Signal control circuits and methods, generating devices, docking stations, autonomous operating systems and storage media

Abstract

One embodiment of the present invention discloses a signal control circuit, a signal control method, a computer-readable storage medium, a signal generating device, a docking station, and an autonomous operating system. The signal control circuit is used to control the generation of pulses within a boundary line loop, including the boundary line; a control module is configured to connect to the boundary line and control the frequency of the pulses according to the state of the boundary line loop, thus solving the problem of sparks easily generated when connecting to the boundary line.

Description

Technical Field

[0001] This invention relates to the field of intelligent robots, and more particularly to a signal control circuit and control method for an autonomous operating system. It also relates to a signal generating device including the above-mentioned signal control circuit, a docking station, an autonomous operating system, and a storage medium storing a computer program that can implement the above-mentioned control method when executed. Background Technology

[0002] Many existing robots, such as smart lawnmowers, are designed to operate within work areas defined by boundary lines, which are constructed as closed-loop metal wires. Typically, the docking station for the smart lawnmower is equipped with a signal generator. The boundary line extends from this generator, runs along the corresponding work boundary of the smart lawnmower, and returns to the generator to define the work area. The signal generator controls the transmission of pulse signals along the boundary line by opening and closing an electronic switch. If a user connects wires to the boundary line while the charging station is powered on—for example, connecting the boundary line to the charging station's terminals or connecting two broken sections of the boundary line—and the electronic switch happens to be on, the large current generated during the connection will produce an electric arc. Since the charging station's electronic switch typically opens and closes at a relatively high frequency, this increases the likelihood of arcing during such connections. Electric arcs not only startle customers and pose a danger in the presence of flammable or explosive materials, but they also severely damage the contacts and prolong the time required to disconnect the circuit. Summary of the Invention

[0003] The main technical problem solved by this invention is to provide a signal control circuit that is less prone to generating electric arcs when connecting boundary lines.

[0004] To address the aforementioned technical problems, the present invention provides a signal control circuit for controlling the generation of pulses within a boundary line loop, comprising: a boundary line; and a control module configured to be connected to the boundary line, controlling the frequency of the pulses according to the state of the boundary line loop.

[0005] In one specific embodiment of the present invention, the signal control circuit further includes a status information acquisition module, which is configured to be connected to the boundary line to acquire the status information of the boundary line loop; the control module is configured to be connected to the status information acquisition module to control the frequency of the pulse according to the status information of the boundary line loop.

[0006] In one specific embodiment of the present invention, when the boundary line loop is in a first state, the control module controls the generation of pulses of a first frequency within the boundary line loop; when the boundary line loop is in a second state, the control module controls the generation of pulses of a second frequency within the boundary line loop.

[0007] In one specific embodiment of the present invention, the first state is a conducting state, the second state is an open-circuit state, and the first frequency is greater than the second frequency.

[0008] As a specific embodiment of the present invention, the first frequency is not less than 50Hz; the second frequency is less than 50Hz; further, the first frequency is 60Hz to 100Hz, and the second frequency is 0.3Hz to 30Hz; more preferably, the first frequency is 60Hz to 70Hz, and the second frequency is 0.5Hz to 1.5Hz.

[0009] In one specific embodiment of the present invention, a wiring assembly is provided on the boundary line loop, the wiring assembly including a terminal block and a diode; the boundary line is connected to the wiring assembly.

[0010] In one specific embodiment of the present invention, the control module includes a switch module and a control unit. The switch module is disposed on the boundary line loop. When the switch module is turned on, the boundary line loop is in a conducting state. When the switch module is turned off, the boundary line loop is in an open circuit state. The control unit is connected to the switch module for controlling the on / off state of the switch module. The control unit is configured to control the on / off frequency of the switch module according to the state of the boundary line loop.

[0011] In one specific embodiment of the present invention, the switching module is configured to include an electronic switch, wherein the electronic switch includes a field-effect transistor.

[0012] In one specific embodiment of the present invention, the switch module further includes a first switch circuit, and the electronic switch is connected to the control unit through the first switch circuit.

