Boundary signal generation and detection method, generation system and lawn mowing robot

Abstract

The present invention relates to the technical field of electric tools, and specifically discloses a method for generating and detecting a boundary signal, a generating system, and a lawn mowing robot. The method for generating a boundary signal comprises determining the periodic characteristics of an interference signal within a preset space; and determining the starting time of generating the boundary signal according to the periodic characteristics. The above-mentioned method for generating a boundary signal first determines the periodic characteristics of the interference signal within the preset space, and then determines the starting time of generating the boundary signal according to the periodic characteristics of the interference signal, thereby effectively avoiding the generation of a boundary signal when an interference signal exists or the interference signal is strong, thereby preventing the boundary signal from being affected by the interference signal.

Description

Technical Field

[0001] The present invention relates to the technical field of electric tools, and in particular to a method for generating and detecting a boundary signal, a generating system and a lawn mowing robot. Background Art

[0002] Intelligent electric tools, including lawn mower robots, have been increasingly widely used in various fields. Taking lawn mower robots as an example, during the working process, current lawn mower robots generally use cables around the edge of the lawn through their corresponding charging devices to form a boundary loop. The charging device sends a pulse current to the boundary coil, thereby generating a magnetic field boundary signal. The lawn mower robot detects the magnetic field boundary signal in the working space and then parses the boundary information so that the lawn mower robot can move and work within the parsed boundary line. However, the magnetic field boundary signal is easily interfered by signals from various external AC devices, motors or other charging devices, which will make it difficult for the lawn mower robot to detect the correct magnetic field boundary signal, and then cause the lawn mower robot to work outside the boundary line or stop working. Summary of the invention

[0003] Based on this, it is necessary to provide a boundary signal generation and detection method, generation system and lawn mowing robot to address the problem that the lawn mowing robot has difficulty detecting the correct magnetic field boundary signal due to the susceptibility of the magnetic field boundary signal to interference.

[0004] A method for generating a boundary signal, the method comprising:

[0005] Determining the periodic characteristics of the interference signal within the preset space;

[0006] According to the periodic characteristic, the starting time of generating the boundary signal is determined.

[0007] In one embodiment, after the step of determining the start time of the boundary signal according to the periodic characteristic, the method further comprises:

[0008] The boundary signal is generated according to the start generation time and with a preset boundary signal generation period.

[0009] In one embodiment, the step of determining the start time of the boundary signal according to the periodic characteristic includes:

[0010] Determining an idle time period according to the periodic characteristics;

[0011] The starting time for generating the boundary signal is determined according to the idle time period.

[0012] In one embodiment, the method further comprises:

[0013] Before the step of generating the boundary signal, after determining that an interference signal is received, returning to the step of determining the periodic characteristics of the interference signal within the preset space; and / or

[0014] Determine whether the signal received during the time period in which the boundary signal is generated meets the preset characteristic information, and if not, return to the step of determining the periodic characteristics of the interference signal in the preset space, wherein the preset characteristic information is the characteristic information of the boundary signal.

[0015] In one embodiment, the step of determining the periodic characteristics of the interference signal in the preset space includes:

[0016] The periodic characteristics of the interference signal are determined according to the characteristic information of the interference signal, where the characteristic information of the interference signal includes one or more of frequency information, waveform information, intensity information, and amplitude ratio information.

[0017] A method for detecting a boundary signal, the method comprising:

[0018] Determine characteristic information of a first signal, where the first signal is a received signal whose difference from a preset frequency is within a preset difference range, and the preset frequency is a frequency of a boundary signal;

[0019] According to the characteristic information, a signal that matches the preset characteristic information is extracted from the first signal as a boundary signal, and the preset characteristic information is characteristic information of the boundary signal.

[0020] In one of the embodiments, before the step of determining the characteristic information of the first signal, the method further includes:

[0021] The first signal is determined from a plurality of received signals.

[0022] In one of the embodiments, the characteristic information includes one or more of signal strength information, amplitude ratio information and frequency information.

[0023] A boundary signal generating device, comprising:

[0024] A first determining unit, configured to determine a periodic characteristic of an interference signal within a preset space;

[0025] The second determining unit is used to determine the start time of generating the boundary signal according to the periodic characteristic.

