station will be connected.
  • a non-wire signal is received and a boundary signal is generated in response to the non-wire signal.
  • the automatic mower prepares to detect the boundary signal based on the transmission of the non-wire signal.
  • the signal station generates the boundary signal
  • the automatic mower detects the boundary signal and judges that it is located in the working area or outside the working area according to the boundary signal.
  • the signal station stops generating the boundary signal the automatic mower stops detecting the boundary signal until the next non-wire signal is sent.
  • the automatic mower does not detect the boundary signal while the signal station does not generate the boundary signal.
  • (Ta, Tb) is a time interval in which a boundary signal is generated by a signal station
  • (Tc, Td) is a time interval in which an automatic lawn mower detects a boundary signal.
  • the time interval at which the signal station generates the boundary signal is determined by the start time Ta of the signal station generating boundary and the duration.
  • the boundary signal generated by the signal station may include one pulse, and may also include two or more pulses.
  • the time difference between the time the non-wire signal generator sends the non-wire signal and the time the signal station receives the non-wire signal is negligible. As shown in FIG.
  • the time interval is referred to as the first time interval, and the time interval may also be referred to as The waiting time of the signal station, that is, the signal station receives the non-wire signal and starts generating the boundary signal after the first time interval.
  • the first time interval is a time interval between a transmission time of the non-wire signal and a start time Ta of the signal generation boundary signal of the signal station.
  • the second time interval there is a time interval between the time when the non-wire signal generator sends the non-wire signal twice, and the above time interval is referred to as the second time interval.
  • the transmission time of the non-wire signal and the data of the non-wire signal are controlled by the automatic mower.
  • the automatic mower sends a trigger signal to the non-wire signal generator to trigger the non-wire signal generator to send the non-wire. signal.
  • the automatic mower transmits data to the non-wire signal generator to set the data of the non-wire signal.
  • the transmission time of the non-wire signal and the data of the non-wire signal may also be generated by the non-wire signal generator.
  • the non-wire signal generator sends a non-wire signal, it sends a trigger signal to the automatic mower, and the automatic mower receives the trigger signal to start timing.
  • the automatic mower can actively or passively read data of non-wire signals.
  • the first time interval is determined by the data of the non-wire signal. Number of non-wire signals According to the first time interval data, the signal station reads the first time interval data while receiving the non-wire signal, and generates a boundary signal after the first time interval with respect to the transmission time of the non-wire signal.
  • the first time interval data is an unfixed value. Specifically, the first time interval data is random data generated by an automatic lawn mower.
  • the time interval in which the signal station generates the boundary signal is not fixed with respect to the time interval in which the automatic lawn mower detects the boundary signal.
  • the interval (Ta, Tb) is movable within the interval (Tc, Td).
  • the time when the non-wire signal generator sends the non-wire signal is known to the automatic mower, and the data of the non-wire signal is also known to the automatic mower, so the automatic mower can determine the start time of the signal generated by the signal station.
  • the duration of the boundary signal is known, it is also possible to determine the end time at which the signal station generates the boundary signal.
  • the automatic mower can also terminate the detection of the boundary signal to determine the end time of the signal generated by the signal station.
  • the automatic mower determines the time interval in which the boundary signal is detected, so that the time interval in which the signal station generates the boundary signal falls within the time interval in which the automatic mower detects the boundary signal.
  • the time interval in which the signal station generates the boundary signal may be unfixed relative to the time interval in which the automatic lawn mower detects the boundary signal.
  • the automatic lawn mower can selectively set the start time of detecting the boundary signal to be earlier than the signal station. The start time at which the boundary signal is generated. Nevertheless, the time when the automatic mower detects the boundary signal is still set based on the transmission time of the non-wire signal.
  • the automatic lawn mower determines the time interval between the time when the boundary signal is detected and the transmission time of the non-wire signal according to the waiting time of the known signal station to generate the boundary signal, which is called the third time interval, and the automatic lawn mower After determining that the non-wire signal is transmitted and waiting for the third time interval, the detection of the boundary signal is started.
  • the time interval between the non-wire signal generators transmitting the non-wire signals twice is not fixed, that is, the second time interval is not fixed.
  • the time interval between the transmission time of the non-wire signal and the time when the automatic lawn mower detects the boundary signal last time is referred to as a fourth time interval, as shown in FIG.
