Boundary signal sending method and system and storage device

Abstract

The invention relates to a boundary signal sending method and system and a storage device, and relates to the field of mowers, and the method comprises the steps: obtaining current time information and data frame information; amplifying the data frame information to obtain amplified data frame information; determining current line information; the first selection switch selects a corresponding boundary line for electrification according to the current line information; and the boundary enclosing line sends a signal according to the amplified data frame information. The problems that the mowing area boundary and the charging area boundary respectively use respective power sources, encoders, current amplifiers and surrounding wires, the number of elements is large, and energy consumption is large are solved, the boundary of the charging area and the boundary of the mowing area can share one encoder, one mcu and one current amplifier, the elements are greatly reduced, cost is lower, the same power source is used for supplying power, and power consumption is low. And the energy consumption is lower.

Description

Technical Field

[0001] This application relates to the field of lawnmowers, and more particularly to a boundary signal transmission method, system, and storage device. Background Technology

[0002] Typically, outdoor gardening cutting tools such as lawnmowers are equipped with a push handle. Near the grip, the handle has a switch box and control mechanism for easy operation. Lawnmowers rely on the operator's pushing force applied to the handle to move and cut the ground; operating such push-type lawnmowers is very physically demanding. With the continuous development of artificial intelligence, self-propelled intelligent lawnmowers have also emerged. Because intelligent lawnmowers can move automatically and perform pre-set tasks without human intervention, they greatly save manpower and resources, bringing convenience to the operator.

[0003] To prevent lawnmowers from leaving the mowing area, the mainstream method for identifying the working area boundary of current smart lawnmowers is to surround the boundary with an electrical wire and send an electrical signal through the wire. The main signal types currently include fixed-frequency pulse signals, random-frequency pulse signals, and pseudo-random pulse signals. Furthermore, to further facilitate the operator, a charging area is also set up at the boundary of the working area, which also emits a corresponding electrical signal.

[0004] Regarding the aforementioned technologies, the inventors believe that the separate use of power supplies, encoders, current amplifiers, and enclosures for the boundaries of the mowing area and the charging area results in a large number of components, high energy consumption, and high cost, and there is still room for improvement. Summary of the Invention

[0005] To address the issue of high energy consumption and numerous components in using separate power supplies, encoders, current amplifiers, and enclosures for the boundaries of mowing and charging areas, this application provides a boundary signal transmission method, system, and storage device.

[0006] Firstly, this application provides a boundary signal transmission method, which adopts the following technical solution: A boundary signal transmission method, comprising: Obtain the current time information and encoder data frame information; The data frame information is magnified to obtain the corresponding magnified data frame information; The matching analysis is performed based on the line and current time information stored in the preset switching database to determine the line corresponding to the current time information, and the line is defined as the current line information. The first selection switch selects the corresponding boundary line to energize based on the current line information; The boundary line sends a signal based on the information in the magnified data frame.

[0007] By adopting the above technical solution, a selection switch transmits data frame signals to different boundary lines, allowing the boundaries of the charging area and the mowing area to share a single encoder, MCU, and current amplifier. The charging area boundary and the mowing area boundary are connected to the same MCU, which controls the signal on / off switching between the mowing and charging areas. When the mowing area signal is on, the charging area signal is off, and vice versa. Intermittent signal transmission between the mowing and charging areas significantly reduces the number of components, lowers costs, and utilizes a single power supply, resulting in lower energy consumption.

[0008] Optionally, methods for signaling boundary information include: The current route information and the magnified data frame information are matched and analyzed to filter out the suitable data frames, which are defined as the first filtered data frame information; The first selection switch selects the corresponding boundary line to energize based on the current line information; The boundary line sends a signal based on the information in the first filtered data frame.

[0009] By adopting the above technical solution, only a selection switch needs to be set in front of the boundary fence to connect the lawn mowing area boundary fence and the charging area fence in parallel, so that the other components that generate current signals can all use the same one, saving component costs and reducing energy consumption.

