Charging station, automatic control system and method

Abstract

The present application relates to a charging station, an automatic control system and a method, and belongs to the field of automatic control technology. The charging station is connected to a boundary line; the charging station comprises: an information acquisition component, which is used to acquire relevant information of a boundary signal on the boundary line; a control component, which determines a mode of regulating a boundary current according to the relevant information; a signal stabilization component, wherein an output end of the signal stabilization component is connected to the boundary line, so that the signal stabilization component regulates the boundary current of the boundary line according to the control of the control component; the problem in the prior art that a smart lawn mower may not work properly as the boundary line is extended can be solved; and the smart lawn mower can still work properly as the boundary line is extended when the boundary line is not disconnected can be ensured.

Description

Technical Field

[0001] The present application relates to a charging station, an automatic control system and a method, and belongs to the field of automatic control technology. Background Art

[0002] A smart lawn mower is a device that can automatically mow and charge in the user's lawn without user intervention. Currently, the charging station that docks with the smart lawn mower is provided with a boundary line, which is drawn from the charging station, then laid on the corresponding working boundary of the smart lawn mower, and finally returned to the charging station to enclose the working area of ​​the smart lawn mower.

[0003] In the related art, the smart lawn mower needs to detect the boundary signal on the boundary line in real time to determine the current position during the mowing process; if the boundary signal is not detected, it needs to stop working.

[0004] However, when the working area of ​​the smart lawn mower increases, the length of the boundary line increases. At this time, under the condition of constant voltage, the boundary current on the boundary line decreases, resulting in a decrease in the signal strength of the boundary signal on the boundary line. The smart lawn mower may not be able to detect the boundary signal, resulting in the smart lawn mower not being able to work properly. Summary of the invention

[0005] The present application provides a charging station, an automatic control system and a method, which can solve the problem in the prior art that the smart lawn mower may not work properly as the boundary line is extended. The present application provides the following technical solutions:

[0006] In a first aspect, a charging station is provided, the charging station being connected to a boundary line and providing a boundary current to the boundary line, so that the intelligent lawn mower can determine a current working position and / or working state according to a boundary signal on the boundary line, the charging station comprising:

[0007] An information collection component, used to collect relevant information of the boundary signal on the boundary line; the relevant information includes the current boundary current on the boundary line and / or the length of the boundary line;

[0008] A control component, which determines a regulation method of the boundary current according to the relevant information;

[0009] A signal stabilizing component, wherein the output end of the signal stabilizing component is connected to the boundary line, so that the signal stabilizing component adjusts the boundary current of the boundary line according to the control of the control component.

[0010] Optionally, the information acquisition component includes a current detection circuit;

[0011] The current detection circuit is connected to the boundary line to detect the current boundary current on the boundary line in real time.

[0012] Optionally, the control component is used to control the signal stabilization component to operate so as to increase the boundary current of the boundary line when the current boundary current is lower than a preset current value.

[0013] Optionally, the control component is further used to control the signal stabilization component to operate so as to reduce the boundary current of the boundary line when the boundary current is higher than a preset current value.

[0014] Optionally, the signal stabilization component is used to adjust the boundary current to within a preset range.

[0015] Optionally, the information collection component includes a wireless communication unit, and the wireless communication unit is used to obtain the length of the boundary line collected based on human-computer interaction technology;

[0016] The control component is used to control the signal stabilization component to adjust the boundary current of the boundary line to a current value corresponding to the length of the boundary line.

[0017] Optionally, the signal stabilization component is a buck-boost module.

[0018] In a second aspect, an automatic control system is provided, the automatic control system comprising an intelligent lawn mower and a charging station, the charging station being connected to a boundary line and providing a boundary current to the boundary line, so that the intelligent lawn mower can determine a current working position and / or working state according to a boundary signal on the boundary line;

[0019] The intelligent lawn mower comprises a boundary signal detection module, and the boundary signal detection module is used to detect the boundary signal on the boundary line in real time;

[0020] The charging station includes: a control component connected to the boundary signal detection module signal, the control component determining a boundary current adjustment method based on the detection result of the smart lawn mower;

[0021] A signal stabilizing component, wherein the output end of the signal stabilizing component is connected to the boundary line, so that the signal stabilizing component adjusts the boundary current of the boundary line according to the control of the control component.

[0022] Optionally, the signal detection module is used to send a first detection result to the control component, where the first detection result is used to indicate the signal strength of the boundary signal;

[0023] The control component is used to control the signal stabilization component to work so as to increase the boundary current of the boundary line when the signal strength of the boundary signal is lower than a preset strength value.

[0024] Optionally, the signal detection module is used to send a second detection result to the control component, and the second detection result is used to indicate whether the boundary signal detection module detects a boundary signal;

[0025] The control component is used to control the signal stabilization component to work so as to increase the boundary current of the boundary line when the boundary signal detection module does not detect the boundary signal.

[0026] Optionally, the intelligent lawn mower is further configured to shut down when no boundary signal is detected after the boundary current is increased.

[0027] Optionally, the system also includes at least one signal amplifying component; the input end of the signal amplifying component is connected to the boundary line, and the output end is connected to the boundary extension line; the signal amplifying component is used to amplify the boundary current on the boundary line and output it to the boundary extension line; the boundary extension line is within the working area enclosed by the boundary line.

[0028] Optionally, the boundary extension line divides the working area into n sub-areas, where n is an integer greater than 1.

[0029] In a third aspect, an automatic control system is provided, the system comprising a charging station and at least one signal amplifying component; the charging station is connected to a boundary line and provides a boundary current to the boundary line, so that the intelligent lawn mower can determine a current working position and / or working state according to a boundary signal on the boundary line.

