A method, device and base station for determining boundary line signal

Abstract

The present invention discloses a method, device and base station for determining a boundary line signal. The method can determine the boundary line signal through the working area of ​​a self-propelled device, and the method includes: obtaining the actual working area boundary information transmitted by the self-propelled device, the actual working area boundary information represents the range of the actual working area of ​​the self-propelled device; determining the actual radiation signal according to the actual working area boundary information, the actual radiation information represents a signal with a signal strength matching the range of the actual working area; transmitting the actual radiation signal to the self-propelled device, so that the self-propelled device performs corresponding operations in the actual working area according to the actual radiation signal. The method improves the matching degree between the signal radiation and the actual operating environment, avoids energy waste, reduces energy consumption, and improves the user experience at the same time.

Description

Technical Field

[0001] The invention relates to the field of garden tools, and in particular to a method, a device and a base station for determining a boundary line signal. Background Art

[0002] When doing landscaping work, mowing robots can realize intelligent mowing and reduce labor costs, so they are widely used. Mowing robots are usually used in conjunction with base stations. Mowing robots identify the boundary line signals emitted by the base station and work within the coverage of the boundary line signals. Therefore, how to match the boundary line signals of the base station with the actual working area of ​​the mowing robot is an issue that needs attention.

[0003] In the prior art, the preset signal strength of the lawn mowing robot is fixed, and the radiation range is fixed, so the boundary line radiation intensity of a small area of ​​grassland is the same as that of a large area of ​​grassland. The boundary signal of the base station does not match the actual working area of ​​the lawn mowing robot. When the user only uses it in a small area of ​​grassland, high-intensity boundary line radiation is not actually needed, so the energy is wasted, causing unnecessary energy loss. Summary of the invention

[0004] The present invention provides a method, device and base station for determining a boundary line signal, which improves the matching degree between the radiation signal and the range of the actual working area, reduces energy consumption and improves the user experience.

[0005] One aspect of the present invention provides a method for determining a boundary line signal according to a working area of ​​a self-propelled device, characterized in that the method comprises:

[0006] Acquire actual working area boundary information transmitted by the self-propelled device, wherein the actual working area boundary information represents the range of the actual working area of ​​the self-propelled device;

[0007] Determining an actual radiation signal according to the actual working area boundary information, wherein the actual radiation information represents a signal having a signal strength matching a range of the actual working area;

[0008] The actual radiation signal is transmitted to the self-propelled device, so that the self-propelled device performs corresponding operations in the actual working area according to the actual radiation signal.

[0009] Optionally, according to the method for determining a boundary line signal according to claim 1, it is characterized in that the step of obtaining the actual working area boundary information transmitted by the self-propelled device comprises:

[0010] Transmitting an initial radiation signal to the self-propelled device so that the self-propelled device runs around the boundary of an initial working area within the radiation range of the initial radiation signal for at least one cycle;

[0011] When the self-propelled device finishes running, actual working area boundary information obtained by the self-propelled device during running is obtained.

[0012] Optionally, determining the actual radiation signal according to the working area boundary information includes:

[0013] Acquire the actual signal strength corresponding to the actual working area boundary information;

[0014] The actual radiation signal is determined according to the actual signal strength.

[0015] Optionally, the acquiring the actual signal strength corresponding to the actual working area boundary information includes:

[0016] Increasing or decreasing the radiation energy of the boundary line according to the boundary information of the actual working area;

[0017] The signal strength corresponding to the enhanced or weakened boundary line radiation energy is used as the actual signal strength.

[0018] Optionally, the method further includes:

[0019] When the self-propelled device performs a work task in the initial working area, obtaining in real time the boundary signal strength of the actual working area received by the self-propelled device;

[0020] The intensity of the actual radiation signal is adjusted according to the boundary signal intensity of the actual working area.

[0021] Another aspect of the present invention further provides a device for determining a boundary line signal, characterized in that the device comprises:

[0022] A working area acquisition module, used to acquire actual working area boundary information transmitted by the self-propelled device, wherein the actual working area boundary information represents the scope of the actual working area of ​​the self-propelled device;

[0023] A signal strength adjustment module, used to determine an actual radiation signal according to the actual working area boundary information, wherein the actual radiation information is a signal having a strength matching the range of the actual working area of ​​the self-propelled device;

[0024] A signal transmission module is used to transmit the actual radiation signal to the self-propelled device so that the self-propelled device performs corresponding operations in the actual working area.