[0013] In one specific embodiment of the present invention, the first switching circuit includes a switching unit, the control terminal of the switching unit is connected to the control unit, the input terminal of the switching unit is connected to the power chip, and the input terminal of the switching unit is connected to the control terminal of the electronic switch, and the output terminal of the switching unit is grounded.

[0014] In one specific embodiment of the present invention, the switching unit includes a transistor Q2; the switching unit is configured such that when the control unit sends a first level signal, the transistor Q2 is in a cutoff state and the electronic switch is turned on; when the control unit sends a second level signal, the transistor Q2 is in a turned-on state and the electronic switch is turned off. Further, the first level signal is a low-level signal, and the second level signal is a high-level signal.

[0015] In one specific embodiment of the present invention, the first switching circuit further includes a voltage limiting unit. The control terminal of the voltage limiting unit is connected to the output terminal of the electronic switch, the input terminal of the voltage limiting unit is connected to the control terminal of the electronic switch, and the output terminal of the voltage limiting unit is grounded. Further, the voltage limiting unit includes a transistor Q1.

[0016] In one specific embodiment of the present invention, the first switching circuit further includes a filter capacitor C18, the first end of which is connected to the control terminal of the electronic switch, and the second end of which is connected to the output terminal of the electronic switch through a resistor R22.

[0017] In one specific embodiment of the present invention, the first switching circuit further includes a step-down unit, the input terminal of which is connected to the power supply chip, and the output terminal of which is connected to the control terminal of the electronic switch.

[0018] In one specific embodiment of the present invention, the step-down unit includes a diode D6 and a capacitor C16. The first terminal of the capacitor C16 is connected to the cathode of the diode D6, and the second terminal of the capacitor C16 is grounded.

[0019] In one specific embodiment of the present invention, the switching module is configured to include a relay.

[0020] In one specific embodiment of the present invention, the state information sampling module is configured to include a sampling circuit for detecting the current characteristic value flowing through the boundary line loop; wherein, a first end of the boundary line is connected to an external power supply, a second end of the boundary line is connected to the input end of the switch module, the control end of the switch module is connected to the control unit, the output end of the switch module is connected to the input end of the sampling circuit, the signal end of the sampling circuit is connected to the control unit, and the output end of the sampling circuit is grounded.

[0021] In one specific embodiment of the present invention, the sampling circuit includes a current sampling resistor, the first end of which is connected to the input terminal of the sampling circuit, and the second end of which is grounded.

[0022] In one specific embodiment of the present invention, the sampling circuit further includes a first filter, the input terminal of which is connected to the first terminal of the current sampling resistor, and the output terminal of which is connected to the control unit.

[0023] In one specific embodiment of the present invention, the sampling circuit further includes a follower unit, the input terminal of which is connected to the output terminal of the first filter, and the output terminal of which is connected to the control unit.

[0024] In one specific embodiment of the present invention, the sampling circuit further includes an amplifier, and the first end of the current sampling resistor is connected to the input end of the first filter through the amplifier.

[0025] In one specific embodiment of the present invention, the sampling circuit further includes a second filter, and the first end of the current sampling resistor is connected to the input end of the amplifier through the second filter.

[0026] To address the aforementioned technical problems, the present invention also provides a signal control method, comprising acquiring the state of a boundary line loop and controlling the frequency of a boundary signal based on the state of the boundary line loop.

[0027] In one specific embodiment of the present invention, when the boundary line loop is in the first state, the frequency of the boundary signal is controlled to be a first frequency; when the boundary line loop is in the second state, the frequency of the boundary signal is controlled to be a second frequency.

[0028] In one specific embodiment of the present invention, the first state is a conducting state, the second state is an open-circuit state, and the first frequency is greater than the second frequency.

[0029] To address the aforementioned technical problems, the present invention also provides a signal control circuit for controlling the frequency of pulses within a boundary line loop, comprising: a boundary line; a control module configured to be connected to the boundary line; the control module is further configured to include a memory and a processor, the memory storing a computer program executable on the processor; the processor, when executing the computer program, can implement the aforementioned signal control method.