  • the second time interval varies with the change of the fourth time interval.
  • the fourth time interval is adjusted by the automatic mower according to its own working condition. Specifically, after the automatic mower detects the boundary signal, the data of the fourth time interval is calculated, and according to the fourth time interval.
  • the data is judged by the time when the non-wire signal generator is triggered to transmit the non-wire signal.
  • the second time interval/fourth time interval is controlled to be not greater than a specific value, so as to prevent the automatic lawn mower from detecting the boundary signal for a long time and walking outside the working area.
  • the time interval can be more effectively reduced.
  • the influence of the interference signal on the automatic working system, the probability that the interference signal appears when the automatic lawn mower detects the boundary signal is further reduced.
  • the process of generating and detecting a boundary signal of an automatic working system includes the following steps:
  • S4 the signal station receives the non-wire signal, reads the data of the non-wire signal, acquires the first time interval data, and starts timing;
  • S5 the signal station determines that the timing time reaches the first time interval, and generates a boundary signal
  • S8 The automatic mower calculates the data of the fourth time interval and starts timing
  • the second time interval can also be directly determined.
  • the automatic mower starts counting when the last non-wire signal is sent, and triggers the non-wire signal generator to send a non-wire signal when the timing reaches the second time interval. That is, the counting is continued in the above step S7, the data of the second time interval is calculated in step S8, and the timing time is determined to reach the second time interval in step S11.
  • the non-wire signal may be a radio signal, or an audio signal, or an optical signal or the like.
  • the non-wire signal is a radio frequency signal
  • the non-wire signal generator is a radio frequency signal generator
  • the non-wire signal is transmitted/received through the radio frequency channel.
  • the automatic working system further includes a non-wire signal receiver disposed on the signal station.
  • the non-wire signal generator is paired with the non-wire signal receiver, and an exclusive non-wire signal transmission is performed between the non-wire signal generator and the non-wire signal receiver.
  • the non-wire signal receiver on the signal station identifies the non-wire signal generator, and the signal station generates a boundary signal based on the non-wire signal transmitted by the identified non-wire signal generator.
  • the non-wire signal sent by the non-wire signal generator includes a verification code, and the non-wire signal receiver identifies the verification code.
  • the non-wire signal receiver prestores the verification code, and after receiving the non-wire signal, the non-wire signal receiver compares the verification code of the non-wire signal with the pre-stored verification code, if the verification code of the non-wire signal and the pre-stored signal If the verification code matches, the signal station generates a boundary signal in response to the non-wire signal. If the verification code of the non-wire signal does not match the pre-stored verification code, it is determined that the received non-wire signal is invalid, and the signal station does not generate a boundary signal.
  • the above scheme can effectively prevent the signal station from erroneously responding to the non-wire signal outside the automatic working system, resulting in unnecessary energy consumption.
  • the automatic working system can include more than one non-wire signal generator, each non-wire signal generator corresponds to one verification code, and the non-wire signal sent by different non-wire signal generators includes different verification codes, the same The non-wire signal sent by the non-wire signal generator includes the same verification code.
  • the signal station pre-stores the verification code corresponding to the active non-wire signal generator in the automatic working system so that the signal station can and can only respond to the non-wire signal sent by the active non-wire signal generator in the automatic working system.
  • the boundary signal is not detected within the preset time, or the boundary signal is not detected within the time interval of the automatic walking device detecting the boundary signal. Then, a trigger signal is sent to the non-wire signal generator again, so that the non-wire signal generator sends a non-wire signal.
  • the automated working system is capable of switching from an operating mode based on a non-wire signal to an operating mode not based on a non-wire signal to prevent malfunction of the non-wire signal from causing operational failure of the automated working system.
  • the automatic lawn mower does not detect the boundary signal for a long time, it is considered that a non-wire signal failure occurs, and the automatic working system switches to an operation mode that is not based on the non-wire signal.
  • the transmission or reception of the non-wire signal fails, so that no boundary signal is generated.
  • the automatic mower does not detect the boundary signal for a long time, it may walk outside the work area and cause an accident.
  • improve the stability and reliability of the automatic working system improve the stability and reliability of the automatic working system, and enable the automatic mower to control the automatic working system switching without detecting the boundary signal for a long time. It is not based on the operating mode of the non-wire signal.