[0026] A boundary signal detection device, comprising:

[0027] A third determining unit is used to determine characteristic information of a first signal, where the first signal is a received signal whose difference with a preset frequency is within a preset difference range, and the preset frequency is a frequency of a boundary signal;

[0028] The extraction unit is used to extract a signal that matches preset characteristic information from the first signal as a boundary signal according to the characteristic information, and the preset characteristic information is characteristic information of the boundary signal.

[0029] A boundary signal generating system, comprising:

[0030] A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the above-mentioned method for generating a boundary signal by executing the computer instructions.

[0031] A lawn mowing robot, comprising:

[0032] A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the above-mentioned boundary signal detection method by executing the computer instructions.

[0033] A computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the method for generating a boundary signal as described above is implemented.

[0034] A computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the above-mentioned boundary signal detection method is implemented.

[0035] The above-mentioned method for generating a boundary signal first determines the periodic characteristics of the interference signal within a preset space, and then determines the starting time of generating the boundary signal based on the periodic characteristics of the interference signal. This can effectively avoid generating a boundary signal when there is an interference signal or the interference signal is strong, thereby preventing the boundary signal from being affected by the interference signal.

[0036] The above-mentioned boundary signal detection method first obtains the received signal whose difference with the preset frequency is within the preset difference range as the first signal, and simultaneously determines the characteristic information of the first signal, and then extracts the signal that matches the preset characteristic information from the first signal as the boundary signal. Because the signal whose difference with the frequency of the boundary signal is within the preset difference range is first screened out before the boundary signal is extracted, the difficulty and amount of calculation of extracting the boundary signal are reduced. In addition, because the boundary signal among the obtained signals is not interfered by the interference signal, it is easy to extract. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the application scenario;

[0038] Figure 2A schematic flow chart of a method for generating a boundary signal provided in Example 1 of the present application;

[0039] Figure 3 This is a flow chart of step S50 in the method for generating a boundary signal provided in Example 1 of the present application;

[0040] Figure 4 A flow chart of another implementation of the method for generating a boundary signal provided in Example 1 of the present application;

[0041] Figure 5 A schematic diagram of a flow chart of a method for detecting a boundary signal provided in Example 2 of the present application;

[0042] Figure 6 A waveform diagram of an interference signal detected and a boundary signal generated by the boundary signal generation method provided by Example 1 of the present application;

[0043] Figure 7 A waveform diagram of an interference signal and a boundary signal detected by the boundary signal detection method provided by Example 2 of the present application;

[0044] Figure 8 A schematic diagram of the structure of a boundary signal generating device provided in Example 3 of the present application;

[0045] Fig. 9 A schematic diagram of the structure of a boundary signal detection device provided in Example 3 of the present application;

[0046] Fig.10 This is a schematic diagram of the structure of the boundary signal generating system provided in Example 4 of the present application. DETAILED DESCRIPTION

[0047] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to understand the disclosure of the present invention more thoroughly and comprehensively.

[0048] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right", "upper", "lower", "front", "rear", "circumferential" and similar expressions used herein are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0050] like Figure 1 As shown, the working principle of the existing lawn mower robot is mainly as follows: the boundary cable 10 surrounding the lawn is connected to the charging device 12 of the lawn mower robot 11, and a pulse current is sent to the boundary cable 10 through the charging device 12, thereby generating a magnetic field signal, which can be used as a boundary signal of the working space 13 of the lawn mower robot 11. When the lawn mower robot 11 is working, the magnetic field signal is detected by the built-in electromagnetic wave detection sensor, and then the boundary signal is obtained. The lawn mower robot 11 can determine the boundary of its own working space 13 according to the boundary signal.

[0051] However, the magnetic field signals detected by the lawn mower robot often include not only boundary signals but also interference signals, which makes it difficult for the lawn mower robot to detect the correct boundary signals, thereby causing the lawn mower robot to work outside the boundary or stop working.