[0030] To address the aforementioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the aforementioned signal control method.

[0031] To address the aforementioned technical problems, the present invention also provides a signal generating device configured to generate a boundary signal, including the aforementioned signal control circuit.

[0032] To address the aforementioned technical problems, the present invention also provides a docking station configured to supply energy to autonomous operating equipment parked at the docking station, including the aforementioned signal generating device.

[0033] To address the aforementioned technical problems, the present invention also provides an autonomous operating system, including autonomous operating equipment, and further including the aforementioned signal generating device or the aforementioned docking station. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0035] picture 1 This is a schematic diagram of an autonomous operating system provided in an embodiment of the present invention.

[0036] Figure 2 This is a schematic diagram of a signal control circuit provided in an embodiment of the present invention.

[0037] Figure 3 This is a schematic diagram of a switching module provided in an embodiment of the present invention.

[0038] Figure 4 This is a circuit diagram of a switching module provided in an embodiment of the present invention.

[0039] Figure 5 This is a schematic diagram of a status information acquisition module provided in an embodiment of the present invention.

[0040] Figure 6 This is a schematic diagram of a sampling circuit provided in an embodiment of the present invention.

[0041] Figure 7 This is a flowchart of a signal control method provided in an embodiment of the present invention. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0043] refer to Figure 1 This embodiment provides an autonomous operation system, including autonomous operation equipment 10, docking station 20 and boundary 30.

[0044] The autonomous operating device 10 is, in particular, a robot capable of autonomously moving within a preset area and performing specific tasks, typically such as a smart sweeper / vacuum cleaner for cleaning or a smart lawnmower for mowing. The specific tasks specifically refer to tasks that treat the work surface and change its state. This invention uses a smart lawnmower as an example for detailed explanation. The autonomous operating device 10 can autonomously move on the surface of the work area, and in particular, as a smart lawnmower, it can autonomously perform lawn mowing on the ground. The autonomous operating device 10 includes at least a main body mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module.

[0045] The main structure typically includes a chassis and a housing. The chassis is used to install and house functional mechanisms and modules such as the moving mechanism, working mechanism, energy module, detection module, interaction module, and control module. The housing is typically constructed to at least partially cover the chassis, primarily to enhance the aesthetics and recognizability of the autonomous operating equipment 10. In this embodiment, the housing is constructed to translate and / or rotate relative to the chassis under external force. Combined with appropriate detection modules, such as Hall effect sensors, it can further detect events such as collisions and lifting.

[0046] The mobile mechanism is configured to support the main body on the ground and drive it to move on the ground. It typically includes wheeled, tracked, or half-tracked mobile mechanisms and walking mobile mechanisms. In this embodiment, the mobile mechanism is a wheeled mobile mechanism, including at least one drive wheel and at least one prime mover. The prime mover is preferably an electric motor, but in other embodiments it can be an internal combustion engine or a machine powered by other types of energy. In this embodiment, preferably, a left drive wheel, a left prime mover driving the left drive wheel, a right drive wheel, and a right prime mover driving the right drive wheel are provided. In this embodiment, the straight-line movement of the autonomous operating device is achieved by the same-speed rotation of the left and right drive wheels in the same direction, and turning is achieved by differential rotation or opposite rotation of the left and right drive wheels in the same direction. In other embodiments, the mobile mechanism may also include a steering mechanism independent of the drive wheels and a steering prime mover independent of the prime mover. In this embodiment, the moving mechanism further includes at least one driven wheel, which is typically constructed as a caster wheel, and the drive wheel and the driven wheel are located at the front and rear ends of the autonomous operating device, respectively.

[0047] The working mechanism is configured to perform specific tasks and includes working parts and a prime mover that drives the working parts. For example, in a smart sweeper / vacuum cleaner, the working parts include a roller brush, a suction pipe, and a dust collection chamber; in a smart lawnmower, the working parts include cutting blades or a cutting disc, and further include other components such as a height adjustment mechanism for adjusting the mowing height to optimize or adjust the mowing effect. The prime mover is preferably an electric motor, but in other embodiments it can also be an internal combustion engine or a machine powered by other types of energy. In some other embodiments, the prime mover and the driving prime mover are constructed as the same prime mover.