[0010] Optionally, another method for signaling boundary information is also included, which includes: The encoder information is determined by matching and analyzing the encoder information stored in the switching database with the current time information, and then defined as encoder information. The second selection switch selects the corresponding encoder to power on based on the encoder information; Obtain the encoder data frame information corresponding to the encoder information and define it as the second filtered data frame information; The first selection switch selects the corresponding boundary line to energize based on the current line information; The boundary line sends a signal based on the information in the second filtered data frame.

[0011] By adopting the above technical solution, and by setting up two encoders and a second selection switch that is synchronously selected with the first selection switch, the encoder does not need to edit the two data contents together based on two boundary information, which reduces the complexity of the encoder and lowers the encoder cost.

[0012] Optionally, the first selection switch selects the corresponding boundary fence to energize based on the current line information. The boundary fence includes the lawn mowing area boundary fence and the charging area boundary fence, and also includes charging area boundary guidance. The method for sending signals for the charging area boundary guidance includes: Obtain the status information of the lawnmower; Matching analysis is performed based on the demand boundary contours and status information stored in the preset demand boundary database to determine the demand boundary contours corresponding to the status information, and the demand boundary contours are defined as demand boundary information. The demand boundary information is matched with the preset lawn mowing area boundary information and charging area boundary information respectively; If the demand boundary information and the mowing area boundary information match, then the line guided by the charging area boundary is cut off. If the demand boundary information and the charging area boundary information match, then determine whether the first selection switch should energize the charging area boundary information. If the charging area boundary information is not energized, the lawn mowing area boundary line sends a signal according to the first filtered data frame information; If the charging area boundary information is energized, the charging line stored in the switching database is matched and analyzed with the current time information to determine the charging line of the current time information, and the charging line is defined as the first current charging line information. The third selection switch selects the corresponding charging area boundary line or charging area boundary guide to power on based on the first current charging line information. The first current charging route information and the amplified data frame information are matched and analyzed to filter out the suitable data frames, which are defined as the third filtered data frame information. The charging area boundary line or charging area boundary guide sends a signal according to the third filter data frame information when the third selection switch is switched.

[0013] By adopting the above technical solution and setting up charging zone boundary guidance, when the lawnmower needs to be charged, it is not necessary to first guide it to the boundary of the mowing zone and then back to the boundary of the charging zone. Instead, the lawnmower can be directly guided to the charging zone by the charging zone boundary guidance, which improves the charging efficiency of the lawnmower.

[0014] Optionally, it also includes a method for signaling the early warning boundary line, the method comprising: Obtain the first current distance information between the lawnmower and the mowing boundary line and the first interval distance information with a preset unit time information as the interval time; Determine whether the current distance information is less than the preset safe distance information; If the value is greater than the warning boundary line, then the line will be cut off. If it is less than the safe distance information, then calculate the difference between the first current distance information and the first interval distance information, and define it as the first difference distance information; Determine if the first difference distance information is negative; If the value is not negative, then the line enclosing the warning boundary is cut off; If the value is negative, it is determined whether the first selection switch should energize the charging area boundary information; If the charging area boundary information is energized, the charging area boundary line or the charging area boundary will send a signal according to the third filter data frame information when the third selection switch is switched. If the charging area boundary information is not powered, the lawn mowing route information stored in the switching database is matched and analyzed with the current time information to determine the lawn mowing route for the current time information, and the lawn mowing route is defined as the current lawn mowing route information. The fourth switch selects the corresponding mowing area boundary or warning boundary based on the current mowing line information and energizes it. The current mowing route information and the magnified data frame information are matched and analyzed to filter out the suitable data frames, which are defined as the fourth filter data frame information. When the fourth selection switch is switched, the boundary line of the mowing area or the warning boundary line sends a signal according to the information of the fourth filter data frame.

