A method, device, electronic device and storage medium for anti-interference of boundary signals of intelligent lawn mower

Abstract

The present application relates to a method, device, electronic device and storage medium for preventing interference of boundary signals of a smart lawn mower, including: S1, real-time monitoring of boundary signals from a base station during the operation of the smart lawn mower; S2, judging whether the smart lawn mower is interfered with according to the boundary signal, if so, executing S3, otherwise executing S1; S3, generating a trigger signal to trigger the base station corresponding to the smart lawn mower to enter a frequency hopping mode, so as to obtain a target frequency from a plurality of preset frequencies to generate a boundary signal; S4, continuing to monitor the smart lawn mower and judging whether the smart lawn mower is free from interference; if so, executing S6, otherwise executing S5; S5, triggering the base station corresponding to the smart lawn mower again to obtain a target frequency from the remaining preset frequencies to generate a boundary signal, and executing S4; S6, triggering the base station corresponding to the smart lawn mower to continuously output a boundary signal at the target frequency. The implementation of the present application can effectively solve the mutual interference problem between adjacent sites of smart lawn mowers.

Description

Technical Field

[0001] The present application relates to the field of intelligent robot technology, and more specifically, to an intelligent lawn mower boundary signal anti-interference method, device, electronic device and storage medium. Background Art

[0002] With the widespread use of smart lawn mowers, the probability of mutual interference between base station signals in the use of smart lawn mowers is getting higher and higher. Especially when smart lawn mowers are used adjacent to each other, smart lawn mowers are easily interfered by the out-of-bounds signals of the adjacent sites and the in-bounds signals of the site, causing boundary misidentification problems. This in turn affects the normal use of smart lawn mowers.

[0003] Application Contents

[0004] The technical problem to be solved by the present application is to provide a method, device, electronic device and storage medium for anti-interference of boundary signals of an intelligent lawn mower.

[0005] The technical solution adopted by the present application to solve the technical problem is to construct an anti-interference method for boundary signals of an intelligent lawn mower, including:

[0006] S1. During the operation of the smart lawn mower, the boundary signal from the base station is monitored in real time;

[0007] S2, judging whether the intelligent lawn mower is interfered according to the boundary signal, if so, executing step S3, otherwise executing step S1;

[0008] S3, generating a trigger signal to trigger the base station corresponding to the intelligent lawn mower to enter a frequency hopping mode, so as to obtain a preset frequency from a plurality of preset frequencies as a target frequency to generate a boundary signal;

[0009] S4, continue to monitor the working state of the intelligent lawn mower to determine whether the intelligent lawn mower has removed the interference; if so, execute step S6, otherwise execute step S5;

[0010] S5, triggering the base station corresponding to the smart lawn mower to enter the frequency hopping mode again, so as to obtain a preset frequency from the remaining preset frequencies as the target frequency to generate the boundary signal, and executing step S4;

[0011] S6. Trigger the base station corresponding to the intelligent lawn mower to continuously output a boundary signal at the target frequency.

[0012] Preferably, in the intelligent lawn mower boundary signal anti-interference method of the present application, in step S2, judging whether the intelligent lawn mower is interfered according to the boundary signal includes:

[0013] Determine whether the smart lawn mower misjudges the inside of the boundary as outside of the boundary based on the boundary signal, and if so, determine that the smart lawn mower is interfered; or

[0014] Based on the boundary signal, it is determined whether the intelligent lawn mower can obtain its current position. If not, it is determined that the intelligent lawn mower is interfered.

[0015] Preferably, the intelligent lawn mower boundary signal anti-interference method of the present application further includes:

[0016] S0. When the base station corresponding to the smart lawn mower is triggered to generate a boundary signal, it is determined whether there is a first preset target frequency in the preset storage area. If so, the boundary signal is generated with the first preset target frequency; otherwise, the boundary signal is generated with the second preset target frequency.

[0017] Preferably, in the intelligent lawn mower boundary signal anti-interference method of the present application, in step S6, it also includes:

[0018] The target frequency is used as the first preset target frequency and is saved in the preset storage area.

[0019] Preferably, in the intelligent lawn mower boundary signal anti-interference method of the present application, in the step S3, the multiple preset frequencies include at least 5 different preset frequencies.