[0048] The energy module is configured to provide energy for the various operations of the autonomous operating device 10. In this embodiment, the energy module includes a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed to the outside of the autonomous operating device.

[0049] The detection module is constructed as at least one sensor that senses environmental parameters of the autonomous operating device 10 or its own operating parameters. Typically, the detection module may include sensors related to the defined working area, such as magnetic induction, impact, ultrasonic, infrared, and radio sensors, with the sensor type corresponding to the location and number of the corresponding signal generating devices. The detection module may also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, accelerometers, odometers, angle sensors, and geomagnetic sensors. The detection module may also include sensors related to its own operational safety, such as obstacle sensors, lift sensors, and battery pack temperature sensors. The detection module may also include sensors related to the external environment, such as ambient temperature sensors, ambient humidity sensors, light sensors, and rain sensors.

[0050] The interaction module is configured to at least receive user-input control commands, issue information that the user needs to perceive, and communicate with other systems or devices to send and receive information. In this embodiment, the interaction module includes an input device mounted on the autonomous operating device 10 for receiving user-input control commands, typically such as a control panel or emergency stop button. The interaction module also includes a display screen, indicator lights, and / or a buzzer mounted on the autonomous operating device 10 to make the user perceive information through light or sound. In other embodiments, the interaction module includes a communication module mounted on the autonomous operating device 10 and a terminal device independent of the autonomous operating device 10, such as a mobile phone, computer, or network server. User control commands or other information can be input on the terminal device and reach the autonomous operating device 10 via wired or wireless communication modules.

[0051] The control module typically includes at least one processor and at least one non-volatile memory. The memory stores pre-written computer programs or instruction sets, and the processor controls the autonomous operating device 10 to perform actions such as movement and operation according to the computer programs or instruction sets. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous operating device 10 and modify the parameters in the memory according to signals from the detection module and / or user control commands.

[0052] The boundary 30 is used to limit the working area of ​​the robot system and typically includes an outer boundary and an inner boundary. The autonomous operating device 10 is confined to move and operate within the outer boundary, outside the inner boundary, or between the outer and inner boundaries. The boundary can be physical, typically such as a wall, fence, or railing; the boundary can also be virtual, typically such as a virtual boundary signal emitted by a signal generating device, which is usually an electromagnetic signal or an optical signal, or, for the autonomous operating device 10 equipped with a positioning device (such as GPS), a virtual boundary set in an electronic map formed by two-dimensional or three-dimensional coordinates. In this embodiment, the boundary 30 is constructed as a closed, energized boundary line electrically connected to the signal generating device, which is typically located within the docking station 20.

[0053] The docking station 20 is typically constructed on or within the boundary 30 to provide parking for the autonomous operating equipment 10, and in particular, to supply energy to the autonomous operating equipment 10 parked at the docking station.

[0054] To address the problems existing in the prior art, reference is made to... Figure 2 This invention provides a signal generating device, which includes a signal control circuit. The signal control circuit is used to control the generation of pulses within a boundary line loop, and includes a boundary line 30 and a control module. The control module 31 is configured to be connected to the boundary line 30 and controls the frequency of the pulses according to the state of the boundary line loop. Further, the signal control circuit also includes a state information acquisition module, configured to be connected to the boundary line to acquire state information of the boundary line loop; the control module is configured to be connected to the state information acquisition module and controls the frequency of the pulses according to the state information of the boundary line loop.

[0055] In this embodiment, a wiring assembly is provided on the boundary line loop, including a terminal block and a diode D5. The terminal block is installed on the docking station and includes two terminals, each with a first end and a second end opposite to each other. The first end is exposed outside the docking station, and the second end is inserted into the docking station. The first ends of the two terminals are electrically connected to the two ends of the boundary line, and the second ends of the two terminals are connected to the two ends of the diode D5. The diode D5 serves as a freewheeling diode in the circuit. The cathode of the diode D5 is connected to an external power supply Vin, and the anode of the diode D5 is connected to the control module 31. Preferably, the diode D5 is a Schottky diode.