[0052] In response to the above problems, the present application provides a method for generating a boundary signal, a method for detecting a boundary signal, a boundary signal generating device, a boundary signal detecting device, a boundary signal generating system, a lawn mowing robot and a computer-readable storage medium.

[0053] Embodiment 1

[0054] The embodiment of the present application provides a method for generating a boundary signal, which is executed by the charging device corresponding to the above-mentioned lawn mowing robot. Figure 2 As shown, the method for generating a boundary signal provided in the embodiment of the present application includes the following steps:

[0055] Step S30: Determine the periodic characteristics of the interference signal in the preset space.

[0056] Specifically, the preset space refers to a working space surrounded by boundary cables, which may include a variety of signals, such as AC power signals, motion motor signals, mowing motor signals, or magnetic field boundary signals generated by other charging devices. The above signals are generally electromagnetic wave signals, which can be detected by the electromagnetic wave detection sensor built into the charging device. Among them, some signals may interfere with the boundary signals that are about to be generated, and some signals will not interfere with the boundary signals that are about to be generated. Therefore, it is first necessary to obtain the signals that may interfere with the boundary signals that are about to be generated.

[0057] After the interference signal is acquired, the periodic characteristic of the interference signal is determined. When there are multiple interference signals, the periodic characteristic of each interference signal is determined in sequence.

[0058] In one embodiment, the periodic characteristics of the interference signal can be determined based on the characteristic information of the interference signal, wherein the characteristic information of the interference signal includes one or more of frequency information, waveform information, intensity information, and amplitude ratio information. That is, before determining the periodic characteristics of the interference signal, it is first necessary to obtain the above-mentioned characteristic information of various interference signals.

[0059] Step S50: Determine the start time of the boundary signal according to the periodic characteristics.

[0060] After determining the periodic characteristics of the interference signal, the time interval between two adjacent interference signals, the duration of each time, and the generation and end time of each interference signal can be known. On this basis, the generation time of the boundary signal is determined so that the starting generation time of the boundary signal avoids the interference signal, and then the boundary signal can be generated at the determined boundary signal generation time. In practical applications, the starting generation time of the boundary signal can be determined directly according to the end time of each interference signal; or the time period between two adjacent interference signals can be determined first, and then the starting generation time of the boundary signal can be determined according to the determined time period. Of course, there are other ways, which are not listed here one by one, as long as the starting generation time of the boundary signal can avoid the interference signal.

[0061] The above-mentioned method for generating a boundary signal first determines the periodic characteristics of the interference signal within a preset space, and then determines the starting time of generating the boundary signal based on the periodic characteristics of the interference signal. This can effectively avoid generating a boundary signal when there is an interference signal or the interference signal is strong, thereby preventing the boundary signal from being affected by the interference signal.

[0062] As an optional implementation manner, before step S30, i.e., the step of determining the periodic characteristics of the interference signal in the preset space, the method further includes:

[0063] Get all signals existing in the preset space;

[0064] A signal whose frequency is outside a preset frequency range is determined from all acquired signals as an interference signal.

[0065] Specifically, first, all signals existing in the preset space can be detected by the magnetic induction sensor. The signal type is generally an electromagnetic wave signal, and the frequency information of various electromagnetic wave signals obtained is often different; then, the signal with a frequency outside the preset frequency range is extracted from all the signals as an interference signal. Among them, the frequencies within the preset frequency range are often greatly different from the frequencies of the boundary signals, and are not likely to interfere with the boundary signals. That is, these signals are filtered out in advance, which helps to improve the efficiency of boundary signal generation.

[0066] As an optional implementation, high-frequency signals and low-frequency signals can be filtered out by a hardware filtering circuit. Specifically, signals with a frequency greater than a first value and a frequency less than a second value can be filtered out by a hardware filtering circuit. In practical applications, high-frequency signals above 10KHZ and low-frequency signals below 500HZ can be filtered out by a hardware filtering circuit, that is, the preset frequency range is a high frequency above 10KHZ and a low frequency below 500HZ. Generally, the frequency difference between high-frequency signals and low-frequency signals and boundary signals is large, and it is not easy to interfere with the boundary signals. Therefore, the high-frequency and low-frequency electromagnetic wave signals are first filtered out to obtain the actual interference signal, and then determine the periodic characteristics of the interference signal.