  • the condition for controlling the automatic working system to switch to the operating mode not based on the non-wire signal is that the automatic lawn mower does not detect the boundary signal within a preset time.
  • the automatic mower does not detect the boundary signal when the time when the automatic detection of the boundary signal by the automatic lawn mower reaches or exceeds the preset time
  • the automatic working system is switched to work not based on the non-wire signal. mode.
  • the preset time can be adjusted in real time according to the intensity of the boundary signal detected by the automatic walking device last time.
  • the condition that the automatic working system is switched to the operating mode not based on the non-wire signal may also be that the signal station does not generate a boundary signal within a preset time; or the automatic mower determines that no non-wire signal is transmitted within the preset time; or The signal station judges that the non-wire signal is not received within the preset time, that is, the signal station judges that no non-wire signal is transmitted within the preset time; or the automatic mower determines that the non-wire signal is transmitted after the preset time
  • the boundary signal is not detected within the time zone; or, within the time interval in which the automatic lawn mower detects the boundary signal, the automatic mower does not detect the boundary signal or the like.
  • the time at which the signal station generates the boundary signal is no longer associated with the non-wire signal. Specifically, the signal station continuously generates the boundary signal; the time when the automatic mower detects the boundary signal It is no longer associated with a non-wire signal. Specifically, the automatic mower continuously detects the boundary signal.
  • the values of the first time interval, the second/fourth time interval, and the third time interval are fixed values, and the fixed value is pre-existing in an automatic lawn mower or a non-wire signal generator. , or in the signal station.
  • the values of the first time interval, the second/fourth time interval, and the third time interval are a preset sequence, for example, the value of the first time interval may be 3 ms, 5 ms, respectively. 7ms.
  • the time interval described above is not fixed, it is still known to be pre-existing in an automatic lawn mower, or a non-wire signal generator, or in a signal station.
  • the signal station generates a boundary signal immediately after receiving the non-wire signal, and the automatic mower determines that the boundary signal is detected immediately after the non-wire signal is transmitted.
  • the first time interval, the second/fourth time interval, and the third time can optionally be a random value, or a fixed value, or a sequence value.
  • the first time interval or the third time interval may also be selected to be zero.
  • the time at which the signal station generates the boundary signal and the time at which the automatic mower detects the boundary signal are determined according to the data of the non-wire signal, the data of the non-wire signal generates a boundary signal for the designated signal station, and automatically The data of the moment when the mower detects the boundary signal.
  • the automatic mower and the signal station each include a clock unit that determines the time at which the boundary signal is generated or the boundary signal is detected based on the data of the non-wire signal.
  • the non-wire signal generator includes two or more domains that transmit non-wire signals, one of which includes first time interval data, and the other of which includes the number of data generated by the signal station.
  • the generation of data for the first time interval may also be done in the signal station, for example, when the third time interval is a fixed value.
  • the data of the first time interval, the second/fourth time interval, the third time interval, and the number of pulses can be selectively generated in a non-wire signal generator or an automatic lawn mower, and the automatic mower can be combined with the non-wire signal. Generator communication.
  • the automatic mower can also communicate bidirectionally with the signal station, making the generation of the above data more flexible.
  • the signal station generates a boundary signal and transmits it in the boundary line, and the signal station does not transmit the feedback signal through the radio frequency channel.
  • the generation and detection of the boundary signal of the automatic working system is basically the same as that of the first embodiment.
  • the non-wire signal generator is disposed on the signal station, communicates with the signal station, and the automatic lawn mower Receive non-wire signals.
  • the first time interval data, the second time interval data, and the third time interval data are all generated by a non-wire signal generator, wherein the data of the non-wire signal includes the third time interval data.
  • the first time interval data, the second time interval data, and the third time interval data are all random data, and the data of the third time interval is not greater than the data of the first time interval.
  • the automatic mower receives the non-wire signal, reads the data of the non-wire signal, acquires the data of the third time interval, starts counting, and determines that the timing signal reaches the third time interval, and detects the boundary signal.
  • the signal station communicates with the non-wire signal generator, reads the first time interval data, determines that the non-wire signal is sent after starting to count, and determines that the timing time reaches the first time interval, and generates a boundary signal.
  • the non-wire signal generator starts timing after transmitting the non-wire signal, and determines that the non-wire signal is sent again after the timing time reaches the second time interval.