[0015] By adopting the above technical solution and setting up a warning boundary line, the lawnmower can enter the deceleration phase in advance when it approaches the boundary, preventing the lawnmower from rushing over the boundary due to excessive speed, thus improving the stability of the lawnmower's movement and charging within the boundary.

[0016] Optionally, the fourth selection switch may select the corresponding charging area boundary fence, charging area boundary guide, or warning boundary fence for power supply based on the second current charging line information, including the following methods: Matching analysis is performed based on the time distribution corresponding to the preset time distribution database and the first current distance information to determine the time distribution corresponding to the first current distance information, and this is defined as the first time distribution information; The fourth selection switch selects the corresponding charging area boundary line, charging area boundary guide line, or warning boundary line for power supply based on the first time distribution information and the second current charging line information. The first time distribution information corresponding to the warning boundary line is selected and defined as the warning time distribution information; The vector velocity and warning time distribution information stored in the preset vector database are matched and analyzed to determine the vector velocity corresponding to the warning time distribution information, and this is defined as vector velocity information. The lawnmower travels according to the speed and direction of the vector velocity information.

[0017] By adopting the above technical solution, the direction and angle of the lawnmower are adjusted when it approaches the boundary, so that the lawnmower can reach the boundary line without slowing down too much when it approaches the boundary. On the one hand, it increases the speed of the lawnmower approaching the boundary while ensuring that the lawnmower cannot run over the boundary. On the other hand, it allows the lawnmower to turn directly when it approaches the boundary, without having to turn or even turn around at the boundary, thus increasing the turning speed of the lawnmower.

[0018] Optionally, the method for guiding the charging area boundary to send a signal according to the third filter data frame information when the third selection switch is switched includes: Acquire the second current distance information between the lawnmower and the boundary guide of the charging area, and the second interval distance information with a preset unit time information as the interval time; Obtain proximity distance information between the lawnmower and the boundary line of the charging area in the direction corresponding to the second current distance information; Determine if the approach distance information is less than the safe distance information; If the value is greater than the limit, the line guiding the charging area boundary will be cut off. If it is less than, then calculate the difference between the second current distance information and the second interval distance information, and define it as the second difference distance information; Determine whether the second difference distance information is negative; If the value is not negative, the circuit guiding the charging area boundary will be cut off; If the value is negative, a matching analysis is performed based on the time distribution and proximity information in the time distribution database to determine the time distribution corresponding to the proximity information, and this is defined as the second time distribution information. The third selection switch selects the corresponding charging area boundary line or charging area boundary guide for power supply based on the second time distribution information and the first current charging line information. The second time distribution information corresponding to the boundary guidance of the charging area is filtered out and defined as the guidance time distribution information; The matching analysis is performed based on the movement distance and guidance time distribution information stored in the preset movement database to determine the movement distance corresponding to the guidance time distribution information, and this is defined as movement distance information. The charging area boundary guide moves according to the movement distance information and obtains the directional information between the charging area boundary guide and the lawnmower. The speed is determined by matching and analyzing the speed and guidance time distribution information stored in the preset speed database to determine the speed corresponding to the guidance time distribution information, and this speed is defined as the guidance speed information. The lawnmower travels according to the speed information and the direction information.

[0019] By adopting the above technical solution, the lawnmower is guided to change direction and speed by moving along the boundary of the charging area, so that the lawnmower arrives at the entrance of the charging area boundary just as it approaches it, thus improving the charging efficiency of the lawnmower.

[0020] Secondly, this application provides a boundary signal transmission system, which adopts the following technical solution: A boundary signal transmission system, comprising: The time acquisition module is used to obtain the current time information; The data acquisition module is used to acquire data frame information from the encoder; The processing module, connected to the time acquisition module and the data acquisition module, is used for information storage and processing. The processing module amplifies the data frame information to obtain the corresponding amplified data frame information; The processing module performs matching analysis based on the lines and current time information stored in the preset switching database to determine the line corresponding to the current time information, and defines the line as the current line information; The processing module controls the first selection switch to select the corresponding boundary line for energization based on the current line information; The processing module controls the boundary line to send signals based on the magnified data frame information.