[0020] Preferably, in the intelligent lawn mower boundary signal anti-interference method of the present application, in the step S3, the plurality of preset frequencies include a plurality of frequencies spaced at preset steps.

[0021] Preferably, in the intelligent lawn mower boundary signal anti-interference method of the present application, in the step S3, the step of obtaining a preset frequency from a plurality of preset frequencies as a target frequency includes:

[0022] A preset frequency is randomly acquired from the plurality of preset frequencies as a target frequency.

[0023] Preferably, in the intelligent lawn mower boundary signal anti-interference method of the present application, in the step S5, obtaining a preset frequency from the remaining preset frequencies as the target frequency includes:

[0024] A preset frequency is selected as the target frequency according to a preset order.

[0025] Preferably, in the intelligent lawn mower boundary signal anti-interference method of the present application, in the step S5, obtaining a preset frequency from the remaining preset frequencies as the target frequency includes: pre-storing historical target frequencies, randomly selecting a preset frequency and using the preset frequency as the target frequency when the preset frequency is different from the historical target frequency.

[0026] Preferably, in the intelligent lawn mower boundary signal anti-interference method of the present application, step S6 further includes:

[0027] Clear the pre-stored historical target frequency.

[0028] The present application also constructs an intelligent lawn mower boundary signal anti-interference device, comprising:

[0029] A monitoring unit, used for real-time monitoring of the boundary signal from the base station during the operation of the intelligent lawn mower;

[0030] A first judgment unit, configured to judge whether the intelligent lawn mower is interfered with according to the boundary signal, and output a positive result if so, or a negative result otherwise;

[0031] A first trigger unit, configured to generate a trigger signal to trigger the base station corresponding to the intelligent lawn mower to enter a frequency hopping mode when the first judgment unit outputs a positive result, so as to obtain a preset frequency from a plurality of preset frequencies as a target frequency to generate a boundary signal;

[0032] A second judgment unit is used to continue to monitor the working state of the intelligent lawn mower to determine whether the intelligent lawn mower has removed the interference; if so, output a positive result, otherwise output a negative result;

[0033] A second trigger unit is used to trigger the base station corresponding to the intelligent lawn mower to enter the frequency hopping mode again when the second judgment unit outputs a negative result, so as to obtain a preset frequency from the remaining preset frequencies as the target frequency to generate the boundary signal;

[0034] An execution unit is used to trigger the base station corresponding to the intelligent lawn mower to continuously output a boundary signal at the target frequency when the second judgment unit outputs a positive result.

[0035] The present application also constructs a computer storage medium on which a computer program is stored, characterized in that when the computer program is executed by a processor, the intelligent lawn mower boundary signal anti-interference method as described in any one of the above is implemented.

[0036] The present application also constructs an electronic device, including a memory and a processor;

[0037] The memory is used to store computer programs;

[0038] The processor is used to execute the computer program to implement the intelligent lawn mower boundary signal anti-interference method as described in any one of the above items.

[0039] The implementation of the present application of an intelligent lawn mower boundary signal anti-interference method, device, electronic device and storage medium has the following beneficial effects: solving the mutual interference problem between adjacent sites of intelligent lawn mowers through low cost and simple operation, greatly improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present application will be further described below with reference to the accompanying drawings and embodiments, in which:

[0041] Figure 1 This is a program flow chart of an embodiment of a method for anti-interference of boundary signals of an intelligent lawn mower of the present application;

[0042] Figure 2 This is a program flow chart of another embodiment of a method for anti-interference of boundary signals of an intelligent lawn mower of the present application;

[0043] Figure 3 This is a logic block diagram of an embodiment of a boundary signal anti-interference device for an intelligent lawn mower according to the present application. DETAILED DESCRIPTION

[0044] In order to have a clearer understanding of the technical features, purposes and effects of the present application, the specific implementation methods of the present application are now described in detail with reference to the accompanying drawings.

[0045] like Figure 1 As shown, in a first embodiment of a boundary signal anti-interference method for a smart lawn mower of the present application, the method includes: S1, during the operation of the smart lawn mower, real-time monitoring of the boundary signal from the base station; specifically, during the operation of the smart lawn mower, the smart lawn mower determines its current position according to the boundary signal of the base station to maintain its normal operation within the predetermined working area, i.e., the boundary, and does not exceed the boundary. Generally, the smart lawn mower determines whether it is out of the boundary according to the boundary signal received from the base station.