  • the automatic working system further includes a non-wire signal receiver disposed on the automatic lawn mower, the non-wire signal generator is paired with the non-wire signal receiver, and the non-wire signal generator is connected with the non-wire signal receiver.
  • a non-wire signal receiver disposed on the automatic lawn mower
  • the non-wire signal generator is paired with the non-wire signal receiver
  • the non-wire signal generator is connected with the non-wire signal receiver.
  • Exclusive non-wire signal transmission Specifically, the non-wire signal receiver on the autonomous walking device prestores the verification code.
  • the non-wire signal receiver After receiving the non-wire signal, the non-wire signal receiver compares the verification code of the non-wire signal with the pre-stored verification code, and if the verification code of the non-wire signal matches the pre-stored verification code, the automatic mower responds to the non-wire The signal detection boundary signal, if the verification code of the non-wire signal does not match the pre-stored verification code, determines that the received non-wire signal is invalid, and the automatic mower does not detect the boundary signal.
  • the automatic mower can be effectively prevented from erroneously responding to the non-wire signal in the adjacent automatic working system, resulting in misjudgment of the automatic mower.
  • the structure of the automatic working system is basically the same as that of the second embodiment.
  • the difference is that when the non-wire signal is faulty, the automatic working system can switch from the working mode based on the non-wire signal to not based on the non-wire signal.
  • the working mode of the wire signal specifically, the switching condition is that the automatic mower does not receive the non-wire signal within the preset time.
  • the automatic lawn mower determines the signal station according to the direction of the non-wire signal during the charging of the returning station.
  • the general direction is to adjust the direction of travel and return to the stop along the boundary line after encountering the boundary line.
  • the generation and detection of the boundary signal of the automatic working system are basically the same as those of the first embodiment, with the difference that the non-wire signal generator is disposed outside the automatic lawn mower and the signal station, and automatically cuts the grass.
  • the machine and signal station receive non-wire signals.
  • the non-wire signal generator can be fixed in the working area or outside the working area.
  • the non-wire signal generator generates first time interval data, which may be random data.
  • the data of the non-wire signal includes the first time interval data.
  • the signal station receives the non-wire signal, reads the data of the non-wire signal, and obtains the first time interval data.
  • the signal station After receiving the non-wire signal, the signal station starts timing, and determines that the timing signal reaches the first time interval, and generates a boundary signal.
  • the automatic mower receives the non-wire signal, reads the data of the non-wire signal, acquires the first time interval data, and generates the third time interval data.
  • the automatic mower starts timing after receiving the non-wire signal, and determines that the timing signal reaches the third time interval and detects the boundary signal.
  • the non-wire signal generator also generates second time interval data, which may be random data.
  • the non-wire signal generator starts timing after sending a non-wire signal, and determines that the timing time reaches the second time interval. Send a non-wire signal again.
  • the non-wire signal generator may also generate third time interval data, where the non-wire signal includes the first time interval data and the third time interval data, wherein the first time interval data and the third time pass
  • the interval data sets different identification codes such that the first time interval data and the third time interval data can be identified by the signal station and the automatic mower, respectively.
  • the automatic working system further includes a non-wire signal receiver disposed on the automatic lawn mower and the signal station, the non-wire signal generator is paired with the non-wire signal receiver, and the non-wire signal generator and the non-wire signal receiving Exclusive non-wire signal transmission between the devices.
  • the verification code is pre-stored between the signal station and the non-wire signal receiver on the automatic lawn mower. After receiving the non-wire signal, the signal station and the non-wire signal receiver on the automatic mower compare the verification code of the non-wire signal with the pre-stored verification code.
  • the signal station If the verification code of the non-wire signal matches the pre-stored verification code in the non-wire signal receiver on the signal station, the signal station generates a boundary signal in response to the non-wire signal, and if not, it determines that the received non-wire signal is invalid. If the verification code of the non-wire signal matches the verification code pre-stored in the non-wire signal receiver on the automatic lawn mower, the automatic lawn mower detects the boundary signal in response to the non-wire signal, and if not, determines the received non-wire signal. invalid.
  • the automatic working system can effectively avoid the influence of the interference signal in the working environment, and can not only avoid the interference of signals in the adjacent automatic working system, but also apply to the boundary.
  • the situation where the lines overlap Large-area lawns require multiple automatic lawn mowers to work together. Automatic lawn mowers walk and work in their respective boundary systems, forming overlapping areas between the boundary lines, as shown in Figure 7.