[0056] Furthermore, the control module 31 includes a switch module 311 and a control unit 312. The switch module 311 is disposed on the boundary line loop. When the switch module 311 is turned on, the boundary line loop is in a conducting state; when the switch module 311 is turned off, the boundary line loop is in an open circuit state. The control unit 312 is electrically connected to the switch module 311 and controls the on / off state of the switch module 311, thereby generating pulses within the boundary line loop. The control unit 312 is configured to be connected to the status information acquisition module 32 and controls the on / off frequency of the switch module 311 according to the state of the boundary line loop. In this embodiment, the control unit 312 is configured to include a microcontroller.

[0057] In this embodiment, the switch module 311 is configured to include an electronic switch 3111, as referenced. Figures 3-4 The input terminal 3111i of the electronic switch is connected to the anode of the diode D5, the output terminal 3111o of the electronic switch is connected to the input terminal 32i of the status information acquisition module, and the control terminal 3111c of the electronic switch is connected to the control unit 312. The electronic switch includes a field-effect transistor Q3; the electronic switch is configured to turn on when the gate voltage of the field-effect transistor Q3 reaches a certain voltage threshold. Specifically, the electronic switch turns on when the control unit sends a first level signal, and turns off when the control unit sends a second level signal. Further, the first level signal is a low level signal, and the second level signal is a high level signal.

[0058] Furthermore, the electronic switch also includes a diode D3; the source of the field-effect transistor Q3 is connected to the anode of the diode D3, the drain of the field-effect transistor Q3 is connected to the cathode of the diode D3, the gate of the field-effect transistor Q3 is connected to the control unit 312, the cathode of the diode D3 is connected to the input terminal 311i of the switch module, and the anode of the diode D3 is connected to the output terminal 311o of the switch module. The diode D3 is called a body diode and is used to prevent the field-effect transistor Q3 from burning out when the power supply voltage is too high.

[0059] Furthermore, the electronic switch is configured to be connected in parallel with diode TVS1, which in turn is connected in parallel with field-effect transistor Q3, providing protection for Q3. Preferably, diode TVS1 is a transient voltage suppressor diode. The cathode of diode TVS1 is connected to the drain of field-effect transistor Q3, and the anode of diode TVS1 is connected to the source of field-effect transistor Q3. Further, a resistor R16 is connected in parallel between the source and gate of field-effect transistor Q3, serving as a voltage divider and current diffuser in the circuit.

[0060] In this embodiment, the switch module 311 is configured to further include a first switch circuit, through which the electronic switch 3111 is connected to the control unit 312. The first switch circuit includes a switch unit 3112, whose control terminal 3121c is connected to the control unit 312, whose input terminal 3112i is connected to the power chip V1, and whose input terminal 3112i is connected to the control terminal 3111c of the electronic switch. The output terminal 3112o of the switch unit is grounded.

[0061] Further, the first switching circuit includes a transistor Q2. The base of transistor Q2 is connected to the control unit 312, and the collector of transistor Q2 is connected to the power chip V1 through resistor R11. Simultaneously, the collector of transistor Q2 is connected to the control terminal 3111c of the electronic switch through resistor R13, and the emitter of transistor Q2 is grounded. The first switching circuit is configured such that when the level of the control terminal 3112c of the switching unit changes, transistor Q2 switches between a conducting state and a cutoff state, causing a change in the gate voltage of the field-effect transistor Q3, thereby controlling the conduction and cutoff of the electronic switch. Specifically, when the control unit 312 sends a first level signal, transistor Q2 is in the cutoff state, and the gate voltage of the field-effect transistor Q3 reaches a certain voltage threshold, thus turning on the electronic switch; when the control unit 312 sends a second level signal, transistor Q2 is in the conducting state, and the gate voltage of the field-effect transistor Q3 cannot reach the certain voltage threshold, thus turning off the electronic switch. Furthermore, the first level signal is a low level signal, and the second level signal is a high level signal.