[0046] S2. Determine whether the smart lawn mower is interfered with according to the boundary signal. If so, execute step S3, otherwise execute step S1; Specifically, according to the above description, when the boundary signal of the base station is used to maintain the smart lawn mower working within the boundary, it can determine whether the current smart lawn mower is interfered with by the received boundary signal of the base station. In one embodiment, the above-mentioned determination of whether the smart lawn mower is interfered with according to the boundary signal includes: determining whether the smart lawn mower misjudges the boundary as outside the boundary based on the boundary signal, and if so, determining that the smart lawn mower is interfered with. That is, under normal circumstances, the smart lawn mower determines whether it is within the boundary or outside the boundary by receiving the corresponding base station signal, but when its actual position is within the boundary, but it is determined that it is outside the boundary through the base station signal, it can be determined that its previous base station signal is interfered, and the signal received this time is a boundary signal from an adjacent base station. That is, the situation of misjudging the boundary as outside the boundary occurs. In another embodiment, the above-mentioned determination of whether the smart lawn mower is interfered with based on the boundary signal includes: determining whether the smart lawn mower can obtain its current position based on the boundary signal, and if not, determining that the smart lawn mower is interfered with. That is, under normal circumstances, the robot may be interfered with by multiple boundary signals or other similar signals, causing it to be unable to identify which is a useful normal signal to determine whether its position is inside or outside the boundary. Under normal circumstances, when it is determined that the smart lawn mower is not interfered with, it continues to perform normal boundary signal monitoring of the base station. When it is determined that it is interfered with, the following actions are performed.

[0047] S3, generate a trigger signal to trigger the base station corresponding to the smart lawn mower to enter the frequency hopping mode, so as to obtain a preset frequency from multiple preset frequencies as the target frequency to generate a boundary signal; specifically, when the smart lawn mower determines that it is interfered, it triggers the base station corresponding to the smart lawn mower to enter the frequency hopping mode. In one embodiment, the trigger signal can be generated by setting a trigger button on the base station and triggering the button. In another embodiment, it can also trigger the base station corresponding to the smart lawn mower to generate a trigger signal through a trigger instruction input by the user or an automatically generated trigger instruction. For example, when the smart lawn mower robot confirms that it is interfered and cannot be located, it can send a signal to the user's mobile phone terminal, or generate a prompt signal by itself, such as sound, indicator light, display screen display, etc., stop in place and wait for the user to find it, and then perform corresponding operations to trigger the base station to change the boundary signal frequency, or the lawn mower itself automatically sends a signal to the corresponding base station to trigger the frequency hopping mode. After entering the frequency hopping mode, the base station will select a preset frequency from multiple preset frequencies as the target frequency and generate a corresponding boundary signal. At this time, the base station can correspond to the smart lawn mower through the boundary signal of the target frequency, so that the smart lawn mower can perform boundary recognition according to the new boundary signal. It can also confirm the boundary according to the new target frequency through the mowing robot, and judge whether the boundary shape changes to judge whether it is inside or outside the boundary. That is, at this time, the base station outputs the boundary signal with the target frequency and does not change the signal shape characteristics, so that the smart mower can identify the boundary according to the new boundary signal shape characteristics.

[0048] S4, continue to monitor the working state of the smart lawn mower to determine whether the smart lawn mower has eliminated the interference; if so, execute step S6, otherwise execute step S5; S5, trigger the base station corresponding to the smart lawn mower to enter the frequency hopping mode again, so as to obtain a preset frequency from the remaining preset frequencies as the target frequency to generate the boundary signal, and execute step S4; S6, trigger the base station corresponding to the smart lawn mower to continuously output the boundary signal at the target frequency. Specifically, after switching the working frequency of the base station and the smart lawn mower, continue to monitor the working state of the smart lawn mower, and determine whether the current smart lawn mower continues to be interfered with according to the new boundary signal, that is, determine whether the interference is eliminated. When it is determined that the interference of the smart lawn mower is eliminated, the base station continues to output the boundary signal at the target frequency to work. When the interference is not eliminated, the base station corresponding to the smart lawn mower is triggered again to enter the frequency hopping mode, obtain a new preset frequency from the remaining preset frequencies as the target frequency, and try again to determine whether the interference is eliminated. This process can be repeated until the interference is eliminated or all frequencies are traversed. The process of re-triggering the base station corresponding to the smart lawn mower may be triggered by a generated trigger signal, or may be automatically triggered by the base station according to the interference determination result.