  • the boundary line in the overlapping area will seriously interfere with the operation of the automatic working system, and the method of the embodiment of the present invention detects the boundary signal, thereby effectively avoiding the relationship between adjacent boundary systems.
  • the interference makes the automatic working system function properly.
  • the present invention also provides an automated working system capable of reducing the power consumption of a boundary signal.
  • the process of generating and detecting the boundary signal of the automatic working system is basically the same as that of the first embodiment, and the difference is that the strength of the boundary signal generated by the signal station and the frequency of the boundary signal generated by the signal station, and The intensity of the electromagnetic field detected by the automatic mower is related.
  • the strength of the boundary signal generated by the signal station is related to the current level (or voltage level) of the boundary signal, that is, the current level of the boundary signal generated by the signal station is associated with the strength of the electromagnetic field detected by the automatic lawn mower.
  • the frequency at which the signal station generates the boundary signal is related to the time interval at which the signal station generates the boundary signal, that is, the time interval at which the signal station generates the boundary signal is associated with the strength of the electromagnetic field detected by the automatic lawn mower.
  • the strength of the boundary signal transmitted in the boundary line is constant
  • the intensity of the electromagnetic field detected by the automatic mower is related to the distance from the automatic mower to the boundary line. Therefore, in this embodiment, the boundary signal generated by the signal station The strength, and the frequency at which the signal station generates the boundary signal, is related to the distance from the automatic mower to the boundary line.
  • the working area of the automatic mower includes an area A and a area B, the area A is far from the boundary line, and the area B is closer to the boundary line.
  • the intensity of the electromagnetic field generated by the boundary signal decreases as the distance from the boundary line increases. Therefore, the electromagnetic field detected by the automatic mower in the area A is the case where the current level of the boundary signal transmitted in the boundary line is constant. The intensity is weak, and the intensity of the electromagnetic field detected by the automatic mower in the area B is strong. In order to limit the movement of the automatic mower in the work area, it is necessary to ensure that the automatic mower detects a certain intensity of electromagnetic field generated by the boundary signal.
  • the intensity of the electromagnetic field detected by the automatic mower in the area A located in the center of the working area is much smaller than the intensity of the electromagnetic field detected in the area B near the boundary line.
  • the current level of the boundary signal transmitted in the boundary line is constant, in order to ensure that the automatic mower is in any position in the working area, for example in the area A, an electromagnetic field whose strength meets the working requirements of the automatic mower can be detected, The current level of the boundary signal transmitted in the boundary line must be sufficiently large.
  • the intensity of the detected electromagnetic field is much greater than the intensity that meets the operational requirements of the automatic mower, which will result in the generation of a boundary signal. Waste of energy.
  • the current level of the boundary signal generated by the signal station is made higher, so that the electromagnetic field generated by the boundary signal transmitted in the boundary line is generated.
  • the strong strength allows the automatic mower to detect electromagnetic fields that meet the operational requirements of the automatic mower in areas far from the boundary line.
  • the current level at which the signal station generates the boundary signal is lower, and although the current level of the boundary signal is lower, the intensity of the generated electromagnetic field is weak.
  • the intensity of the electromagnetic field generated by the boundary signal is sufficient to meet the working requirements of the automatic mower, and at the same time, the power consumption of the boundary signal is greatly reduced.
  • the data of the non-wire signal includes distance data from the automatic lawn mower to the boundary line.
  • Self The mower detects the electromagnetic field generated by the boundary signal, determines the distance from the detected electromagnetic field to the boundary line, transmits the distance data to the non-wire signal generator, and the non-wire signal generator sends the non-wire signal to make the non-wire signal
  • the wire signal includes the distance data.
  • the signal station receives the non-wire signal, reads the data of the non-wire signal, and obtains the distance data of the automatic mower to the boundary line.
  • the signal station determines the current level of the boundary signal to be generated based on the distance data of the automatic mower to the boundary line.
  • the signal station If the distance data from the automatic mower to the boundary line reflects a large distance from the automatic mower to the boundary line, the signal station generates a boundary signal with a higher current level; if the distance data from the automatic mower to the boundary line reflects The small distance from the automatic mower to the boundary line, the signal station generates a boundary signal with a lower current level.