[0025] Optionally, the device further comprises:

[0026] An initial signal transmission unit, used for transmitting an initial radiation signal to the self-propelled device, so that the self-propelled device runs around the boundary of an initial working area within the radiation range of the initial radiation signal for at least one cycle;

[0027] When the self-propelled device finishes running, the working area acquisition module acquires actual working area boundary information obtained by the self-propelled device during operation.

[0028] Optionally, the device further comprises:

[0029] An actual signal strength acquisition unit, used to acquire the actual signal strength corresponding to the actual working area boundary information;

[0030] The actual radiation signal acquisition unit is used to determine the actual radiation signal according to the actual signal strength.

[0031] Another aspect of the present invention further provides a base station, the base station comprising:

[0032] A signal output unit, used for outputting an initial radiation signal and an actual radiation signal;

[0033] The signal adjustment unit is used to adjust the boundary line radiation energy according to the actual working area boundary information transmitted by the self-propelled device to determine the actual radiation signal.

[0034] The base station is used to execute the above-mentioned method for determining a boundary line signal.

[0035] Optionally, the base station includes:

[0036] A signal output unit, used for outputting an initial radiation signal and an actual radiation signal;

[0037] The signal adjustment unit is used to adjust the boundary line radiation energy according to the actual working area range information transmitted by the self-propelled device to determine the actual radiation signal.

[0038] Optionally, the base station further includes: a charging electrode, which is used to establish a communication connection with the self-propelled device and obtain actual working area boundary information.

[0039] The present invention provides a method, device and base station for determining a boundary line signal, the method comprising: the self-propelled device, based on the initial radiation signal, detours at least once in a preset working area to obtain the boundary information of the actual working area, the base station obtains the boundary information of the actual working area transmitted from the self-propelled device, adjusts the output signal strength according to the boundary information of the actual working area, obtains the actual radiation signal, the base station transmits the actual radiation signal to the self-propelled device, the self-propelled device performs boundary identification based on the actual radiation signal, and performs work tasks within the scope of the actual working area. The method improves the matching degree between the signal radiation and the actual operating environment, avoids energy waste, reduces energy consumption, and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A flow chart of a method for determining a boundary line signal provided by an embodiment of the present invention;

[0042] Figure 2 A flow chart of a method for obtaining actual working area boundary information in a method for determining a boundary line signal provided by an embodiment of the present invention;

[0043] Figure 3 A flow chart of a method for determining an actual radiation signal in a method for determining a boundary line signal provided by an embodiment of the present invention;

[0044] Figure 4 A flow chart of a method for obtaining actual signal strength in a method for determining a boundary line signal provided by an embodiment of the present invention;

[0045] Figure 5 A flow chart of a method for real-time adjustment of signal strength in a method for determining a boundary line signal provided by an embodiment of the present invention;

[0046] Figure 6 A schematic diagram of a working scenario of a self-propelled device, a boundary line, and a charging station in a method for determining a boundary line signal provided in an embodiment of the present invention.

[0047] Figure 7 A schematic diagram of a scenario in which a self-propelled device and a charging station transmit information through a charging electrode in a method for determining a boundary line signal provided by an embodiment of the present invention;

[0048] Figure 8A schematic diagram of the module structure of a device for determining a boundary line signal provided by an embodiment of the present invention;

[0049] Fig. 9 A schematic diagram of the module structure of a base station provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0051] In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Moreover, the terms "first", "second", etc. are applicable to distinguishing similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numerals used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0052] See also Figure 1 In an embodiment of the present invention, a method for determining a boundary line signal is provided, which can be applied to a base station side, such as Figure 1 As shown, the method includes:

[0053] S110. Acquire actual working area boundary information transmitted by the self-propelled device, wherein the actual working area boundary information represents the range of the actual working area of ​​the self-propelled device;

[0054] For further information, see Figure 2 , the step of obtaining the actual working area boundary information transmitted by the self-propelled device includes:

[0055] S210. Transmitting an initial radiation signal to the self-propelled device so that the self-propelled device runs around the boundary of the initial working area within the radiation range of the initial radiation signal for at least one cycle;

[0056] S220. When the self-propelled device finishes running, obtain actual working area boundary information obtained by the self-propelled device during operation.