[0021] By adopting the above technical solution, a selection switch transmits data frame signals to different boundary lines, allowing the boundaries of the charging area and the mowing area to share a single encoder, MCU, and current amplifier. The charging area boundary and the mowing area boundary are connected to the same MCU, which controls the signal on / off switching between the mowing and charging areas. When the mowing area signal is on, the charging area signal is off, and vice versa. Intermittent signal transmission between the mowing and charging areas significantly reduces the number of components, lowers costs, and utilizes a single power supply, resulting in lower energy consumption.

[0022] Thirdly, this application provides a smart terminal, which adopts the following technical solution: A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed by any of the aforementioned boundary signal transmission methods.

[0023] By adopting the above technical solution, a selection switch transmits data frame signals to different boundary lines, allowing the boundaries of the charging area and the mowing area to share a single encoder, MCU, and current amplifier. The charging area boundary and the mowing area boundary are connected to the same MCU, which controls the signal on / off switching between the mowing and charging areas. When the mowing area signal is on, the charging area signal is off, and vice versa. Intermittent signal transmission between the mowing and charging areas significantly reduces the number of components, lowers costs, and utilizes a single power supply, resulting in lower energy consumption.

[0024] Fourthly, this application provides a computer-readable storage device capable of storing corresponding programs and characterized by rapid signal conversion.

[0025] A computer-readable storage device adopts the following technical solution: A computer-readable storage device stores a computer program that can be loaded by a processor and executed by any of the above-described boundary signal transmission methods.

[0026] By adopting the above technical solution, a selection switch transmits data frame signals to different boundary lines, allowing the boundaries of the charging area and the mowing area to share a single encoder, MCU, and current amplifier. The charging area boundary and the mowing area boundary are connected to the same MCU, which controls the signal on / off switching between the mowing and charging areas. When the mowing area signal is on, the charging area signal is off, and vice versa. Intermittent signal transmission between the mowing and charging areas significantly reduces the number of components, lowers costs, and utilizes a single power supply, resulting in lower energy consumption.

[0027] In summary, this application includes at least one of the following beneficial technical effects: 1. The boundaries of the charging area and the mowing area can share a single encoder, MCU, and current amplifier, significantly reducing the number of components and lowering the cost. Furthermore, the same power supply results in lower energy consumption. 2. By setting charging zone boundary guidance, the lawnmower is directed directly to the charging zone, improving the charging efficiency of the lawnmower; 3. By adjusting the direction and angle of the lawnmower, it can be made to turn directly when approaching the boundary, thus increasing the turning speed of the lawnmower. Attached Figure Description

[0028] Figure 1 This is a flowchart of a boundary signal transmission method in Embodiment 1 of this application.

[0029] Figure 2 This is a flowchart of the method for emitting boundary information signals in Embodiment 1 of this application.

[0030] Figure 3 This is a structural diagram of the method for emitting boundary line information signals in Embodiment 1 of this application.

[0031] Figure 4 This is a flowchart of another method for emitting boundary information signals in Embodiment 2 of this application.

[0032] Figure 5 This is a structural diagram of another method for emitting boundary information signals in Embodiment 2 of this application.

[0033] Figure 6 This is a flowchart of the method for guiding the emission of signals at the boundary of the charging area in Embodiment 3 of this application.

[0034] Figure 7 This is a flowchart of the method for issuing a warning boundary line signal in Embodiment 3 of this application.

[0035] Figure 8 This is a structural diagram of the method for guiding the emission of signals at the boundary of the charging area in Embodiment 3 of this application.

[0036] Figure 9 This is a schematic diagram of the method for guiding the emission of signals at the boundary of the charging area in Embodiment 3 of this application.

[0037] Figure 10 This is a flowchart of the method for energizing the boundary of the charging area or the warning boundary line in Embodiment 3 of this application.