[0049] Optional, such as Figure 2 As shown, in the anti-interference method of the boundary signal of the smart lawn mower described in the present application, it also includes: when the base station corresponding to the smart lawn mower is triggered to generate a boundary signal, it is determined whether there is a first preset target frequency in the preset storage area. If so, the boundary signal is generated with the first preset target frequency, otherwise, the boundary signal is generated with the second preset target frequency. Specifically, when the base station corresponding to the smart lawn mower starts to work and generates a boundary signal, for example, when the base station is powered on and starts working, it first determines whether there is a pre-stored first preset target frequency in the preset storage area. When there is a first preset target frequency, the boundary signal is generated with this frequency. When there is no pre-stored first preset target frequency in the preset storage area, the boundary signal is directly generated with the second preset target frequency. It can be understood that the second preset target frequency can be a fixed pre-set value, and the first preset target frequency can be stored later, which can be changed.

[0050] Optionally, in the intelligent lawn mower boundary signal anti-interference method described in the present application, in the step S6, it also includes: taking the target frequency as the first preset target frequency and saving it to the preset storage area. Specifically, the final target frequency obtained above can be stored. That is, the target frequency corresponding to the boundary signal of the intelligent lawn mower without interference is obtained, and the target frequency is stored as the first preset target frequency in the preset storage area while the base station works at the target frequency. In this way, the base station can directly work at the target frequency when it is triggered or powered on next time, which can reduce the probability of the lawn mower being interfered with.

[0051] Optionally, in step S3, the multiple preset frequencies include at least 5 different preset frequencies. Specifically, the base station can usually be set to perform frequency hopping among multiple preset frequencies. In some extreme cases, there may be multiple frequencies that interfere with the smart lawn mower. For example, there are adjacent base stations around the smart lawn mower. At this time, one working frequency may eliminate the interference of an adjacent base station, but another adjacent base station may cause interference. At this time, the frequency must be reselected. At least 5 different preset frequencies can be set to avoid possible interference in the four directions of the smart lawn mower. It can generally be considered that eliminating the interference of a limited number of adjacent frequencies will inevitably eliminate the interference of the entire system.

[0052] Optionally, in step S3, the plurality of preset frequencies include a plurality of frequencies spaced at preset steps. Specifically, the preset frequencies may be set to a plurality of frequencies obtained at preset steps within a frequency range. That is, the intervals between each frequency are the same or different.

[0053] Optionally, in step S3, obtaining a preset frequency from a plurality of preset frequencies as the target frequency includes: randomly obtaining a preset frequency from the plurality of preset frequencies as the target frequency. Specifically, when the base station is triggered to select a target frequency for the first time, it may randomly select a preset frequency as the target frequency, or it may select according to a preset rule, such as selecting from a maximum value, or selecting from a minimum value, or it may select a frequency far from the current operating frequency or a preset frequency that meets a certain range as the target frequency based on the judgment of the current operating frequency.

[0054] Optionally, in step S5, obtaining a preset frequency from the remaining preset frequencies as the target frequency includes: selecting a preset frequency as the target frequency in a preset order; specifically, in one embodiment, the process of selecting a preset frequency from the remaining preset frequencies can be selected in a preset order, for example, starting from the maximum value of the remaining frequencies, or starting from the minimum value of the remaining frequencies, and selecting according to the preset order until a suitable frequency that can eliminate interference is selected as the target frequency. In addition, the selection can be made in this order during the entire preset frequency selection process, that is, after the frequency hopping mode, only a frequency that is closest to the current frequency or a frequency that is farthest away is selected each time. The preset frequencies can also be sorted in advance and selected according to the sorting, that is, only a frequency after the current sorting is selected as the target frequency for trial each time.