[0030] The charging station includes the charging station provided in the first aspect;

[0031] The input end of the signal amplifying component is connected to the boundary line, and the output end is connected to the boundary extension line; the signal amplifying component is used to amplify the boundary current on the boundary line and output it to the boundary extension line; the boundary extension line is within the working area surrounded by the boundary line.

[0032] In a fourth aspect, an automatic control method is provided, the method being applied to the charging station described in the first aspect, or to the automatic control system provided in the third aspect, the method comprising:

[0033] Acquire relevant information of a boundary signal on a boundary line, wherein the relevant information includes a current boundary current on the boundary line and / or a length of the boundary line;

[0034] The signal stabilization component is controlled according to the relevant information to adjust the boundary current of the boundary line.

[0035] Optionally, the obtaining relevant information of the boundary signal on the boundary line includes:

[0036] Controlling the current detection circuit to detect the current boundary current on the boundary line in real time;

[0037] Acquire the current boundary current detected by the current detection circuit;

[0038] The step of controlling the signal stabilizing component to adjust the boundary current of the boundary line according to the relevant information includes:

[0039] When the current boundary current is lower than a preset current value, the signal stabilizing component is controlled to work so as to increase the boundary current of the boundary line.

[0040] Optionally, when the current boundary current is higher than a preset current value, the signal stabilization component is controlled to operate to reduce the boundary current of the boundary line.

[0041] Optionally, the obtaining relevant information of the boundary signal on the boundary line includes:

[0042] Acquire the length of the boundary line collected based on the human-computer interaction technology through the wireless communication unit;

[0043] The step of controlling the signal stabilizing component to adjust the boundary current of the boundary line according to the relevant information includes:

[0044] The signal stabilizing component is controlled to adjust the boundary current of the boundary line to a current value corresponding to the length of the boundary line.

[0045] In a fifth aspect, an automatic control method is provided, which is applied to the automatic control system described in the second aspect, and the method includes:

[0046] Control the boundary signal detection module to detect the boundary signal on the boundary line in real time;

[0047] Obtaining a detection result of the boundary signal by the boundary signal detection module;

[0048] The signal stabilization component is controlled according to the detection result to adjust the boundary current of the boundary line.

[0049] Optionally, the detection result includes a first detection result, and the first detection result is used to indicate the signal strength of the boundary signal;

[0050] The controlling the signal stabilizing component to adjust the boundary current of the boundary line according to the detection result includes:

[0051] When the signal strength of the boundary signal is lower than a preset strength value, the signal stabilizing component is controlled to work so as to increase the boundary current of the boundary line.

[0052] Optionally, when the current boundary current is higher than a preset current value, the signal stabilization component is controlled to operate to reduce the boundary current of the boundary line.

[0053] Optionally, the detection result includes a second detection result, and the second detection result is used to indicate whether the boundary signal detection module detects a boundary signal;

[0054] The controlling the signal stabilizing component to adjust the boundary current of the boundary line according to the detection result includes:

[0055] When the boundary signal detection module does not detect a boundary signal, the signal stabilization component is controlled to work so as to increase a boundary current of the boundary line.

[0056] The beneficial effects of the present application are: by setting an information collection component to collect relevant information of the boundary signal on the boundary line; sending the relevant information to the control component; and the control component controlling the signal stabilization component to adjust the boundary current of the boundary line according to the relevant information; the problem in the prior art that the smart lawn mower may not work properly as the boundary line is extended can be solved; because the signal stabilization component can stabilize the boundary current on the boundary line within a certain range, it can ensure that the smart lawn mower can detect the boundary signal on the boundary line when the boundary line is not disconnected, thereby ensuring that the smart lawn mower can still work normally as the boundary line is extended.

[0057] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present application in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a structural schematic diagram of an automatic control system provided by an embodiment of the present application;

[0059] Figure 2 is a schematic diagram of the structure of a charging station provided by an embodiment of the present application;

[0060] Figure 3 is a circuit diagram of a buck-boost circuit provided by an embodiment of the present application;

[0061] Figure 4 is a circuit diagram of a Buck converter provided by an embodiment of the present application;

[0062] Figure 5 is a circuit diagram of a Boost converter provided by an embodiment of the present application;

[0063] Figure 6 is a structural schematic diagram of a charging station provided by another embodiment of the present application;

[0064] Figure 7 is a structural schematic diagram of a charging station provided by another embodiment of the present application;

[0065] Figure 8 is a flow chart of an automatic control method provided by an embodiment of the present application;

[0066] Fig. 9 is a flow chart of an automatic control method provided by another embodiment of the present application;

[0067] Fig.10 is a flow chart of an automatic control method provided by another embodiment of the present application;

[0068] Fig.11 is a structural schematic diagram of an automatic control system provided by another embodiment of the present application;

[0069] Fig.12 is a structural schematic diagram of an automatic control system provided by another embodiment of the present application;

[0070] Fig.13 is a flow chart of an automatic control method provided by another embodiment of the present application;

[0071] Fig.14 It is a structural diagram of an automatic control system provided by another embodiment of the present application. DETAILED DESCRIPTION

[0072] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but are not intended to limit the scope of the present application.

[0073] First, the usage scenarios of the charging station provided in this application are introduced.

[0074] refer to Figure 1 The automatic control system shown in the figure comprises an intelligent lawn mower 1, a charging station 2 docked with the intelligent lawn mower 1 to charge the intelligent lawn mower 1, and a boundary line 3 drawn from the charging station 2. The boundary line 3 is drawn from the charging station 2 and laid on the corresponding working boundary of the intelligent lawn mower 1, and finally returns to the charging station 2 to enclose a working area 4 of the intelligent lawn mower 1.