[0057] Specifically, the base station can be a charging station for charging the self-propelled device. The base station can communicate with the self-propelled device. A preset initial radiation signal is stored in the base station, and the intensity of the initial radiation signal is the preset boundary line radiation energy. Based on the range radiated by the preset boundary line radiation energy, the self-propelled device matches and identifies the initial radiation signal, and detours at least once within the radiation range of the initial radiation signal to determine the actual working range. When the self-propelled device determines the actual working range, it can obtain positioning information, determine the information of the actual working range according to the actual running path of the self-propelled device, or collect corresponding actual working boundary information through sensors on the self-propelled device, such as identifying electronic tags in the actual working area, and determining the range of the actual working area through electronic tags. After the self-propelled device obtains the actual working boundary information, when the self-propelled device ends its operation and returns to the base station, the actual working boundary information is transmitted to the base station. In a specific embodiment, when the base station is a charging station, the self-propelled device can transmit the actual working boundary information to the charging station through the charging electrode.

[0058] A communication loop is established between the base station and the self-propelled device, and the base station can obtain the actual working area boundary information from the self-propelled device, so as to make subsequent adjustments to the actual radiation signal.

[0059] S120. Determine an actual radiation signal according to the actual working area boundary information, wherein the actual radiation information represents a signal having a signal strength matching the range of the actual working area;

[0060] For further information, see Figure 3 , the determining of the actual radiation signal according to the working area boundary information comprises:

[0061] S310. Obtaining the actual signal strength corresponding to the actual working area boundary information;

[0062] S320. Determine the actual radiation signal according to the actual signal strength.

[0063] Specifically, after the base station obtains the boundary information of the actual working area, it can determine the actual signal strength that can cover the actual working area based on the boundary information of the actual working area. Based on the actual signal strength, it can enhance or weaken the corresponding signal strength on the basis of the initial signal strength to obtain the actual radiation signal. It can also adjust the radiation energy of the boundary line when obtaining the actual signal strength, and directly output the actual radiation signal corresponding to the adjusted boundary line radiation energy.

[0064] For further information, see Figure 4 , the obtaining of the actual signal strength corresponding to the actual working area boundary information includes:

[0065] S410. Enhance or weaken the radiation energy of the boundary line according to the actual working area boundary information;

[0066] S420. Use the signal strength corresponding to the enhanced or weakened boundary line radiation energy as the actual signal strength.

[0067] In a specific embodiment, the initial signal strength can be obtained first, and based on the initial signal strength, the radiation range that the initial radiation signal can cover is determined, thereby obtaining the initial working area boundary information. The initial signal strength can be obtained from the initial boundary line radiation energy. When the actual working area boundary information obtained by the base station is less than the initial working area boundary information, that is, the actual working range is smaller than the preset working range, the boundary line radiation energy can be weakened according to the direct difference between the actual working range and the preset working range, and the weakened boundary line radiation energy is used as the actual signal strength. The base station inputs the actual radiation signal corresponding to the adjusted actual signal strength into the boundary line connected to the base station.

[0068] When the actual working area boundary information obtained by the base station is greater than the initial working area boundary information, that is, the actual working range is greater than the preset working range, the boundary line radiation energy can be enhanced according to the direct difference between the actual working range and the preset working range, and the enhanced boundary line radiation energy is used as the actual signal strength. The base station inputs the actual radiation signal corresponding to the adjusted actual signal strength into the boundary line connected to the base station.

[0069] The base station adjusts the actual radiation signal so that it matches the actual working area, thereby avoiding resource waste caused by unchanged boundary line radiation energy when the actual working area is smaller than the initial working area, or when the actual working area is larger than the initial working area, the boundary line energy remains unchanged, resulting in the self-propelled equipment being unable to complete all work tasks in the actual working area. This improves the matching degree between signal radiation and the actual operating environment, thereby improving user experience.