[0062] In this embodiment, the first switching circuit further includes a voltage limiting unit 3113. The control terminal 3113c of the voltage limiting unit is connected to the output terminal 3111o of the electronic switch, the input terminal 3113i of the voltage limiting unit is connected to the control terminal 3111c of the electronic switch, and the output terminal 3113o of the voltage limiting unit is grounded. Further, the voltage limiting unit 3113 includes a transistor Q1. The base of the transistor Q1 is connected to the output terminal 3111o of the electronic switch through a resistor R22, the collector of the transistor Q1 is connected to the control terminal 3111c of the electronic switch, and the emitter of the transistor Q1 is grounded.

[0063] In this embodiment, the first switching circuit further includes a filter capacitor C18. The first end of the filter capacitor C18 is connected to the control terminal 3111c of the electronic switch, and the second end of the filter capacitor C18 is connected to the output terminal 3111o of the electronic switch through a resistor R22.

[0064] In this embodiment, the first switching circuit further includes a step-down unit 3114, the input terminal 3114i of which is connected to the power chip V1, and the output terminal 3114o of which is connected to the control terminal 3111c of the electronic switch.

[0065] Furthermore, the step-down unit 3114 includes a diode D6 and a capacitor C16, which are connected in series. The anode of the diode D6 is connected to the power chip V1, and the cathode of the diode D6 is connected to the output terminal 3111o of the electronic switch through a resistor R13. The first terminal of the capacitor C11 is connected to the cathode of the diode D6, and the second terminal of the capacitor C16 is grounded.

[0066] In other embodiments, the switch module 31 is configured to include a relay.

[0067] In this embodiment, the status information acquisition module 32 is configured to include a sampling circuit. (See reference...) Figures 4-5 The sampling circuit is used to detect the current characteristic value flowing through the boundary line loop. In this embodiment, the control unit 312 controls the electronic switch to turn on. If current is generated in the boundary line loop, the sampling circuit detects the current characteristic value of the boundary line loop, and the control unit 312 determines that the boundary line loop is in a conducting state; if no current is generated in the boundary line loop, the sampling circuit cannot detect the current characteristic value of the boundary line loop, and the control unit 312 determines that the boundary line loop is in an open circuit state.

[0068] The first end of the boundary line 30 is connected to the external power supply Vin, the second end of the boundary line 30 is connected to the input terminal 311i of the switch module, the control terminal 311c of the switch module is connected to the control unit 312, the output terminal 311o of the switch module is connected to the input terminal 32i of the sampling circuit, the signal terminal 32s of the sampling circuit is connected to the control unit 312, and the output terminal 32o of the sampling circuit is grounded.

[0069] In this embodiment, the sampling circuit includes a current sampling resistor 321, the first end of which is connected to the input terminal 32i of the sampling circuit, and the second end of which is grounded. Preferably, the current sampling resistor 321 is configured to consist of at least two resistors connected in parallel. The sampling circuit also includes a first filter 324, the input terminal 324i of which is connected to the first end of the current sampling resistor 321, and the output terminal 324o of which is connected to the control unit 312; wherein the first filter includes an RC filter and a diode D10, the RC filter and the diode D10 being connected in parallel. Further, the sampling circuit also includes a follower unit 325, the input terminal 325i of which is connected to the output terminal 324o of the first filter, and the output terminal 325o of which is connected to the control unit 312. For ease of AD sampling, the sampling circuit also includes an amplifier 323, the first end of which is connected to the input terminal 324i of the first filter through the amplifier 323. Furthermore, the sampling circuit also includes a second filter 322, and the first end of the current sampling resistor 321 is connected to the input terminal 323i of the amplifier through the second filter 322.

[0070] Using the signal control circuit provided in the above embodiments, the state information of the boundary line loop is obtained through the sampling circuit. When the boundary line is broken, the control module cannot detect the boundary signal, so it controls the switching circuit to switch on and off from a high frequency to a low frequency, thereby reducing the probability that the switching module is in the on state when the boundary line loop is connected, thus reducing the probability of arc generation.

[0071] Figure 7 This is a flowchart of a signal control method provided in an embodiment of the present invention. See also... Figure 7 The signal control method provided in this embodiment of the invention includes:

[0072] S1. Obtain the current characteristic value of the boundary line loop.