[0067] The acquisition of the above interference signal is actually to narrow the range of the interference signal, thereby reducing the amount of calculation for subsequently determining the time when the boundary signal is generated.

[0068] As an optional implementation, Figure 3 As shown, step S50, i.e., the step of determining the starting time of the boundary signal according to the periodic characteristics, includes the following steps:

[0069] Step S501: Determine an idle time period according to the periodic characteristics.

[0070] Specifically, when the periodic characteristics of the interference signal are determined, the time interval between two adjacent interference signal generation, the duration of each interference signal, and the generation and end times of the interference signal can be determined based on the periodic characteristics of the interference signal. Thus, the idle time period of the interference signal can be determined, wherein the idle time period is a time period during which the interference signal will not be generated.

[0071] If there are multiple interference signals, the idle time period of each interference signal is obtained respectively, and then the intersection of the idle time periods of various interference signals is taken to further determine the final idle time period, which is the time period in which no interference signal is generated.

[0072] Step S502: Determine the start time of generating the boundary signal according to the idle time period.

[0073] Specifically, the starting time of the boundary signal can be determined according to the starting time of the idle time period, and it is ensured that the interval between the starting time of the boundary signal and the starting time of the idle time period is less than or equal to the preset time interval. The starting time of the idle time period can be the ending time of the interference signal, that is, the boundary signal is generated within the preset time interval after the interference signal ends. Thus, on the one hand, it is possible to avoid interference signals from interfering with the boundary signal, and on the other hand, it is also possible to ensure that the boundary signal is fully sent within the limited idle time period, and the sent boundary signal will not overlap with the next interference signal.

[0074] As an alternative implementation, when there are multiple interference signals, in step S501, the idle time periods of the multiple interference signals may not be intersected, and the idle time periods corresponding to the respective interference signals may be determined. In step S502, the starting generation time of the boundary signals corresponding to the multiple interference signals are determined according to the idle time periods corresponding to the respective interference signals to form a time set, and then the intersection of the moments in the time set is taken to determine the starting generation time of the final boundary signal. The starting generation time of the boundary signal thus determined can effectively avoid the interference of various interference signals.

[0075] The value of the preset time interval is not unique and should be determined in combination with the periods of various interference signals and the periods of boundary signals, and is not limited here. In addition, the preset time interval can be a value or a range of values.

[0076] As an optional implementation, Figure 4 As shown, after step S50, i.e., the step of determining the starting time of generating the boundary signal according to the periodic characteristics, the method for generating the boundary signal provided by the present application further includes the following steps:

[0077] Step S70: Generate a boundary signal according to the start generation time and with a preset boundary signal generation period.

[0078] When the starting time of the boundary signal is determined, the boundary signal can be generated according to the preset boundary signal generation period. It should be noted that the generation of the boundary signal is firstly to send a pulse current to the boundary cable through the charging device, and then generate a magnetic field boundary signal according to the electromagnetic effect. The preset period referred to here actually refers to the period of the pulse current. For example, it can be set to send a pulse current with a preset width of Yμs every Xms. Of course, it can also be set to other periods and preset widths, and there is no absolute restriction here.

[0079] In one embodiment, before step S70, i.e., the step of generating a boundary signal according to the starting generation time and with a preset boundary signal generation period, the boundary signal generation method provided in this embodiment further includes the following steps:

[0080] Determine whether an interference signal is received; when it is determined that an interference signal is received, return to step S30, that is, the step of determining the periodic characteristics of the interference signal in the preset space; when it is determined that no interference signal is received, execute step S70.

[0081] That is, after determining the starting time of the boundary signal, before generating the boundary signal, continue to detect whether there is an interference signal in the preset space. If an interference signal is detected, stop sending the boundary signal, and return to re-determine the starting time of the boundary according to the periodic characteristics of the interference signal existing in the preset space. This is because the interference signal is uncertain. Although the starting time of the boundary signal determined in the above steps has avoided the interference signal, it is not ruled out that a new interference signal will appear when the boundary signal is about to be generated. Therefore, before generating the boundary signal, the interference signal is detected again, which effectively improves the reliability of this solution and ensures that the boundary signal is not interfered with.