[0055] Optionally, in step S5, obtaining a preset frequency from the remaining preset frequencies as the target frequency includes: pre-storing historical target frequencies, randomly selecting a preset frequency and using the preset frequency as the target frequency when the preset frequency is different from the historical target frequency. Specifically, in another embodiment, the process of selecting a preset frequency from the remaining preset frequencies is still a random selection, and after selecting the preset frequency, it is compared with the pre-stored historical target frequency, that is, triggering the base station to select the target frequency once, and the historical target frequency that the base station has worked on will be temporarily stored. When selecting the preset frequency again, it will be confirmed whether it is the historical target frequency. If so, the preset frequency will not be selected until a frequency that has not appeared is selected as the target frequency to generate a boundary signal. The pre-storage process is a temporary storage, and the pre-storage can be cleared after the base station is powered off or by a trigger instruction. In one embodiment, after the interference is eliminated, when the base station works at a fixed target frequency, the pre-stored historical target frequency is cleared.

[0056] like Figure 3 As shown, a boundary signal anti-interference device for an intelligent lawn mower of the present application comprises:

[0057] The monitoring unit 110 is used to monitor the boundary signal from the base station in real time during the operation of the intelligent lawn mower;

[0058] A first judgment unit 121, configured to judge whether the intelligent lawn mower is interfered with according to the boundary signal, and output a positive result if so, or a negative result otherwise;

[0059] A first trigger unit 131 is used to generate a trigger signal to trigger the base station corresponding to the intelligent lawn mower to enter a frequency hopping mode when the first judgment unit outputs a positive result, so as to obtain a preset frequency from a plurality of preset frequencies as a target frequency to generate a boundary signal;

[0060] The second judgment unit 122 is used to continue to monitor the working state of the intelligent lawn mower to determine whether the intelligent lawn mower has removed the interference; if so, output a positive result, otherwise output a negative result;

[0061] A second trigger unit 132 is used to trigger the base station corresponding to the intelligent lawn mower to enter the frequency hopping mode again when the second judgment unit outputs a negative result, so as to obtain a preset frequency from the remaining preset frequencies as the target frequency to generate the boundary signal;

[0062] The execution unit 140 is configured to trigger the base station corresponding to the smart lawn mower to continuously output a boundary signal at the target frequency when the second judgment unit outputs a positive result.

[0063] Specifically, the specific coordination operation process between the various units of the intelligent lawn mower boundary signal anti-interference device here can refer to the above-mentioned intelligent lawn mower boundary signal anti-interference method, which will not be repeated here.

[0064] In addition, an electronic device of the present application includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program to implement any of the above intelligent lawn mower boundary signal anti-interference methods. Specifically, according to an embodiment of the present application, the process described with reference to the flowchart above can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed by an electronic device and executed to perform the above-mentioned functions defined in the method of the embodiment of the present application. The electronic device in the present application may be a terminal such as a notebook, a desktop, a tablet computer, a smart phone, or a server.

[0065] In addition, a computer storage medium of the present application stores a computer program thereon, and when the computer program is executed by the processor, any of the above intelligent lawn mower boundary signal anti-interference methods is implemented. Specifically, it should be noted that the above-mentioned computer-readable medium of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0066] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0067] It can be understood that the above embodiments only express the preferred implementation methods of the present application, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application; it should be pointed out that for ordinary technicians in this field, without departing from the concept of the present application, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present application; therefore, all equivalent changes and modifications made to the scope of the claims of the present application should fall within the scope of the claims of the present application.

Claims

1. A method for anti-interference of boundary signals of an intelligent lawn mower, characterized in that: The method comprises: S1. During the operation of the intelligent lawn mower, a boundary signal from a base station is monitored in real time, wherein the current position of the intelligent lawn mower is determined by receiving the boundary signal from the base station during the operation of the intelligent lawn mower, so as to maintain the intelligent lawn mower working within the boundary; S2, judging whether the intelligent lawn mower is interfered according to the boundary signal, if so, executing step S3, otherwise executing step S1; S3, generating a trigger signal to trigger the base station corresponding to the intelligent lawn mower to enter a frequency hopping mode, so as to obtain a preset frequency from a plurality of preset frequencies as a target frequency to generate a boundary signal; S4, continue to monitor the working state of the intelligent lawn mower to determine whether the intelligent lawn mower has removed the interference; if so, execute step S6, otherwise execute step S5; S5, triggering the base station corresponding to the smart lawn mower to enter the frequency hopping mode again, so as to obtain a preset frequency from the remaining preset frequencies as the target frequency to generate the boundary signal, and executing step S4; S6, triggering the base station corresponding to the smart lawn mower to continuously output a boundary signal at the target frequency; In the step S2, judging whether the intelligent lawn mower is interfered with according to the boundary signal includes: Determine whether the smart lawn mower misjudges the inside of the boundary as outside of the boundary based on the boundary signal, and if so, determine that the smart lawn mower is interfered; or Based on the boundary signal, it is determined whether the intelligent lawn mower can obtain its current position. If not, it is determined that the intelligent lawn mower is interfered.