[0073] Specifically, the status information acquisition module samples the boundary line current. In this embodiment, when the power is turned on, the control module by default controls the generation of pulses of a first frequency within the boundary line loop. In other embodiments, when the power is turned on, the control module may also by default control the generation of pulses of a second frequency within the boundary line loop.

[0074] S2. Determine the state of the boundary line loop based on the current characteristic value of the boundary line loop; if the boundary line loop is in the first state, execute S3; if the boundary line loop is in the second state, execute S4.

[0075] Specifically, when the electronic switch is turned on or within a preset time after the electronic switch is turned on, if the status information acquisition module detects the boundary line sampling current, the boundary line loop is determined to be in the first state. When the electronic switch is turned on or within a preset time after the electronic switch is turned on, if the status information acquisition module does not detect the boundary line sampling current, the boundary line loop is determined to be in the second state. The first state is the on state, and the second state is the open circuit state.

[0076] S3, control the generation of pulses of the first frequency within the boundary line loop.

[0077] Specifically, when the boundary line loop is in the first state, the control module controls the generation of pulses at a first frequency within the boundary line loop. For example, the first frequency is not less than 50Hz. In this embodiment, the first frequency is preferably 60Hz to 100Hz; further, the first frequency is preferably 60Hz to 70Hz.

[0078] S4. Generate pulses of a second frequency within the control boundary line loop, wherein the second frequency is less than the first frequency.

[0079] Specifically, when the boundary line loop is in the second state, the control module controls the generation of pulses at a second frequency within the boundary line loop. For example, the second frequency is less than 50Hz. In this embodiment, the second frequency is preferably 0.3Hz to 30Hz; further, the second frequency is preferably 0.5Hz to 1.5Hz.

[0080] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. An autonomous operating system, comprising autonomous operating equipment, a docking station, and a boundary; a signal generating device is provided within the docking station, and the boundary is constructed as a closed, energized boundary line electrically connected to the signal generating device, the signal generating device being configured to generate a boundary signal; a wiring assembly is provided on the boundary line loop, and the docking station is electrically connected to the boundary line through the wiring assembly; the signal generating device includes a signal control circuit, the signal control circuit being used to control the generation of pulses within the boundary line loop, characterized in that... The signal control circuit includes a control module; the control module is configured to be connected to the boundary line and control the frequency of the pulse according to the state of the boundary line loop. When the boundary line loop is in the first state, the control module controls the generation of pulses of the first frequency within the boundary line loop; when the boundary line loop is in the second state, the control module controls the generation of pulses of the second frequency within the boundary line loop; the first state is a conducting state, and the second state is an open-circuit state.

2. The autonomous operating system according to claim 1, characterized in that, It also includes a status information acquisition module, configured to be connected to the boundary line to acquire the status information of the boundary line loop; the control module is configured to be connected to the status information acquisition module to control the frequency of the pulse according to the status information of the boundary line loop.

3. The autonomous operating system according to claim 1, characterized in that, The first frequency is greater than the second frequency.

4. The autonomous operating system according to claim 3, characterized in that, The first frequency is not less than 50Hz; the second frequency is less than 50Hz.

5. The autonomous operating system according to claim 1, characterized in that, The wiring assembly includes a terminal block and a diode.

6. The autonomous operating system according to claim 2, characterized in that, The control module includes a switch module and a control unit. The switch module is disposed on the boundary line loop. When the switch module is turned on, the boundary line loop is in a conducting state. When the switch module is turned off, the boundary line loop is in an open circuit state. The control unit is connected to the switch module to control the on / off state of the switch module. The control unit is configured to control the on / off frequency of the switch module according to the state of the boundary line loop.

7. The autonomous operating system according to claim 6, characterized in that, The switching module is configured to include an electronic switch, the electronic switch including a field-effect transistor.

8. The autonomous operating system according to claim 7, characterized in that, The switch module further includes a first switch circuit, through which the electronic switch is connected to the control unit.