[0082] In one embodiment, after step S70, i.e., the step of generating a boundary signal according to the start generation time and with a preset boundary signal generation period, the boundary signal generation method provided by the present application further includes the following steps:

[0083] Determine whether the signal received during the time period when the boundary signal is generated meets the preset characteristic information, wherein the preset characteristic information is the characteristic information of the boundary signal; if not, return to step S30, i.e., the step of determining the periodic characteristics of the interference signal in the preset space.

[0084] That is, during the time period when the boundary signal is generated, the signal existing in the preset space is continuously detected. When the signal is detected, it is determined whether it meets the characteristic information of the boundary signal. If it does not meet the characteristic information of the boundary signal, it means that the generated boundary signal is interfered by the interference signal. At this time, the generation of the boundary signal is stopped, and the process returns to determine the starting time of the boundary generation based on the periodic characteristics of the interference signal existing in the preset space.

[0085] The characteristic information of the boundary signal is one or more of the signal strength information, amplitude ratio information, and frequency information of the boundary signal. Specifically, it can be determined whether the signal strength information, amplitude ratio information, and frequency information are all in compliance, or only the signal strength information and amplitude ratio information are in compliance, or only the amplitude ratio information and frequency information are in compliance, etc. The type of characteristic information to be determined can be set according to actual needs. The more types of characteristic information to be determined, the higher the accuracy.

[0086] When the signal received during the time period of generating the boundary signal meets the preset characteristic information, which means that the generated boundary signal is not interfered by the interference signal, the boundary signal continues to be generated according to the preset boundary signal generation cycle.

[0087] As an optional implementation, after the interference signal is acquired, the method for generating a boundary signal provided in the present application further includes the following steps:

[0088] Detect any one or more of the frequency information, waveform information, intensity information and amplitude ratio information of the interference signal. Based on the above-mentioned characteristic information of each detected interference signal, the difference between each interference signal can be analyzed, and then the category of each interference signal can be counted, such as periodic interference signal (AC power supply interference signal), instantaneous interference signal (motion motor interference signal, lawn mowing motor interference signal) or boundary magnetic field signal of other charging devices.

[0089] Figure 6 The waveform of the detected interference signal and the waveform generated by the boundary signal are shown, wherein signal a is other boundary magnetic field signals, signal b is a periodic interference signal, signal c is an instantaneous interference signal, and signal e is a generated boundary signal.

[0090] Embodiment 2

[0091] The present application embodiment provides a method for detecting a boundary signal, which is executed by a lawn mowing robot. Figure 5 As shown, the detection method of the boundary signal provided in this embodiment includes the following steps:

[0092] Step S40: determining characteristic information of a first signal, where the first signal is a received signal whose difference with a preset frequency is within a preset difference range, and the preset frequency is the frequency of a boundary signal.

[0093] Specifically, first, several signals in a preset space are obtained, including the various interference signals mentioned in Example 1, which are not described here, and also include the magnetic field boundary signal generated by the charging device corresponding to the lawn mowing robot. Generally, the lawn mowing robot obtains the above signals through a built-in magnetic induction sensor. Then, the signals whose frequencies and the frequencies of the boundary signals are within a preset difference range are screened out to form a first signal. Among them, the frequencies of the boundary signals are pre-stored in the internal memory of the lawn mowing robot. After obtaining several signals, the differences between the frequencies of each signal and the frequencies of the pre-stored boundary signals are respectively obtained, and the signals whose differences are within the preset difference range are screened out as the first signal.

[0094] The preset difference range is not unique. In this embodiment, it is set to 2KHZ±30%. Signals within this range are prone to interfere with boundary signals, so it is more appropriate to select this range. Of course, the preset difference range can also be set to other ranges, such as 2KHZ±25%, 30KHZ±10%, etc., and no absolute limitation is made here.