[0038] Figure 11 This is a flowchart of the method for guiding the charging area boundary to send a signal according to the third filter data frame information when the third selection switch is switched in Embodiment 3 of this application.

[0039] Figure 12 This is a block diagram of a boundary signal transmission method in Embodiment 1 of this application. Detailed Implementation

[0040] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-12 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0041] The embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0042] Example 1: See Figure 1 This invention provides a boundary signal transmission method, the main process of which is described below: Step 100: Obtain the current time information and the encoder's data frame information.

[0043] The current time information refers to the start time of the boundary transmission signal, and it can be obtained using any method, such as a timer. The data frame information refers to the frame number of the data emitted by the encoder, used to help the lawnmower sense the data at the corresponding position. It can be obtained using a device that can identify the encoder's emitted signal, such as an ammeter.

[0044] Step 101: Amplify the data frame information to obtain the corresponding amplified data frame information.

[0045] Enlarged data frame information refers to data frame information that has been enlarged. The enlargement method can be as follows: Figure 3 The current amplifier shown. The amplified data frame information can be directly calculated.

[0046] Step 102: Perform a matching analysis based on the lines and current time information stored in the preset switching database to determine the line corresponding to the current time information, and define the line as the current line information.

[0047] The current route information refers to the route that should be switched to. In this embodiment, there are two routes: one is the boundary route of the lawn mowing area, and the other is the boundary route of the charging area. That is, the database stores the mapping relationship between the current time information and the current route information in advance. When the user obtains the corresponding time, the system automatically finds the corresponding route to be connected from the database based on the current time information.

[0048] Step 103: The first selection switch selects the corresponding boundary line to be energized based on the current line information.

[0049] Step 104: The boundary line sends a signal based on the magnified data frame information.

[0050] When the amplified data frame information is sent to the corresponding boundary line, the boundary line is constructed based on the current signal of the amplified data frame.

[0051] Reference Figure 2 Methods for transmitting boundary line information include: Step 200: Match and analyze the current route information and the magnified data frame information to filter out suitable data frames, and define them as the first filtered data frame information.

[0052] The first filtered data frame information is the data frame in the enlarged data frame information that matches the current route information. Step 201: The first selection switch selects the corresponding boundary line to be energized according to the current route information.

[0053] Similar to step 103, it will not be repeated here.

[0054] Step 202: The boundary line sends a signal based on the information in the first filtered data frame.

[0055] like Figure 3 As shown, since there is only one encoder, the data frames in the encoder are set up with two types of data frames interleaved. Therefore, when the routes are different, the corresponding data frames need to be filtered to adapt to the corresponding positions. In this embodiment, whenever the data frames are interleaved, the selection switch also switches accordingly. A selection switch transmits the data frame signal to different boundary lines, so that the boundaries of the charging area and the mowing area can share a single encoder, MCU, and current amplifier. The charging area boundary and the mowing area boundary are connected to the same MCU. The MCU controls the switching of the signal on and off between the mowing area and the charging area. When the mowing area signal is on, the charging area signal is off, and vice versa. The mowing area and the charging area transmit signals intermittently, which greatly reduces the number of components, lowers the cost, and uses the same power supply, resulting in lower energy consumption.

[0056] Example 2: Reference Figure 4 The difference from Embodiment 1 is that it also includes another method for emitting boundary information signals, the method comprising: Step 300: Perform a matching analysis based on the encoders and current time information stored in the switching database to determine the encoder corresponding to the current time information, and define it as encoder information.

[0057] Encoder information refers to the encoder itself, which can be a category or a number. In this embodiment, it refers to the type of encoding used to categorize all encoders. The database stores a mapping relationship between the current time information and the encoder information. That is, when a corresponding time is input, the system automatically retrieves the corresponding encoder information from the database and then outputs it.

[0058] Step 301: The second selector switch selects the corresponding encoder to power on based on the encoder information.