  • the information pre-stored in the automatic working system includes a mapping relationship between the distance from the automatic mower to the boundary line and the target value of the current level of the boundary signal. Specifically, the automatic lawn mower and the signal station both store the above mapping relationship. The signal station determines the target value of the current level at which the boundary signal is generated by using the above mapping relationship according to the obtained distance data of the automatic mower to the boundary line.
  • the signal station generates a boundary signal such that the current level of the boundary signal meets the above target value.
  • the automatic mower knows its own distance to the boundary line, and by using the above mapping relationship, the target value of the current level of the boundary signal generated by the signal station can be known.
  • the target value of the current level of the boundary signal is generated by the known signal station, and the intensity of the electromagnetic field detected in the detection is obtained.
  • the distance data from the time to the boundary line.
  • the automatic lawn mower can repeat the above process only by knowing the current level at which the signal station first generates the boundary signal, and adjust the current level of the boundary signal generated by the signal station during the working process of the automatic working system.
  • the value of the current level at which the signal station first generates the boundary signal may be preset.
  • the current level of the boundary signal generated by the signal station is adjusted in real time. With the above method, the current level of the real-time adjusted boundary signal can be used to calculate the distance between the automatic mower and the boundary line.
  • the automatic mower communicates with the signal station using the RSSI (Radio Signal Strength Indication) through the non-wire signal, and the signal station adjusts the strength of the generated boundary signal according to the RSSI value.
  • RSSI Radio Signal Strength Indication
  • the automatic mower When the automatic mower is located in a working area far from the boundary line, for example in area A, after the automatic mower detects the boundary signal, regardless of the driving strategy, the time from the automatic mower to the boundary line Longer, therefore, the automatic mower does not need to detect the boundary signal frequently to ensure that it is within the work area.
  • the frequency at which the signal station generates the boundary signal is lower, so as to reduce the power consumption of the generated boundary signal.
  • the automatic mower When the mower is located in a work area that is closer to the boundary line, for example, in the work area B, the automatic mower is at risk of driving out of the work area. Therefore, the automatic mower needs to detect the boundary signal more frequently to prevent itself. Drive out of the work area.
  • the signal station when the automatic mower is located in a working area that is closer to the boundary line, for example, in the area B, the signal station generates a higher frequency of the boundary signal to limit the automatic mower to walk in the working area. jobs.
  • the automatic mower determines the distance from the boundary line according to the strength of the detected electromagnetic field; and determines the time interval at which the signal station generates the boundary signal according to the distance from the boundary line, that is, the next generation boundary of the signal station The time interval between the time of the signal and the time at which the boundary signal was generated this time. It can be understood that the greater the time interval at which the signal station generates the boundary signal, the lower the frequency at which the signal station generates the boundary signal; the smaller the time interval at which the signal station generates the boundary signal, the higher the frequency at which the signal station generates the boundary signal. . In this embodiment, the automatic mower determines the maximum time interval at which the signal station generates the boundary signal according to its distance from the boundary line.
  • the maximum time interval can be estimated based on the driving parameters, path characteristics, and the like of the automatic mower. Since the signal station always generates a boundary signal in response to the non-wire signal, and the time interval between the time at which the signal station generates the boundary signal and the transmission time of the non-wire signal is known to the automatic lawn mower, in this embodiment The automatic mower controls the time interval at which the signal station generates the boundary signal by controlling the time interval at which the non-wire signal generator transmits the non-wire signal, and causes the non-wire signal generator to send the non-wire signal at a time interval not greater than the maximum time interval.
  • the automatic mower determines that the distance to the boundary line is larger, and the time interval for controlling the non-wire signal generator to send the non-wire signal is larger; the automatic mower determines that the distance from the boundary line to the boundary line is smaller, and the control The smaller the time interval between the non-wire signal generators sending non-wire signals.
  • the automatic mower can also control the signal station to generate the boundary signal by controlling the time interval between the time when the non-wire signal generator sends the non-wire signal next time and the time when the automatic mower detects the boundary signal. time interval.
  • the time interval between the time when the non-wire signal generator transmits the non-wire signal and the time when the signal station generates the boundary signal is much smaller than the time interval between the two adjacent signal generation signals of the signal station.
  • the first time interval is also much smaller than the time interval between the non-wire signal generators transmitting the non-wire signals twice.
  • the first time interval may be 3ms, 5ms, 7ms, and the like.