[0095] In one embodiment, before filtering out the first signal, high-frequency and low-frequency signals in the plurality of signals can be filtered out by hardware filtering. Since high-frequency and low-frequency signals have little influence on the boundary signal and are not easy to cause interference, the high-frequency and low-frequency signals are filtered out in advance, which effectively reduces the difficulty of obtaining the first signal and the amount of internal calculation, and improves the detection efficiency of the boundary signal. The hardware filtering method can use an existing filter circuit composed of a capacitor and a resistor.

[0096] After the first signal is determined, characteristic information of the first signal is obtained, wherein the characteristic information includes any one or more of edge (rising edge or falling edge) information, frequency information, period information, waveform information, signal strength information and amplitude ratio information, and may also include other characteristic information, which are not listed here one by one.

[0097] Step S60: According to the characteristic information, a signal that matches the preset characteristic information is extracted from the first signal as a boundary signal, and the preset characteristic information is the characteristic information of the boundary signal.

[0098] The preset characteristic information is entered into the mowing robot by the user in advance, and corresponds to the characteristic information of the boundary signal generated by the charging device. After the characteristic information of the first signal is determined, the first signal can be compared one by one according to the characteristic information of the boundary signal such as edge (rising edge or falling edge) information, frequency information, period information, waveform information, signal strength information and amplitude ratio information, and the signal that matches the preset characteristic information, i.e., the boundary signal, is extracted therefrom, and the position information is parsed according to the extracted boundary signal to prevent the mowing robot from going out of the boundary or entering the dangerous area.

[0099] As an optional implementation, at least two types of characteristic information may be selected from the above-mentioned characteristic information for signal comparison.

[0100] The above-mentioned boundary signal detection method first obtains the received signal whose difference with the preset frequency is within the preset difference range as the first signal, and simultaneously determines the characteristic information of the first signal, and then extracts the signal that matches the preset characteristic information from the first signal as the boundary signal. Because the signal whose difference with the frequency of the boundary signal is within the preset difference range is first screened out before the boundary signal is extracted, the difficulty and amount of calculation of extracting the boundary signal are reduced. In addition, because the boundary signal among the obtained signals is not interfered by the interference signal, it is easy to extract.

[0101] Figure 7 The waveforms of several detected signals are shown, wherein signal a is other boundary magnetic field signals, signal b is a periodic interference signal, signal c is an instantaneous interference signal, and signal d is a correct boundary signal.

[0102] Embodiment 3

[0103] The present application embodiment provides a boundary signal generating device, corresponding to the boundary signal generating method provided in the first embodiment. Figure 8 As shown, the boundary signal generating device provided in this embodiment includes a first determining unit 30 and a second determining unit 31. The first determining unit 30 is used to determine the periodic characteristics of the interference signal in the preset space; the second determining unit 31 is used to determine the starting time of the boundary signal according to the periodic characteristics.

[0104] For the specific contents of the first determining unit 30 and the second determining unit 31 , please refer to the description of the relevant part of the method for generating the boundary signal provided in the first embodiment, which will not be repeated here.

[0105] The present application also provides a boundary signal detection device, corresponding to the boundary signal detection method provided in the second embodiment. Fig. 9As shown, the boundary signal generating device provided in this embodiment includes a third determining unit 32 and an extracting unit 33. The third determining unit 32 is used to determine the characteristic information of the first signal, the first signal is a received signal whose difference with the preset frequency is within the preset difference range, and the preset frequency is the frequency of the boundary signal; the extracting unit 33 is used to extract a signal that matches the preset characteristic information from the first signal as the boundary signal according to the characteristic information, and the preset characteristic information is the characteristic information of the boundary signal.

[0106] For the specific contents of the third determination unit 32 and the extraction unit 33, please refer to the description of the relevant part of the boundary signal detection method provided in the second embodiment, which will not be repeated here.

[0107] Embodiment 4

[0108] An embodiment of the present application provides a boundary signal generating system, which may be a charging device used in conjunction with a lawn mowing robot or other electronic device capable of generating a boundary signal for the lawn mowing robot.

[0109] The boundary signal generating system provided in this embodiment includes a memory 40 and a processor 41. The memory 40 and the processor 41 are connected to each other in communication and can be connected via a bus or other means. Fig.10 The example of connecting through bus is taken in the following.