[0075] During the operation of the smart lawn mower 1, the charging station 2 outputs a boundary current to the boundary line 3, and the boundary line 3 sends a boundary signal based on the boundary current; the smart lawn mower 1 detects the boundary signal in real time; when the boundary signal is detected, the current position is determined according to the boundary signal or the charging station 2 is returned; when the boundary signal is not detected, the operation is stopped. In other words, the charging station 2 is connected to the boundary line 3 and provides the boundary current to the boundary line 3, so that the smart lawn mower 1 can determine the current working position and / or working state according to the boundary signal on the boundary line 3.

[0076] Optionally, the boundary signal may be a magnetic signal; of course, it may also be an optical signal or an acoustic signal, etc. This embodiment does not limit the type of the boundary signal.

[0077] according to Figure 1 It can be seen that when the area of ​​the working area 4 of the smart lawn mower 1 increases, the length of the boundary line 3 needs to be extended because the boundary line 3 needs to enclose a larger working area 4. At this time, if the output voltage of the charging station 2 remains unchanged, the length of the boundary line 3 increases, resulting in an increase in the load of the charging station 2 and a decrease in the boundary current output to the boundary line 3. Since the magnitude of the boundary current is positively correlated with the signal strength of the boundary signal, the reduction in the boundary current will cause the signal strength of the boundary signal to decrease, and the smart lawn mower 1 will not detect the boundary signal, which means that even if the boundary line 3 is not disconnected, the smart lawn mower 1 cannot work normally.

[0078] Based on the above technical problems, the charging station 2 provided by the present application is equipped with a signal stabilization component, which is used to adjust the boundary current to a preset range and keep the boundary current constant. The signal stabilization component is connected to the boundary line 3 to ensure that the signal strength of the boundary signal on the boundary line 3 is stable within a certain range when the boundary line 3 is not disconnected, so that the smart lawn mower 1 can still work normally after the boundary line 3 is extended.

[0079] Optionally, in other embodiments, the boundary signal stabilization component may be installed in a device independent of the charging station 2. This embodiment does not limit the installation method of the boundary signal stabilization component.

[0080] Optionally, in the present application, the signal stabilization component on the charging station 2 adjusts the boundary current of the boundary line according to the control of the control component in the charging station 2, and the control component determines the adjustment method of the boundary current according to the current boundary current on the boundary line, the length of the boundary line, and / or the detection result of the boundary signal detection module on the smart lawn mower 1. The following is a detailed description of the adjustment method of the boundary current determined by the above-mentioned control component.

[0081] The first type: the control component determines the adjustment method of the boundary current according to the current boundary current on the boundary line and / or the length of the boundary line.

[0082] Figure 2 is a schematic diagram of the structure of a charging station provided by an embodiment of the present application, such as Figure 2 The charging station shown includes: an information collection component 11, a control component 12 and a signal stabilization component 13.

[0083] The information collection component 11 is used to collect relevant information of the boundary signal on the boundary line. The relevant information is used by the control component 12 to determine the signal strength of the boundary signal.

[0084] Illustratively, the relevant information of the boundary signal includes but is not limited to at least one of the following:

[0085] 1. The boundary current of the boundary line, which is positively correlated with the signal strength of the boundary signal;

[0086] 2. The length of the boundary line. The length of the boundary line is negatively correlated with the signal strength of the boundary signal.

[0087] The input end of the control component 12 is connected to the output end signal of the information acquisition component 11. In this way, the information acquisition component 11 can send relevant information to the control component 12 through the output end; accordingly, after the control component 12 receives the relevant information through the input end, it determines the adjustment method of the boundary current according to the relevant information.

[0088] Optionally, the adjustment method includes: increasing the boundary current, decreasing the boundary current and maintaining the boundary current unchanged.

[0089] The input end of the signal stabilizing component 13 is signal-connected to the output end of the control component 12 , and the output end of the signal stabilizing component 13 is connected to the boundary line, so that the signal stabilizing component 13 adjusts the boundary current of the boundary line according to the control of the control component 12 .

[0090] Optionally, the control component 12 generates a control signal after determining the adjustment method of the boundary current, and sends the control signal to the signal stabilization component 13, and the control signal triggers the signal stabilization component 13 to adjust the boundary current of the boundary line according to the adjustment method.

[0091] Optionally, in the present application, the signal stabilization component 13 is a buck-boost module, and the buck-boost module and the control component 12 are installed in the charging station. In this case, the signal stabilization component 13 adjusts the boundary current output to the boundary line by adjusting the output voltage of the charging station. In this case, the signal stabilization component 13 is installed at the output end of the power supply of the charging station, and the voltage of the output end serves as the input voltage of the signal stabilization component 13, and the output voltage of the signal stabilization component 13 is the output voltage of the charging station.

[0092] Optionally, the buck-boost module may be a chip including a buck-boost circuit, wherein the buck-boost circuit may also be called a buck-boost converter, a Buck-Boost converter, etc., and this embodiment does not limit the name of the buck-boost circuit.

[0093] refer to Figure 3 The buck-boost circuit shown in the figure is a single-tube non-isolated DC converter whose output voltage can be lower or higher than the input voltage. The Buck-Boost converter can be regarded as a Buck converter and a Boost converter connected in series, except that the switch tube is combined.

[0094] Buck converter (also called step-down converter, step-down circuit, etc.) is a single-tube non-isolated DC converter whose output voltage is less than the input voltage. Figure 4 The Buck converter shown in Figure 4 Q is the switch tube, the driving voltage of the switch tube is generally a pulse width modulation (PWM) signal, the period of the PWM signal is Ts, the signal frequency f is 1 / Ts, the on time is Ton, the off time is Toff, Ts = Ton + Toff, and the duty cycle Dy = Ton / Ts. Figure 4 In the figure, the inductor Lf and the capacitor Cf form a low-pass filter. The buck converter step-down principle is: the harmonic components of the input voltage are filtered out by the low-pass filter, while the DC component of the input voltage is allowed to pass. In this way, the output voltage is the DC component of the input voltage with a small ripple added, that is, the output voltage is lower than the input voltage.