[0070] S130. Transmit the actual radiation signal to the self-propelled device, so that the self-propelled device performs corresponding operations in the actual working area according to the actual radiation signal.

[0071] Specifically, after the base station completes a conversation with the self-propelled device, the base station determines the actual radiation signal and transmits the actual radiation signal to the self-propelled device. Based on the actual radiation signal, the self-propelled device identifies the boundary of the actual working area and determines whether the self-propelled device is inside, outside or on the boundary line when working.

[0072] Furthermore, the method further comprises:

[0073] S510. When the self-propelled device performs a work task in the initial working area, the boundary signal strength of the actual working area received by the self-propelled device is obtained in real time;

[0074] S520. Adjust the intensity of the actual radiation signal according to the boundary signal intensity of the actual working area.

[0075] Specifically, the adjustment of the actual radiation signal can also be performed in a real-time adjustment manner. A two-way communication connection is established between the base station and the self-propelled device, and the self-propelled device transmits the actual working area boundary information to the base station in real time. The base station adjusts the size of the boundary line radiation energy based on the actual working area boundary information transmitted by the self-propelled device, so that the actual radiation signal matches the actual working area boundary information transmitted by the self-propelled device. In a specific embodiment, the adjustment of the size of the boundary line radiation energy can be real-time adjustment.

[0076] Through real-time adjustment, self-propelled equipment can be directly used in actual work without the need to go back to the base station in a circle to transmit the actual working range boundary information, thereby simplifying the operating steps in actual application and improving the user experience.

[0077] In a specific implementation scenario, such as Figure 6 As shown, the self-propelled device can be a robot used for mowing. The self-propelled device has a boundary line detection unit, a positioning unit and an electronic tag identification unit. The self-propelled device can identify the boundary line through the boundary line detection unit, obtain positioning information through the positioning unit, and identify the electronic tag through the electronic tag identification unit. The base station is a charging station for charging the mowing robot. The working range of the mowing robot is the lawn to be trimmed. The charging station transmits a preset initial radiation signal to the mowing robot. The mowing robot identifies the initial boundary line according to the preset initial radiation signal and moves within the coverage range of the initial radiation signal, that is, the mowing robot moves within the initial working area. The mowing robot can go around the initial working area for one or several weeks, during which the scope of the actual working area is determined to obtain the boundary information of the actual working area. The mowing robot transmits the obtained boundary information of the actual working area to the charging station through the charging electrode. As shown Figure 7 As shown, the charging station is connected to the boundary line. After obtaining the boundary information of the actual working area through the charging electrode, the charging station adjusts the actual radiation signal according to the boundary information of the actual working area, and transmits the adjusted actual radiation signal to the mowing robot. The mowing robot performs boundary recognition according to the actual radiation signal and performs the mowing task within the scope of the actual working area.

[0078] The embodiment of the present invention proposes a method for determining a boundary line signal, the method comprising: the self-propelled device, based on the initial radiation signal, detours at least once in a preset working area to obtain the boundary information of the actual working area; after the base station obtains the boundary information of the actual working area transmitted from the self-propelled device, the base station adjusts the output signal strength according to the boundary information of the actual working area to obtain the actual radiation signal; the base station transmits the actual radiation signal to the self-propelled device; the self-propelled device performs boundary identification based on the actual radiation signal and performs work tasks within the scope of the actual working area. The method improves the matching degree between the signal radiation and the actual operating environment, avoids energy waste, reduces energy consumption, and improves the user experience.

[0079] A feasible embodiment of the present invention provides a device for determining a boundary line signal, see Figure 8 , the device comprises:

[0080] A working area acquisition module 810 is used to acquire actual working area boundary information transmitted by the self-propelled device, wherein the actual working area boundary information represents the scope of the actual working area of ​​the self-propelled device;

[0081] A signal strength adjustment module 820, configured to determine an actual radiation signal according to the actual working area boundary information, wherein the actual radiation information is a signal having a strength matching the range of the actual working area of ​​the self-propelled device;

[0082] The signal transmission module 830 is used to transmit the actual radiation signal to the self-propelled device, so that the self-propelled device performs corresponding operations in the actual working area.