[0110] The processor 41 may be a central processing unit (CPU). The processor 41 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0111] The memory 40, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions corresponding to the method for generating a boundary signal in the embodiment of the present invention. The processor 41 executes various functional applications and data processing of the processor 41 by running the non-transitory software programs, instructions and modules stored in the memory 40, that is, realizing the method for generating a boundary signal.

[0112] The memory 40 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the processor 41, etc. In addition, the memory 40 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 40 may optionally include a memory remotely arranged relative to the processor 41, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0113] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0114] The embodiment of the present application further provides a lawn mowing robot, comprising a memory and a processor. For the description of the memory and processor inside the lawn mowing robot, please refer to the description of the relevant part of the boundary signal generating system mentioned above, which will not be repeated here.

[0115] 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.

[0116] The above-mentioned embodiments only express several implementation methods of the present invention, 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 ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for generating a boundary signal, It is characterized in that The method comprises: Determining the periodic characteristics of the interference signal within the preset space; Determining the starting time of the boundary signal according to the periodic characteristics; The method further comprises: According to the starting generation time, the boundary signal is generated with a preset boundary signal generation period; Wherein, the step of determining the starting time of the boundary signal according to the periodic characteristic includes: Determining an idle time period according to the periodic characteristics; The starting time for generating the boundary signal is determined according to the idle time period.

2. The method for generating a boundary signal according to claim 1, It is characterized in that The method further comprises: Before the step of generating the boundary signal, after determining that an interference signal is received, returning to the step of determining the periodic characteristics of the interference signal within the preset space; and / or Determine whether the signal received during the time period in which the boundary signal is generated meets the preset characteristic information, and if not, return to the step of determining the periodic characteristics of the interference signal in the preset space, wherein the preset characteristic information is the characteristic information of the boundary signal.

3. The method according to claim 2, It is characterized in that The step of determining the periodic characteristics of the interference signal in the preset space includes: The periodic characteristics of the interference signal are determined according to the characteristic information of the interference signal, where the characteristic information of the interference signal includes one or more of frequency information, waveform information, intensity information, and amplitude ratio information.

4. A method for detecting a boundary signal, It is characterized in that The method comprises: Determine characteristic information of a first signal, where the first signal is a received signal whose difference from a preset frequency is within a preset difference range, and the preset frequency is a frequency of a boundary signal; According to the characteristic information, a signal that matches the preset characteristic information is extracted from the first signal as a boundary signal, and the preset characteristic information is characteristic information of the boundary signal; wherein the boundary signal includes a boundary signal generated by the method according to claim 1.

5. The method for detecting a boundary signal according to claim 4, It is characterized in that Before the step of determining the characteristic information of the first signal, the method further includes: The first signal is determined from a plurality of received signals.

6. The method according to claim 5, It is characterized in that The characteristic information includes one or more of signal strength information, amplitude ratio information and frequency information.

7. A boundary signal generating device, It is characterized in that include: A first determining unit, configured to determine a periodic characteristic of an interference signal within a preset space; A second determining unit, configured to determine a start time of generating a boundary signal according to the periodic characteristic; The device is also used to: generate the boundary signal according to the starting generation time and with a preset boundary signal generation period; The second determining unit is specifically configured to: determine an idle time period according to the periodic characteristic; and determine a start time of generating the boundary signal according to the idle time period.

8. A boundary signal detection device, It is characterized in that include: A third determining unit is used to determine characteristic information of a first signal, where the first signal is a received signal whose difference with a preset frequency is within a preset difference range, and the preset frequency is a frequency of a boundary signal; An extraction unit is used to extract a signal that matches preset characteristic information from the first signal as a boundary signal based on the characteristic information, wherein the preset characteristic information is characteristic information of the boundary signal; wherein the boundary signal includes a boundary signal generated by the method according to claim 1.

9. A boundary signal generating system, It is characterized in that include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method for generating a boundary signal according to any one of claims 1 to 3 by executing the computer instructions.

10. A lawn mowing robot, It is characterized in that include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the boundary signal detection method according to any one of claims 4 to 6 by executing the computer instructions.

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