[0059] like Figure 5 As shown, after the encoder information is selected, the second selection switch selects the corresponding encoder according to the encoder information and conducts electricity to the corresponding encoder, so that the corresponding encoder emits current.

[0060] Step 302: Obtain the encoder data frame information corresponding to the encoder information and define it as the second filtered data frame information.

[0061] The second filtering data frame information is the same as the first and second filtering data frame information. The difference is that the second filtering data frame can be information directly sent by the encoder, that is, the filtering process is directly completed by the encoder.

[0062] Step 303: The first selection switch selects the corresponding boundary line for power supply based on the current line information.

[0063] Step 304: The boundary line sends a signal based on the information in the second filtered data frame.

[0064] Example 3: Reference Figure 6 The difference from Embodiment 1 is that: the first selection switch selects the corresponding boundary fence for power supply based on the current line information. The boundary fence includes the lawn mowing area boundary fence and the charging area boundary fence, and also includes a charging area boundary guide. The method for the charging area boundary guide to send a signal includes: Step 400: Obtain the status information of the lawnmower.

[0065] The status information refers to the status of the lawnmower, such as battery level. This information can be obtained using any method that can measure battery level, such as a voltmeter.

[0066] Step 401: Perform a matching analysis based on the demand boundary contours and status information stored in the preset demand boundary database to determine the demand boundary contours corresponding to the status information, and define the demand boundary contours as demand boundary information.

[0067] The demand boundary information refers to the boundary information of the demand in this embodiment, that is, the work that can be performed with the current battery level, including the lawnmower boundary and the charging area boundary. The database stores the mapping relationship between status information and demand boundary information. For example, when the battery level is 10%, the lawnmower needs to be charged, so the demand boundary information is displayed as the information corresponding to the charging area boundary.

[0068] Step 402: Match the demand boundary information with the preset lawn mowing area boundary information and charging area boundary information respectively.

[0069] The matching method is based on textual correspondence, and the purpose of the matching is to determine whether to go back to charge.

[0070] Step 4021: If the demand boundary information and the mowing area boundary information match, then cut off the line guided by the charging area boundary.

[0071] If the demand boundary information and the mowing area boundary information match, it means that work can still be carried out at this time. In this case, there is no need to open the charging boundary guide line to avoid current accidentally entering the charging boundary guide and causing current waste.

[0072] Step 4022: If the demand boundary information and the charging area boundary information match, determine whether the first selection switch should energize the charging area boundary information.

[0073] If the demand boundary information and the charging area boundary information match, it means that what is actually needed at this time is the charging area boundary information. The purpose of this judgment is to determine whether the current is flowing towards the charging area boundary.

[0074] Step 4031: If the charging area boundary information is not energized, the mowing area boundary line sends a signal according to the first screening data frame information.

[0075] If not, it means that the generator is currently generating electricity towards the boundary of the mowing area, and it can still be charged in the manner described in step 4021.

[0076] Step 4032: If the charging area boundary information is powered on, the charging line stored in the switching database is matched and analyzed with the current time information to determine the charging line of the current time information, and the charging line is defined as the first current charging line information.

[0077] like Figure 10 As shown, the first current charging line information refers to the charging line whose direction corresponds to the charging area boundary information at the current time. This also includes lines guided by the charging area boundary. The database stores a mapping relationship between the current time information and the first current charging line information; that is, when the current time information is input, the system automatically finds the corresponding charging line from the database. If the charging area boundary information is energized, it indicates that the current is flowing towards the charging area boundary. To distinguish whether the current is flowing towards the charging area boundary enclosure or the charging area boundary guide, a search is performed in the database.

[0078] Step 404: The third selection switch selects the corresponding charging area boundary line or charging area boundary guide to power on based on the first current charging line information.

[0079] Step 405: Match and analyze the first current charging route information and the amplified data frame information to filter out the suitable data frames, and define them as the third filtered data frame information.

[0080] like Figure 10 As shown, the third filtered data frame information is the information in the enlarged data frame information that adapts to the first current charging route information. The purpose of filtering is to adapt to the charging area boundary line or charging area boundary guidance.