[0095] A boost converter (also called a step-up converter, a step-up circuit, etc.) is a single-tube non-isolated DC converter whose output voltage is higher than the input voltage. Figure 5 The Boost converter shown in Figure 5 The driving voltage of the switch tube Q is also a PWM signal, but the maximum duty cycle Dy needs to be limited, and Dy is not equal to 1. The inductor Lf is on the input side and is a boost inductor. The boost principle of the Boost converter is: when the switch tube A is turned on, the input voltage charges the inductor Lf, and the inductor Lf stores energy; when the switch tube A is turned off, the inductor Lf discharges and charges the inductor Cf, and the input voltage also charges the inductor Cf. At this time, the output voltage is higher than the input voltage.

[0096] In one example, the information related to the boundary signal includes the boundary current of the boundary line. Figure 6In the charging station shown, the information collection component includes a current detection circuit 61, which is connected to the boundary line 62 to detect the current boundary current on the boundary line 62 in real time; the control component 12 is used to control the signal stabilization component 13 to increase the boundary current of the boundary line 62 when the current boundary current is lower than the preset current value.

[0097] Optionally, the control component 12 is further configured to control the signal stabilization component 13 to reduce the boundary current of the boundary line 62 when the current boundary current is greater than the maximum current value, so as to save power resources.

[0098] Optionally, the control component 12 is further configured to control the signal stabilization component 13 to maintain the current boundary current of the boundary line 62 when the current boundary current is greater than or equal to a preset current value and less than or equal to a current maximum value.

[0099] Optionally, the signal strength of the boundary signal corresponding to the preset current value is a signal strength that the smart lawn mower just cannot detect; or a signal strength that is slightly greater than the signal strength that the smart lawn mower just cannot detect. The preset current value is stored in the charging station and is read by the control component 12.

[0100] Optionally, the current detection circuit 61 is a current detection chip, which is installed in a circuit board of the charging station. Optionally, a control component 12 and a signal stabilization component 13 are also installed on the circuit board of the charging station. Figure 6 The example in which the current detection circuit 61 is installed in the charging station is used for explanation. In actual implementation, the current detection circuit 61 may also be installed in other devices independent of the charging station. This embodiment does not limit the installation method of the current detection circuit 61.

[0101] In another example, the information related to the boundary signal includes the length of the boundary line. Figure 7 In the charging station shown, the information collection component includes a wireless communication unit 71, which is used to obtain the length of the boundary line collected based on human-computer interaction technology. The control component 12 is used to control the signal stabilization component to adjust the boundary current of the boundary line to the current value corresponding to the length of the boundary line.

[0102] Optionally, the length of the boundary line acquired by the wireless communication unit 71 is collected and sent by the client based on human-computer interaction technology. The client has a function for the user to input the length of the boundary line. The client can be a program module integrated in an existing client (for example, a small program integrated in an instant messaging client); or, it can be an additionally developed application (Application, APP). This embodiment does not limit the implementation form of the client.

[0103] Of course, a length input control may also be provided on the charging station, and in this case, the charging station obtains the length of the boundary line based on the length input control.

[0104] Optionally, the length input control may be a virtual input control displayed on a touch screen; or, it may be a physical input control implemented through an external device (eg, a keyboard). This embodiment does not limit the implementation of the length input control.

[0105] Optionally, the control component controls the signal stabilization component to adjust the boundary current of the boundary line to a preset current value corresponding to the length of the boundary line, including but not limited to the following:

[0106] The first type: the charging station stores a first correspondence between the length of the boundary line and the load and a current value range, and the boundary signals corresponding to each current value in the current value range are boundary signals that can be detected by the smart lawn mower. After the control component 12 obtains the length of the boundary line, it determines the corresponding load from the first correspondence; the control component 12 calculates the output voltage range according to the load and the current value range, and the control signal stabilization component adjusts the output voltage of the charging station to within the output voltage range, so that the boundary current is adjusted to the preset current value corresponding to the length of the boundary line.

[0107] The second type: the charging station stores a first correspondence between the length of the boundary line and the load and a second correspondence between the load and the boundary current. After the control component 12 obtains the length of the boundary line, it determines the corresponding load from the first correspondence; after the control component 12 determines the load, it determines the corresponding boundary current from the second correspondence to obtain the current value corresponding to the length of the boundary line; the control component 12 controls the signal stabilization component to adjust the output voltage of the charging station so that the boundary current is adjusted to the current value corresponding to the length of the boundary line.

[0108] The third type: the charging station can store a third correspondence between the length of the boundary line and the boundary current. After the control component 12 obtains the length of the boundary line, the corresponding current value is directly determined from the third correspondence; the control component 12 controls the signal stabilization component to adjust the output voltage of the charging station so that the boundary current is adjusted to the current value corresponding to the length of the boundary line.

[0109] Of course, the control component can also adjust the boundary current to a current value corresponding to the length of the boundary line in other ways, which are not listed one by one in this embodiment.

[0110] To summarize, the charging station provided in this embodiment collects relevant information of the boundary signal on the boundary line by setting an information collection component; sends the relevant information to the control component; and the control component controls the signal stabilization component to adjust the boundary current of the boundary line according to the relevant information; this can solve the problem in the prior art that the smart lawn mower may not work properly as the boundary line is extended; because the signal stabilization component can stabilize the boundary current on the boundary line within a certain range, it can ensure that the smart lawn mower can detect the boundary signal on the boundary line when the boundary line is not disconnected, thereby ensuring that the smart lawn mower can still work normally as the boundary line is extended.