[0083] Furthermore, the device also includes:

[0084] An initial signal transmission unit, used for transmitting an initial radiation signal to the self-propelled device, so that the self-propelled device runs around the boundary of an initial working area within the radiation range of the initial radiation signal for at least one cycle;

[0085] When the self-propelled device finishes running, the working area acquisition module acquires actual working area boundary information obtained by the self-propelled device during operation.

[0086] Specifically, the base station can be a charging station for charging the self-propelled device. The base station can communicate with the self-propelled device. A preset initial radiation signal is stored in the base station, and the intensity of the initial radiation signal is the preset boundary line radiation energy. Based on the range radiated by the preset boundary line radiation energy, the self-propelled device matches and identifies the initial radiation signal, and detours at least once within the radiation range of the initial radiation signal to determine the actual working range. When the self-propelled device determines the actual working range, it can obtain positioning information, determine the information of the actual working range according to the actual running path of the self-propelled device, or collect the corresponding actual working boundary information through the sensor on the self-propelled device. After the self-propelled device obtains the actual working boundary information, when the self-propelled device ends its operation and returns to the base station, the actual working boundary information is transmitted to the base station. In a specific embodiment, when the base station is a charging station, the self-propelled device can transmit the actual working boundary information to the charging station through the charging electrode.

[0087] A communication loop is established between the base station and the self-propelled device, and the base station can obtain the actual working area boundary information from the self-propelled device, so as to make subsequent adjustments to the actual radiation signal.

[0088] Furthermore, the device also includes:

[0089] An actual signal strength acquisition unit, used to acquire the actual signal strength corresponding to the actual working area boundary information;

[0090] The actual radiation signal acquisition unit is used to determine the actual radiation signal according to the actual signal strength.

[0091] Specifically, after the base station obtains the boundary information of the actual working area, it can determine the actual signal strength that can cover the actual working area based on the boundary information of the actual working area. Based on the actual signal strength, it can enhance or weaken the corresponding signal strength on the basis of the initial signal strength to obtain the actual radiation signal. It can also adjust the radiation energy of the boundary line when obtaining the actual signal strength, and directly output the actual radiation signal corresponding to the adjusted boundary line radiation energy.

[0092] Specifically, based on the initial signal strength, the radiation range that the initial radiation signal can cover is determined to obtain the initial working area boundary information. The initial signal strength can be obtained from the initial boundary line radiation energy. When the actual working area boundary information obtained by the base station is less than the initial working area boundary information, that is, the actual working range is smaller than the preset working range, the boundary line radiation energy can be weakened according to the direct difference between the actual working range and the preset working range, and the weakened boundary line radiation energy is used as the actual signal strength. The base station inputs the actual radiation signal corresponding to the adjusted actual signal strength into the boundary line connected to the base station.

[0093] When the actual working area boundary information obtained by the base station is greater than the initial working area boundary information, that is, the actual working range is greater than the preset working range, the boundary line radiation energy can be enhanced according to the direct difference between the actual working range and the preset working range, and the enhanced boundary line radiation energy is used as the actual signal strength. The base station inputs the actual radiation signal corresponding to the adjusted actual signal strength into the boundary line connected to the base station.

[0094] The base station adjusts the actual radiation signal so that it matches the actual working area, thereby avoiding resource waste caused by unchanged boundary line radiation energy when the actual working area is smaller than the initial working area, or when the actual working area is larger than the initial working area, the boundary line energy remains unchanged, resulting in the self-propelled equipment being unable to complete all work tasks in the actual working area. This improves the matching degree between signal radiation and the actual operating environment, thereby improving user experience.

[0095] The device provided in the above embodiment can execute the method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method. For technical details not described in detail in the above embodiment, please refer to a method for determining a boundary line signal provided in any embodiment of the present invention.

[0096] A feasible embodiment of the present invention provides a base station, see Fig. 9 , the base station comprises:

[0097] A signal output unit 910, configured to output an initial radiation signal and an actual radiation signal;

[0098] The signal adjustment unit 920 is used to adjust the boundary line radiation energy according to the actual working area boundary information transmitted by the self-propelled device to determine the actual radiation signal.