[0081] Step 406: The charging area boundary line or charging area boundary guide sends a signal according to the third filter data frame information when the third selection switch is switched.

[0082] like Figure 11As shown, when charging is needed, the boundary of the charging area sends a signal to guide the lawnmower toward the charging area. The lawnmower does not need to be guided to the boundary of the mowing area and then back to the boundary of the charging area. It can be directly guided to the charging area by the boundary of the charging area, which improves the charging efficiency of the lawnmower.

[0083] Reference Figure 7 It also includes a method for issuing early warning signals for boundary perimeters, the method comprising: Step 500: Obtain the first current distance information between the lawnmower and the mowing boundary line and the first interval distance information with the preset unit time information as the interval time.

[0084] The first current distance information is the vertical distance between the lawnmower and the boundary line of the mowing area at the current time. It is obtained using an infrared rangefinder, specifically by measuring the distance at which infrared light emitted from the boundary line is reflected back to the corresponding receiver. The first interval distance information is the distance at intervals of a specific time point, obtained in the same way as the first current distance information.

[0085] Step 501: Determine whether the first current distance information is less than the preset safe distance information.

[0086] The safety distance information refers to the distance at which a lawnmower is likely to collide with or run off the boundary when it approaches it. This safety distance information is manually set and obtained by those skilled in the art based on actual conditions and experiments. The purpose of the judgment is to determine whether the lawnmower is approaching the boundary and causing it to run off the boundary.

[0087] Step 5011: If it is greater than the warning boundary line, then cut off the line.

[0088] like Figure 10 As shown, the boundary information of the mowing area also includes the warning boundary information. If it is greater than 1, it means that the phenomenon of rushing out will not occur at this time. In order to prevent the current from flowing into the warning boundary line, the line of the warning boundary line needs to be cut off.

[0089] Step 5012: If it is less than the safe distance information, calculate the difference between the first current distance information and the first interval distance information, and define it as the first difference distance information.

[0090] The first difference distance information is the difference between the first current distance information and the first interval distance information. If it is less than the safe distance information, it indicates that the vehicle may have crossed the boundary.

[0091] Step 502: Determine whether the first difference distance information is negative.

[0092] The purpose of the judgment is to determine whether the lawnmower has a tendency to approach the lawnmower boundary.

[0093] Step 5021: If the value is not negative, then cut off the line of the warning boundary.

[0094] If the value is not negative, it means that the lawnmower is not approaching the boundary of the mowing area, and there is no need for the warning line to send a signal.

[0095] Step 5022: If the value is negative, determine whether the first selection switch should energize the charging area boundary information.

[0096] like Figure 10 As shown, if the value is negative, it means that the lawnmower is close to the boundary of the mowing area, and the warning boundary line needs to be opened.

[0097] Step 5031: If the charging area boundary information is energized, the charging area boundary line or charging area boundary guide will send a signal according to the third filter data frame information when the third selection switch is switched.

[0098] If the boundary information of the charging area is energized, it means that the boundary information of the mowing area is not being energized at this time, and then step 406 can be followed.

[0099] Step 5032: If the charging area boundary information is not powered, the lawn mowing route information stored in the switching database is matched and analyzed with the current time information to determine the lawn mowing route for the current time information, and the lawn mowing route is defined as the current lawn mowing route information.

[0100] The current mowing route information corresponds to the current time, including the mowing area boundary and warning boundary. The database also contains a mapping between the current time and the current mowing route information. If the charging area boundary information is not energized, it means the first switch is currently energizing the mowing area boundary information. In this case, the corresponding current mowing route information can be retrieved from the database using the current time information to activate the energizer.

[0101] Step 504: The fourth switch selects the corresponding mowing area boundary line or warning boundary line to be energized based on the current mowing line information.

[0102] Step 505: Match and analyze the current mowing route information and the magnified data frame information to filter out suitable data frames, and define them as the fourth filtered data frame information.