[0111] Optionally, based on Figure 2 , Figure 6 and Figure 7 The charging station shown, Figure 8 is a flow chart of an automatic control method provided by an embodiment of the present application, such as Figure 8 As shown, this embodiment applies this method to Figure 2 , Figure 6 and / or Figure 7 Taking the control component 12 in the charging station shown as an example, the method includes at least the following steps:

[0112] Step 801, obtaining relevant information of the boundary signal on the boundary line.

[0113] The relevant information is collected by the information collection component. After the information collection component collects the relevant information, it sends the relevant information to the control component; or the control component obtains the relevant information collected by the information collection component at a preset time interval. This embodiment does not limit the way in which the control component obtains the relevant information.

[0114] The relevant information is used by the control component to determine the signal strength of the boundary signal. Schematically, the relevant information of the boundary signal includes but is not limited to at least one of the following:

[0115] 1. The boundary current of the boundary line, which is positively correlated with the signal strength of the boundary signal;

[0116] 2. The length of the boundary line. The length of the boundary line is negatively correlated with the signal strength of the boundary signal.

[0117] Step 802, controlling the signal stabilization component to adjust the boundary current of the boundary line according to the relevant information.

[0118] Schematically, when the control component determines based on relevant information that the signal strength of the boundary signal cannot be detected by the smart lawn mower, the control signal stabilization component works to increase the boundary current of the boundary line; or, when the control component determines based on relevant information that the signal strength of the boundary signal can be detected by the smart lawn mower, and the signal strength is greater than the strength threshold, the control signal stabilization component reduces the boundary current of the boundary line; or, when the control component determines based on relevant information that the signal strength of the boundary signal can be detected by the smart lawn mower, and the signal strength is less than or equal to the strength threshold, the control signal stabilization component maintains the boundary current of the boundary line unchanged.

[0119] In one example, the information related to the boundary signal includes the boundary current of the boundary line. Figure 6 The charging station shown, Fig. 9 is a flow chart of an automatic control method provided by another embodiment of the present application, such as Fig. 9 As shown, this embodiment applies this method to Figure 6 Taking the control component 12 of the charging station shown in the figure as an example, the method includes at least the following steps:

[0120] Step 901 , controlling the current detection circuit to detect the current boundary current on the boundary line in real time.

[0121] Step 902, obtaining the current boundary current detected by the current detection circuit.

[0122] Optionally, after the current detection circuit detects the current boundary current, the current boundary current is sent to the control component in real time.

[0123] Step 903 , when the current boundary current is lower than the preset current value, the signal stabilizing component is controlled to operate to increase the boundary current of the boundary line.

[0124] Optionally, the control component is further used to control the signal stabilization component to reduce the boundary current of the boundary line when the current boundary current is greater than the maximum current value, so as to save power resources.

[0125] Optionally, the control component is further configured to control the signal stabilization component to maintain the current boundary current of the boundary line when the current boundary current is greater than or equal to a preset current value and less than or equal to a current maximum value.

[0126] In this embodiment, the current boundary current on the boundary line is detected in real time through the current detection circuit; when the current boundary current is lower than the preset current value, the signal stabilization component is controlled to work to increase the boundary current of the boundary line; because the signal stabilization component can stabilize the boundary current on the boundary line within a certain range, it can ensure that the smart lawn mower can detect the boundary signal on the boundary line when the boundary line is not disconnected, thereby ensuring that the smart lawn mower can still work normally as the boundary line is extended.

[0127] In addition, by arranging the current detection circuit, the control component and the signal stabilization component in the charging station, the charging station can provide a boundary signal for a boundary line with a longer length, thereby expanding the application range of the charging station.

[0128] In another example, based on Figure 7 The charging station shown, Fig.10 is a flow chart of an automatic control method provided by another embodiment of the present application, such as Fig.10 As shown, this embodiment applies this method to Fig.10 Taking the control component 12 in the charging station shown as an example, the method includes at least the following steps:

[0129] Step 1001: Acquire the length of the boundary line collected based on human-computer interaction technology through a wireless communication unit.

[0130] Step 1002 , controlling the signal stabilizing component to adjust the boundary current of the boundary line to a current value corresponding to the length of the boundary line.

[0131] Optionally, the control component controls the signal stabilization component to adjust the boundary current of the boundary line to a preset current value corresponding to the length of the boundary line, including but not limited to the following:

[0132] The first type: the charging station stores a first correspondence between the length of the boundary line and the load and a current value range, and the boundary signals corresponding to each current value in the current value range are boundary signals that can be detected by the smart lawn mower. After the control component obtains the length of the boundary line, it determines the corresponding load from the first correspondence; the control component calculates the output voltage range based on the load and the current value range, and the control signal stabilization component adjusts the output voltage of the charging station to within the output voltage range, so that the boundary current is adjusted to the preset current value corresponding to the length of the boundary line.

[0133] The second type: the charging station stores a first correspondence between the length of the boundary line and the load and a second correspondence between the load and the boundary current. After the control component obtains the length of the boundary line, it determines the corresponding load from the first correspondence; after the control component determines the load, it determines the corresponding boundary current from the second correspondence to obtain the current value corresponding to the length of the boundary line; the control component controls the signal stabilization component to adjust the output voltage of the charging station so that the boundary current is adjusted to the current value corresponding to the length of the boundary line.

[0134] The third type: the charging station can store a third correspondence between the length of the boundary line and the boundary current. After the control component obtains the length of the boundary line, the corresponding current value is directly determined from the third correspondence; the control component controls the signal stabilization component to adjust the output voltage of the charging station so that the boundary current is adjusted to the current value corresponding to the length of the boundary line.

[0135] Of course, the control component can also adjust the boundary current to a current value corresponding to the length of the boundary line in other ways, which are not listed one by one in this embodiment.