[0099] Furthermore, the base station further comprises: a charging electrode, which is used to establish a communication connection with the self-propelled device to obtain the boundary information of the actual working area. In a specific embodiment, the communication connection can also be a wireless communication connection.

[0100] This specification provides method operation steps as described in the embodiments or flow charts, but more or fewer operation steps may be included based on routine or non-creative work. The steps and sequence listed in the embodiments are only one way of executing the sequence of many steps and do not represent the only execution sequence. When the actual system or interrupt product is executed, it can be executed in the order of the method shown in the embodiments or the drawings or in parallel.

[0101] The structure shown in this embodiment is only a partial structure related to the scheme of the present application, and does not constitute a limitation on the device to which the scheme of the present application is applied. The specific device may include more or fewer components than shown, or combine certain components, or have different arrangements of components. It should be understood that the method, device, etc. disclosed in this embodiment can be implemented in other ways. For example, the device embodiment described above is only schematic. For example, the division of the modules is only a division of a logical function. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or unit modules.

[0102] Those skilled in the art may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this specification can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0103] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining a boundary line signal, characterized in that: The method comprises: Acquire actual working area boundary information transmitted by the self-propelled device, wherein the actual working area boundary information represents the range of the actual working area of ​​the self-propelled device; Acquire an actual signal strength corresponding to the boundary information of the actual working area, and determine the actual radiation signal according to the actual signal strength; Wherein, the actual radiation signal represents a signal having a signal strength matching the range of the actual working area; The actual radiation signal is transmitted to the self-propelled device, so that the self-propelled device performs corresponding operations in the actual working area according to the actual radiation signal.

2. A method for determining a boundary line signal according to claim 1, characterized in that: The step of obtaining the actual working area boundary information transmitted by the self-propelled device includes: Transmitting an initial radiation signal to the self-propelled device so that the self-propelled device runs around the boundary of an initial working area within the radiation range of the initial radiation signal for at least one cycle; When the self-propelled device finishes running, actual working area boundary information obtained by the self-propelled device during running is obtained.

3. A method for determining a boundary line signal according to claim 1, characterized in that: The acquiring the actual signal strength corresponding to the actual working area boundary information comprises: Increasing or decreasing the radiation energy of the boundary line according to the boundary information of the actual working area; The signal strength corresponding to the enhanced or weakened boundary line radiation energy is used as the actual signal strength.

4. A method for determining a boundary line signal according to claim 1, characterized in that: The method further comprises: When the self-propelled device performs a work task in the initial working area, obtaining in real time the boundary signal strength of the actual working area received by the self-propelled device; The intensity of the actual radiation signal is adjusted according to the boundary signal intensity of the actual working area.

5. A device for determining a boundary line signal, characterized in that: The device comprises: A working area acquisition module, used to acquire actual working area boundary information transmitted by the self-propelled device, wherein the actual working area boundary information represents the scope of the actual working area of ​​the self-propelled device; A signal strength adjustment module, used to obtain an actual signal strength corresponding to the boundary information of the actual working area, and determine the actual radiation signal according to the actual signal strength, wherein the actual radiation signal is a signal having a strength matching the range of the actual working area of ​​the self-propelled device; A signal transmission module is used to transmit the actual radiation signal to the self-propelled device so that the self-propelled device performs corresponding operations in the actual working area.

6. The device for determining a boundary line signal according to claim 5, characterized in that: The device also includes: An initial signal transmission unit, used for transmitting an initial radiation signal to the self-propelled device, so that the self-propelled device runs around the boundary of an initial working area within the radiation range of the initial radiation signal for at least one cycle; When the self-propelled device finishes running, the working area acquisition module acquires actual working area boundary information obtained by the self-propelled device during operation.

7. The device for determining a boundary line signal according to claim 5, characterized in that: The device also includes: An actual signal strength acquisition unit, used to acquire the actual signal strength corresponding to the actual working area boundary information; The actual radiation signal acquisition unit is used to determine the actual radiation signal according to the actual signal strength.

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