2. The method for anti-interference of boundary signals of an intelligent lawn mower according to claim 1, characterized in that: The method further comprises: S0. When the base station corresponding to the smart lawn mower is triggered to generate a boundary signal, it is determined whether there is a first preset target frequency in the preset storage area. If so, the boundary signal is generated with the first preset target frequency; otherwise, the boundary signal is generated with the second preset target frequency.

3. The intelligent lawn mower boundary signal anti-interference method according to claim 2, characterized in that: In the step S6, it also includes: The target frequency is used as the first preset target frequency and is saved in the preset storage area.

4. The method for anti-interference of boundary signals of an intelligent lawn mower according to claim 1, characterized in that: In the step S3, the plurality of preset frequencies include at least 5 different preset frequencies.

5. The intelligent lawn mower boundary signal anti-interference method according to claim 1, characterized in that: In the step S3, the plurality of preset frequencies include a plurality of frequencies spaced at preset step intervals.

6. The method for anti-interference of boundary signals of an intelligent lawn mower according to claim 1, characterized in that: In step S3, obtaining a preset frequency from a plurality of preset frequencies as a target frequency includes: A preset frequency is randomly selected from the plurality of preset frequencies as the target frequency.

7. The intelligent lawn mower boundary signal anti-interference method according to claim 1, characterized in that: In the step S5, obtaining a preset frequency from the remaining preset frequencies as the target frequency includes: A preset frequency is selected as the target frequency according to a preset order.

8. The method for anti-interference of boundary signals of an intelligent lawn mower according to claim 1, characterized in that: In the step S5, obtaining a preset frequency from the remaining preset frequencies as the target frequency includes: pre-storing historical target frequencies, randomly selecting a preset frequency and using the preset frequency as the target frequency when the preset frequency is different from the historical target frequency.

9. The method for anti-interference of boundary signals of an intelligent lawn mower according to claim 8, characterized in that: The step S6 further comprises: Clear the pre-stored historical target frequency.

10. An intelligent lawn mower boundary signal anti-interference device, characterized in that: Used to implement the intelligent lawn mower boundary signal anti-interference method as described in any one of claims 1 to 9, the interference device includes: A monitoring unit, used for real-time monitoring of the boundary signal from the base station during the operation of the intelligent lawn mower; A first judgment unit, configured to judge whether the intelligent lawn mower is interfered with according to the boundary signal, and output a positive result if so, or a negative result otherwise; A first trigger unit, configured to generate a trigger signal to trigger the base station corresponding to the intelligent lawn mower to enter a frequency hopping mode when the first judgment unit outputs a positive result, so as to obtain a preset frequency from a plurality of preset frequencies as a target frequency to generate a boundary signal; A second judgment unit is used to continue to monitor the working state of the intelligent lawn mower to determine whether the intelligent lawn mower has removed the interference; if so, output a positive result, otherwise output a negative result; The second trigger unit is used to trigger the base station corresponding to the smart lawn mower to enter the frequency hopping mode again when the second judgment unit outputs a negative result, so as to obtain a preset frequency from the remaining preset frequencies. to the target frequency to generate the boundary signal; An execution unit is used to trigger the base station corresponding to the intelligent lawn mower to continuously output a boundary signal at the target frequency when the second judgment unit outputs a positive result.

11. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the intelligent lawn mower boundary signal anti-interference method as described in any one of claims 1 to 9 is implemented.

12. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to execute the computer program to implement the intelligent lawn mower boundary signal anti-interference method as described in any one of claims 1-9.

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