[0136] In this embodiment, the length of the boundary line is obtained through the wireless communication unit; the control component determines the corresponding current value according to the length, and controls the signal stabilization component to adjust the boundary current of the boundary line to the current value corresponding to the length; since the signal stabilization component can stabilize the boundary current on the boundary line within a certain range, it can ensure that the smart lawn mower can detect the boundary signal on the boundary line when the boundary line is not disconnected, thereby ensuring that the smart lawn mower can still work normally as the boundary line is extended.

[0137] To summarize, the automatic control method provided in this embodiment collects relevant information of the boundary signal on the boundary line by setting an information collection component; sends the relevant information to the control component; and the control component controls the signal stabilization component to adjust the boundary current of the boundary line according to the relevant information; this can solve the problem in the prior art that the smart lawn mower may not work properly as the boundary line is extended; because the signal stabilization component can stabilize the boundary current on the boundary line within a certain range, it can ensure that the smart lawn mower can detect the boundary signal on the boundary line when the boundary line is not disconnected, thereby ensuring that the smart lawn mower can still work normally as the boundary line is extended.

[0138] The second method is that the control component determines the adjustment method of the boundary current according to the detection result of the boundary signal.

[0139] Fig.11 is a schematic diagram of the structure of an automatic control system provided by another embodiment of the present application, such as Fig.11 As shown, the automatic control system includes: an intelligent lawn mower 111 and a charging station 112.

[0140] The charging station 112 is connected to the boundary line 113 and provides boundary current to the boundary line 113 so that the smart lawn mower 111 can determine the current working position and / or working state according to the boundary signal on the boundary line 113 .

[0141] The intelligent lawn mower 111 includes a boundary signal detection module 1111 , which is used to detect boundary signals on the boundary line 113 in real time.

[0142] The charging station 112 includes: a control component 12 connected to the boundary signal detection module 1111 signal; a signal stabilization component 13 whose input end is connected to the output end signal of the control component 12, and the control component 12 determines the adjustment method of the boundary current based on the detection result of the smart lawn mower 111; the output end of the signal stabilization component 13 is connected to the boundary line 113, so that the signal stabilization component 13 adjusts the boundary current of the boundary line 113 according to the control of the control component 12.

[0143] In one example, the boundary signal detection module 1111 detects the boundary signal on the boundary line 113 in real time, and sends a first detection result to the control component 23 , where the first detection result is used to indicate the signal strength of the boundary signal.

[0144] Accordingly, the control component 12 is used to control the signal stabilization component 13 to increase the boundary current of the boundary line when the signal strength of the boundary signal is lower than the preset strength value. The smart lawn mower 111 stops when the boundary signal is still not detected after the boundary current is increased.

[0145] Optionally, the control component 12 is further configured to control the signal stabilization component 13 to reduce the boundary current of the boundary line when the signal strength of the boundary signal is greater than the maximum strength, so as to save power resources.

[0146] Optionally, the control component 12 is further configured to control the signal stabilization component 13 to maintain the current boundary current of the boundary line 113 when the signal strength of the boundary signal is greater than or equal to a preset strength value and less than or equal to a maximum strength value.

[0147] Optionally, the preset strength value is a signal strength that the smart lawn mower just cannot detect; or a signal strength that is slightly greater than the signal strength that the smart lawn mower just cannot detect.

[0148] In another example, the boundary signal detection module 1111 detects the boundary signal on the boundary line 113 in real time; and sends a second detection result to the control component 12, where the second detection result is used to indicate whether the boundary signal detection module 1111 detects the boundary signal.

[0149] Accordingly, the control component 12 is used to control the signal stabilization component 13 to increase the boundary current of the boundary line when the boundary signal detection module 1111 does not detect the boundary signal.

[0150] Optionally, the control component 12 is further configured to control the signal stabilization component 13 to maintain the current boundary current of the boundary line 113 when the boundary signal detection module 1111 detects a boundary signal.

[0151] Optionally, since the boosting capability of the signal stabilizing component 13 is limited, as the boundary line is extended, the charging station 112 may not be able to continue to stabilize the boundary current on the boundary line 113 within a certain range so that the smart lawn mower 111 can detect the boundary signal on the boundary line 113. In order to ensure that the smart lawn mower 111 can work normally in the working area where the boundary line 113 is laid for a longer length, refer to Fig.12 The automatic control system shown further includes at least one signal amplifying component 121 .

[0152] The input end of the signal amplifying component 121 is connected to the boundary line 113, and the output end is connected to the boundary extension line 123. The signal amplifying component 121 is used to amplify the boundary current on the boundary line 113 and output it to the boundary extension line 123; the boundary extension line 123 is within the working area surrounded by the boundary line 113.

[0153] Optionally, the signal amplifying component 121 may also be called a relay, a current amplifier, etc. This embodiment does not limit the name of the signal amplifying component 121.

[0154] Optionally, the frequency of the boundary signal on the boundary extension line 123 is the same as the frequency of the boundary signal on the boundary line 113 ; the amplitude of the boundary signal on the boundary extension line 123 is greater than the amplitude of the boundary signal on the boundary line 113 .

[0155] Optionally, the boundary extension line 123 divides the working area surrounded by the boundary line 113 into n sub-areas. n is an integer greater than 1. Optionally, the areas of the n sub-areas are the same.

[0156] It is necessary to add that Fig.12 Only one signal amplifying component 121 is taken as an example for description. In actual implementation, there may be multiple signal amplifying components 121 . This embodiment does not limit the number of signal amplifying components 121 .