  • the distance to the boundary line is related.
  • the time interval at which the signal station generates the boundary signal two times adjacent to each other is controlled within a reasonable range, so that although the automatic lawn mower is in an area far from the boundary line, the time interval at which the signal station generates the boundary signal is larger.
  • the displacement of the automatic mower during the above time interval is still small relative to the distance of the automatic mower to the boundary line.
  • the distance of the automatic mower to the boundary line changes during the above time interval, the current level of the boundary signal generated by the signal station is still suitable for the automatic mower to detect the boundary signal.
  • the distance data of the automatic mower to the boundary line is obtained using RSSI (Radio Signal Strength Indication).
  • the distance range of the plurality of automatic mowers to the boundary line may be set such that when the distance from the automatic mower to the boundary line is within a corresponding range, the signal station generates a current level of the boundary signal and The time interval takes the corresponding specific value.
  • Fig. 5 is a comparison diagram of boundary signals of the automatic lawn mower of the embodiment when it is located in the area A and the area B.
  • Fig. 6 is a flow chart showing the generation and detection of a boundary signal of the automatic working system of the embodiment.
  • the adjustment process of the boundary signal of the automatic working system is as follows:
  • the automatic mower sends a trigger signal to the non-wire signal generator, and starts timing;
  • the non-wire signal generator sends a non-wire signal;
  • the signal station receives the non-wire signal, and determines a target value of the current level of the boundary signal to be generated;
  • the automatic mower detects the electromagnetic field generated by the boundary signal, determines the distance from the boundary line according to the intensity of the detected electromagnetic field, and the time interval at which the non-wire signal generator sends the non-wire signal;
  • the automatic mower determines that the timing time reaches the above time interval, sends a trigger signal to the non-wire signal generator, and restarts the timing;
  • the non-wire signal generator sends a non-wire signal, and the data of the non-wire signal includes the distance data;
  • the signal station receives the non-wire signal, reads the data of the non-wire signal, obtains the distance data, determines the target value of the current level of the generated boundary signal according to the distance data, and returns to S1.
  • the above method is used to adjust the current level and frequency of the signal generated by the signal station, so that the power consumption of the boundary signal is greatly reduced.
  • the above solution solves the problem of boundary signal attenuation in a large area of work area.
  • the automatic mower can detect the electromagnetic field that meets the working requirements in the central area of the large-area working area, and at the same time, the current level of the boundary signal is reduced when the automatic mower is operated to the area close to the boundary line, thereby making the boundary signal
  • the power consumption level is controlled.
  • the process of judging the distance of the automatic mower to the boundary line according to the intensity of the electromagnetic field detected by the automatic mower can be completed in the automatic mower or at the signal station. Completed in the middle, even in the non-wire signal generator.
  • the process of determining the time interval at which the signal station generates the boundary signal according to the distance from the automatic mower to the boundary line, or the process of determining the time interval at which the non-wire signal generator transmits the non-wire signal, and determining the signal station generation boundary The process of the signal's current level can be done in an automatic mower or in a signal station, or even in a non-wire signal generator.
  • the data included in the non-wire signal sent by the automatic mower to the signal station by the non-wire signal generator may be the intensity data of the electromagnetic field detected by the automatic mower, or the distance data of the automatic mower to the boundary line. It may also be target value data of the current level of the boundary signal to be generated by the signal station.
  • the method of adjusting the current level and frequency of the boundary signal generated by the signal station, the non-wire signal generator is not necessary, as long as the automatic lawn mower can communicate with the signal station, the automatic lawn mower
  • the communication mode with the signal station may be a non-wire signal method such as a radio signal, an audio signal, an optical signal, or a wired connection.
  • the time at which the signal station generates the boundary signal is independent of the non-wire signal, and the time when the automatic lawn mower detects the boundary signal is also independent of the non-wire signal, and the automatic lawn mower detects the boundary signal immediately or After a delay, the distance signal of the automatic mower to the boundary line, or the detected intensity signal of the electromagnetic field, is sent to the signal station as a non-wire signal, and the signal station receives the non-wire signal and reads the data of the non-wire signal. And determining, according to the data of the non-wire signal, a time interval for generating the boundary signal, and generating a boundary signal when the time defined by the time interval comes.
  • the determination of the time interval at which the signal station generates the boundary signal can be done in the signal station.