9. The autonomous operating system according to claim 8, characterized in that, The first switching circuit includes a switching unit, the control terminal of which is connected to the control unit, the input terminal of which is connected to the power chip, and the input terminal of which is connected to the control terminal of the electronic switch. The output terminal of the switching unit is grounded.

10. The autonomous operating system according to claim 9, characterized in that, The switching unit includes a transistor Q2; the switching unit is configured such that when the control unit sends a first level signal, the transistor Q2 is in the off state and the electronic switch is turned on; when the control unit sends a second level signal, the transistor Q2 is in the on state and the electronic switch is turned off; the first level signal is a low level signal and the second level signal is a high level signal.

11. The autonomous operating system according to claim 8, characterized in that, The first switching circuit further includes a voltage limiting unit. The control terminal of the voltage limiting unit is connected to the output terminal of the electronic switch, the input terminal of the voltage limiting unit is connected to the control terminal of the electronic switch, and the output terminal of the voltage limiting unit is grounded. The voltage limiting unit includes a transistor Q1.

12. The autonomous operating system according to claim 11, characterized in that, The first switching circuit also includes a filter capacitor C18. The first end of the filter capacitor C18 is connected to the control terminal of the electronic switch, and the second end of the filter capacitor C18 is connected to the output terminal of the electronic switch through a resistor R22.

13. The autonomous operating system according to claim 8, characterized in that, The first switching circuit further includes a step-down unit, the input terminal of which is connected to the power chip, and the output terminal of which is connected to the control terminal of the electronic switch. The step-down unit includes a diode D6 and a capacitor C16, the first terminal of which is connected to the cathode of the diode D6, and the second terminal of which is grounded.

14. The autonomous operating system according to claim 8, characterized in that, The switching module is configured to include a relay.

15. The autonomous operating system according to claim 8, characterized in that, The state information sampling module is configured to include a sampling circuit for detecting the current characteristic value flowing through the boundary line loop; wherein, a first end of the boundary line is connected to an external power supply, a second end of the boundary line is connected to the input end of the switch module, the control end of the switch module is connected to the control unit, the output end of the switch module is connected to the input end of the sampling circuit, the signal end of the sampling circuit is connected to the control unit, and the output end of the sampling circuit is grounded.

16. The autonomous operating system according to claim 15, characterized in that, The sampling circuit includes a current sampling resistor, the first end of which is connected to the input terminal of the sampling circuit, and the second end of which is grounded.

17. The autonomous operating system according to claim 16, characterized in that, The sampling circuit further includes a first filter, the input terminal of which is connected to the first terminal of the current sampling resistor, and the output terminal of which is connected to the control unit.

18. The autonomous operating system according to claim 17, characterized in that, The sampling circuit further includes a follower unit, the input of which is connected to the output of the first filter, and the output of which is connected to the control unit.

19. The autonomous operating system according to claim 17, characterized in that, The sampling circuit further includes an amplifier, and the first end of the current sampling resistor is connected to the input end of the first filter through the amplifier.

20. The autonomous operating system according to claim 19, characterized in that, The sampling circuit further includes a second filter, and the first end of the current sampling resistor is connected to the input end of the amplifier through the second filter.

21. A signal control method, employing the autonomous operating system as described in any one of claims 1-20, characterized in that, Obtain the state of the boundary line loop; control the frequency of the boundary signal based on the state of the boundary line loop.

22. The signal control method according to claim 21, characterized in that, When the boundary line loop is in the first state, the frequency of the boundary signal is controlled to be a first frequency; when the boundary line loop is in the second state, the frequency of the boundary signal is controlled to be a second frequency.

23. The signal control method according to claim 22, characterized in that, The first state is the on state, and the second state is the open state; the first frequency is greater than the second frequency.

24. A signal control circuit for controlling the frequency of pulses within a boundary line loop, characterized in that, include: A boundary line; a control module configured to be connected to the boundary line; the control module is further configured to include a memory and a processor, the memory storing a computer program executable on the processor; the processor, when executing the computer program, can implement the signal control method as described in any one of claims 22-23.

25. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it can implement the signal control method as described in any one of claims 22 to 23.

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