[0157] To summarize, the automatic control system provided in this embodiment detects the boundary signal on the boundary line in real time through the boundary signal detection module in the smart lawn mower; the control component in the charging station controls the signal stabilization component to work according to the detection result of the boundary signal to increase the boundary current of the boundary line; since the signal stabilization component can stabilize the boundary current on the boundary line within a certain range, it can ensure that the smart lawn mower can detect the boundary signal on the boundary line when the boundary line is not disconnected, thereby ensuring that the smart lawn mower can still work normally as the boundary line is extended.

[0158] In addition, by setting a signal amplification component, the input end of the signal amplification component is connected to the boundary line, and the output end is connected to the boundary extension line; so that the signal amplification component amplifies the boundary current on the boundary line and outputs it to the boundary extension line, and the boundary extension line is within the working area surrounded by the boundary line, which is equivalent to dividing the working area into multiple parts; shortening the distance for the smart lawn mower to detect the boundary signal, ensuring that the smart lawn mower works normally when the boundary line is longer and not disconnected.

[0159] Optionally, based on Fig.11 and Fig.12 The automatic control system shown, Fig.13 is a flow chart of an automatic control method provided by another embodiment of the present application, such as Fig.13 As shown, this embodiment applies this method to Fig.11 and / or Fig.12 In the automatic control system shown in the figure, the execution subject of each step is the control component 12 in the charging station as an example for explanation, and the method includes at least the following steps:

[0160] Step 1301: Control the boundary signal detection module to detect the boundary signal on the boundary line in real time.

[0161] Step 1302: Obtain the detection result of the boundary signal by the boundary signal detection module.

[0162] The detection result includes a first detection result or a second detection result, wherein the first detection result is used to indicate the signal strength of the boundary signal; and the second detection result is used to indicate whether the boundary signal detection module detects the boundary signal.

[0163] Step 1303, controlling the signal stabilization component to adjust the boundary current of the boundary line according to the detection result.

[0164] In the first example, the detection result is the first detection result. At this time, when the signal strength of the boundary signal is lower than the preset strength value, the control component controls the signal stabilization component to work to increase the boundary current of the boundary line.

[0165] Optionally, the control component is further used to control the signal stabilization component to reduce the boundary current of the boundary line when the signal strength of the boundary signal is greater than the maximum strength, so as to save power resources.

[0166] Optionally, the control component is further configured to control the signal stabilization component to maintain the current boundary current of the boundary line when the signal strength of the boundary signal is greater than or equal to a preset strength value and less than or equal to a maximum strength value.

[0167] In the second example, the detection result is the second detection result. At this time, when the boundary signal detection module does not detect the boundary signal, the control component controls the signal stabilization component to work to increase the boundary current of the boundary line.

[0168] Optionally, the control component is further configured to control the signal stabilization component to maintain a current boundary current of the boundary line when the boundary signal detection module detects a boundary signal.

[0169] To summarize, the automatic control method provided in this embodiment detects the boundary signal on the boundary line in real time through the boundary signal detection module in the smart lawn mower; the control component in the charging station controls the signal stabilization component to work according to the detection result of the boundary signal to increase the boundary current of the boundary line; since the signal stabilization component can stabilize the boundary current on the boundary line within a certain range, it can ensure that the smart lawn mower can detect the boundary signal on the boundary line when the boundary line is not disconnected, thereby ensuring that the smart lawn mower can still work normally as the boundary line is extended.

[0170] Optionally, based on Figure 2 , Figure 6 and / or Figure 7 Charging station, reference Fig.14 The present application also provides an automatic control system including the charging station, the automatic control system including Figure 2 , Figure 6 and / or Figure 7 The charging station 1401 and at least one signal amplifying component 1402; the charging station 1401 is connected to the boundary line 1403 and provides a boundary current to the boundary line 1403, so that the smart lawn mower can determine the current working position and / or working state according to the boundary signal on the boundary line.

[0171] The input end of the signal amplifying component 1402 is connected to the boundary line, and the output end is connected to the boundary extension line 1404 ; the signal amplifying component 1402 is used to amplify the boundary current on the boundary line 1403 and output it to the boundary extension line 1404 ; the boundary extension line 1404 is within the working area surrounded by the boundary line 1403 .

[0172] The relevant description of the signal amplification component 1402 can be found in Fig.12 The relevant description of the signal amplifying component 121 is not repeated here in this embodiment.

[0173] Optionally, the present application also provides a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the automatic control method of the above method embodiment.

[0174] Optionally, the present application also provides a computer product, which includes a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the automatic control method of the above method embodiment.

[0175] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0176] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A charging station, characterized in that: The charging station is connected to the boundary line and provides boundary current for the boundary line, so that the intelligent lawn mower can determine the current working position and / or working state according to the boundary signal on the boundary line. The charging station includes: An information collection component, used to collect relevant information of the boundary signal on the boundary line; the relevant information includes the current boundary current on the boundary line and / or the length of the boundary line; A control component, which determines a regulation method of the boundary current according to the relevant information; A signal stabilizing component, wherein an output end of the signal stabilizing component is connected to the boundary line, so that the signal stabilizing component adjusts the boundary current of the boundary line according to the control of the control component; The control component is used to control the signal stabilization component to work so as to increase the boundary current of the boundary line when the current boundary current is lower than a preset current value; The control component is used for controlling the signal stabilization component to work so as to reduce the boundary current of the boundary line when the boundary current is higher than a preset current value; The control component is used to control the signal stabilization component to adjust the boundary current of the boundary line to a current value corresponding to the length of the boundary line.

2. The charging station according to claim 1, characterized in that The information acquisition component includes a current detection circuit; The current detection circuit is connected to the boundary line to detect the current boundary current on the boundary line in real time.

3. The charging station according to claim 1, characterized in that: The signal stabilization component is used to adjust the boundary current to within a preset range.

4. The charging station according to claim 1, characterized in that: The information collection component includes a wireless communication unit, and the wireless communication unit is used to obtain the length of the boundary line collected based on human-computer interaction technology.