  • the automatic mower can always be in a state of detecting a boundary signal.
  • the determination of the time interval at which the signal station generates the boundary signal can also be done in the non-wire signal generator.
  • the signal station continues to generate boundary signals.
  • Automatic mower in real time or The distance signal of the boundary line to the boundary line or the intensity signal of the detected electromagnetic field is intermittently fed back to the signal station in a non-wire signal manner, and the signal station adjusts the current of the boundary signal in real time according to the data of the received non-wire signal. Level.
  • the current level at which the signal station generates the boundary signal is directly related to the strength of the electromagnetic field detected by the automatic mower without the need to calculate the distance of the automatic mower to the boundary line.
  • the target value of the detected electromagnetic field strength of the automatic mower is set, and the current level of the boundary signal is adjusted according to the intensity of the actual electromagnetic field detected by the automatic mower.
  • the current level of the boundary signal is reduced; when the electromagnetic field strength detected by the automatic lawn mower is less than the target value, the current level of the boundary signal is increased.
  • the time interval at which the signal station generates the boundary signal is directly related to the strength of the electromagnetic field detected by the automatic mower, without calculating the distance from the automatic mower to the boundary line.
  • the intensity of the electromagnetic field detected by the automatic mower reflects the distance from the automatic mower to the boundary line, and the time interval at which the signal station generates the boundary signal can be adjusted directly by the intensity of the electromagnetic field detected by the automatic mower.
  • the signal station does not adjust the current level of the generated boundary signal, and when the intensity of the electromagnetic field detected by the automatic mower decreases, the time interval at which the signal station generates the boundary signal is increased, and the automatic lawn mower detects When the intensity of the electromagnetic field increases, the time interval at which the signal station generates the boundary signal is reduced.
  • the relationship between the strength of the electromagnetic field detected by the automatic mower and the time interval at which the signal station generates the boundary signal may be pre-stored in the automatic working system to adjust the time interval at which the signal station generates the boundary signal.

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

Abstract

La présente invention concerne un système de travail automatique et son procédé de commande. Ce système de travail automatique (1) comprend une station de signal (3), une ligne de limite (5) et un dispositif de marche automatique, la station de signal (3) générant et transmettant un signal de limite à l'intérieur de la ligne de limite (5) ; et le dispositif de marche automatique détecte le signal de limite, marche et travaille dans une zone de travail définie par la ligne de limite (5). Le système de travail automatique (1) comprend également un générateur de signal sans fil (9) destiné à envoyer un signal sans fil ; et un intervalle de temps (Ta, Tb), dans lequel la station de signal (3) génère le signal de limite, et un intervalle de temps (Tc, Td), dans lequel le dispositif de marche automatique détecte le signal de limite, sont associés au le signal sans fil, de telle sorte que l'intervalle de temps (Ta, Tb), dans lequel la station de signal (3) génère le signal de limite, se situe dans l'intervalle de temps (Tc, Td) dans lequel le dispositif de marche automatique détecte le signal de limite. La détection d'un signal de limite par le dispositif de marche automatique peur éviter l'influence d'un signal de brouillage dans un environnement de travail.
PCT/CN2017/081452 2016-04-21 2017-04-21 Système de travail automatique et son procédé de commande Ceased WO2017181995A1 (fr)

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CN113515113B (zh) * 2020-03-27 2023-08-08 南京苏美达智能技术有限公司 一种自动行走设备的运行控制方法及自动行走设备
CN113552873A (zh) * 2020-04-03 2021-10-26 南京德朔实业有限公司 智能割草系统
CN113552873B (zh) * 2020-04-03 2024-03-26 南京泉峰科技有限公司 智能割草系统
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
US12443180B2 (en) 2021-11-10 2025-10-14 Techtronic Cordless Gp Robotic lawn mowers
US12564130B2 (en) 2022-01-31 2026-03-03 Techtronic Cordless Gp Robotic garden tool
US12510892B2 (en) 2022-04-28 2025-12-30 Techtronic Cordless Gp Creation of a virtual boundary for a robotic garden tool
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
US12369509B2 (en) 2022-07-19 2025-07-29 Techtronic Cordless Gp Display for controlling robotic tool
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USD1118708S1 (en) 2025-01-07 2026-03-17 Techtronic Cordless Gp Lawnmower interface

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