5. The charging station according to any one of claims 1 to 4, characterized in that: The signal stabilization component is a buck-boost module.

6. An automatic control system, characterized in that: The automatic control system includes an intelligent lawn mower and a charging station, wherein the charging station is connected to a boundary line and provides a boundary current to the boundary line, so that the intelligent lawn mower can determine a current working position and / or working state according to a boundary signal on the boundary line; The intelligent lawn mower comprises a boundary signal detection module, and the boundary signal detection module is used to detect the boundary signal on the boundary line in real time; The charging station includes: a control component connected to the boundary signal detection module signal, the control component determining a boundary current adjustment method based on the detection result of the smart lawn mower; A signal stabilizing component, wherein an output end of the signal stabilizing component is connected to the boundary line, so that the signal stabilizing component adjusts the boundary current of the boundary line according to the control of the control component; The control component is used to control the signal stabilization component to work so as to increase the boundary current of the boundary line when the current boundary current is lower than a preset current value; The control component is used for controlling the signal stabilization component to work so as to reduce the boundary current of the boundary line when the boundary current is higher than a preset current value; The control component is used to control the signal stabilization component to adjust the boundary current of the boundary line to a current value corresponding to the length of the boundary line.

7. The system according to claim 6, characterized in that The signal detection module is used to send a first detection result to the control component, where the first detection result is used to indicate the signal strength of the boundary signal; The control component is used to control the signal stabilization component to work so as to increase the boundary current of the boundary line when the signal strength of the boundary signal is lower than a preset strength value.

8. The system according to claim 6, characterized in that The signal detection module is used to send a second detection result to the control component, wherein the second detection result is used to indicate whether the boundary signal detection module detects a boundary signal; The control component is used to control the signal stabilization component to work so as to increase the boundary current of the boundary line when the boundary signal detection module does not detect the boundary signal.

9. The system according to claim 7 or 8, characterized in that: The intelligent lawn mower is also used to shut down when no boundary signal is detected after the boundary current is increased.

10. The system according to claim 6, characterized in that The system also includes at least one signal amplifying component; the input end of the signal amplifying component is connected to the boundary line, and the output end is connected to the boundary extension line; the signal amplifying component is used to amplify the boundary current on the boundary line and output it to the boundary extension line; the boundary extension line is within the working area surrounded by the boundary line.

11. The system according to claim 10, characterized in that The boundary extension line divides the working area into n sub-areas, where n is an integer greater than 1.

12. An automatic control system, characterized in that: The system includes a charging station and at least one signal amplifying component; the charging station is connected to the boundary line and provides boundary current to the boundary line, so that the smart lawn mower can determine the current working position and / or working state according to the boundary signal on the boundary line. The charging station comprises the charging station according to any one of claims 1 to 5; The input end of the signal amplifying component is connected to the boundary line, and the output end is connected to the boundary extension line; the signal amplifying component is used to amplify the boundary current on the boundary line and output it to the boundary extension line; the boundary extension line is within the working area surrounded by the boundary line.

13. An automatic control method, characterized in that: The method is applied to the charging station according to any one of claims 1 to 5; or, in the automatic control system according to claim 12, the method comprises: Acquire relevant information of a boundary signal on a boundary line, wherein the relevant information includes a current boundary current on the boundary line and / or a length of the boundary line; The signal stabilization component is controlled according to the relevant information to adjust the boundary current of the boundary line.

14. The method according to claim 13, characterized in that The obtaining of relevant information of the boundary signal on the boundary line includes: Controlling the current detection circuit to detect the current boundary current on the boundary line in real time; Acquire the current boundary current detected by the current detection circuit; The step of controlling the signal stabilizing component to adjust the boundary current of the boundary line according to the relevant information includes: When the current boundary current is lower than a preset current value, the signal stabilizing component is controlled to work so as to increase the boundary current of the boundary line.

15. The method according to claim 14, characterized in that When the current boundary current is higher than a preset current value, the signal stabilizing component is controlled to operate to reduce the boundary current of the boundary line.

16. The method according to claim 13, characterized in that The obtaining of relevant information of the boundary signal on the boundary line includes: Acquire the length of the boundary line collected based on the human-computer interaction technology through the wireless communication unit; The step of controlling the signal stabilizing component to adjust the boundary current of the boundary line according to the relevant information includes: The signal stabilizing component is controlled to adjust the boundary current of the boundary line to a current value corresponding to the length of the boundary line.

17. An automatic control method, characterized in that: The method is applied to the automatic control system according to any one of claims 6 to 11, and the method comprises: Control the boundary signal detection module to detect the boundary signal on the boundary line in real time; Obtaining a detection result of the boundary signal by the boundary signal detection module; The signal stabilization component is controlled according to the detection result to adjust the boundary current of the boundary line.

18. The method according to claim 17, characterized in that The detection result includes a first detection result, and the first detection result is used to indicate the signal strength of the boundary signal; The controlling the signal stabilizing component to adjust the boundary current of the boundary line according to the detection result includes: When the signal strength of the boundary signal is lower than a preset strength value, the signal stabilizing component is controlled to work so as to increase the boundary current of the boundary line.

19. The method according to claim 18, characterized in that When the signal strength of the boundary signal is higher than a preset strength value, the signal stabilizing component is controlled to work so as to reduce the boundary current of the boundary line.

20. The method according to claim 17, characterized in that The detection result includes a second detection result, and the second detection result is used to indicate whether the boundary signal detection module detects a boundary signal; The controlling the signal stabilizing component to adjust the boundary current of the boundary line according to the detection result includes: When the boundary signal detection module does not detect a boundary signal, the signal stabilization component is controlled to work so as to increase a boundary current of the boundary line.

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