[0103] like Figure 10 As shown, the fourth filtered data frame information is the information in the magnified data frame information that is adapted to the current mowing route information. The purpose of filtering is to adapt to the circuit signals of the mowing area boundary line or warning boundary line.

[0104] Step 506: When the fourth selection switch is switched, the boundary line of the mowing area or the warning boundary line sends a signal according to the information of the fourth filter data frame.

[0105] When the fourth switch is activated, either the mowing zone boundary line or the warning boundary line alternately sends signals. By setting the warning boundary line, the lawnmower enters a deceleration phase in advance when it approaches the boundary, preventing the lawnmower from crossing the boundary due to excessive speed, thus improving the stability of the lawnmower's movement and charging within the boundary.

[0106] Reference Figure 8 The fourth selection switch selects the corresponding charging area boundary line, charging area boundary guide line, or warning boundary line for power supply based on the second current charging line information. This includes the following methods: Step 600: Perform a matching analysis based on the time distribution corresponding to the preset time distribution database and the first current distance information to determine the time distribution corresponding to the first current distance information, and define it as the first time distribution information.

[0107] The first time distribution information is the time distribution corresponding to the first current distance information. That is, the time distribution is different when the distance to the boundary is different, thus forming different signals and changing certain parameters. The database contains the mapping relationship between the first time distribution information and the first current distance information, which is directly set by those skilled in the art, that is, a distribution that is artificially defined but has a certain regularity.

[0108] Step 601: The fourth selection switch selects the corresponding charging area boundary line, charging area boundary guide line, or warning boundary line for power supply according to the first time distribution information and the second current charging line information.

[0109] When the time distribution is known, power can be supplied according to the first time distribution information. It should be noted that the time distribution between the charging area boundary information and the mowing area boundary information remains unchanged. What changes is only the time distribution between the charging area boundary line, the charging area boundary guide, or the warning boundary line.

[0110] Step 602: Filter out the first time distribution information corresponding to the warning boundary line and define it as the warning time distribution information.

[0111] The purpose of screening is to determine the time distribution of the warning boundary lines, so as to send different messages to control the lawnmower.

[0112] Step 603: Perform a matching analysis based on the vector velocity and early warning time distribution information stored in the preset vector database to determine the vector velocity corresponding to the early warning time distribution information, and define it as vector velocity information.

[0113] Vector velocity information refers to the vector velocity corresponding to the warning time distribution information, including both the magnitude and direction of the velocity. The database contains a mapping relationship between warning time distribution information and vector velocity information, which can be defined by those skilled in the art. That is, when the system acquires the warning time distribution information, the database automatically finds the corresponding direction and velocity. The purpose is to control the speed and direction of the lawnmower as it approaches the boundary of the mowing area.

[0114] Step 604: The lawnmower travels according to the speed and direction of the vector velocity information.

[0115] In the embodiments of this application, such as Figure 11 As shown, the vector velocity information can be set as a quarter-circle arc tangent to the boundary information, ensuring that the magnitude of the velocity remains constant. By adjusting the direction and angle of the lawnmower as it approaches the boundary, the lawnmower can reach the boundary line without excessive deceleration. This increases the lawnmower's speed as it approaches the boundary while preventing it from running off the line. Furthermore, it allows the lawnmower to turn directly near the boundary, eliminating the need to turn or even turn around at the boundary, thus increasing its turning speed.

[0116] Reference Figure 9 The method for guiding the charging area boundary to send a signal according to the third filtered data frame information when the third selection switch is switched includes: Step 700: Obtain the second current distance information between the lawnmower and the charging area boundary guide, and the second interval distance information with a preset unit time information as the interval time.

[0117] The second current distance information is the distance between the lawnmower and the boundary guide of the charging area, such as... Figure 11 As shown. The method of acquisition is that when the lawnmower receives a signal guiding it to the charging zone boundary, it automatically emits infrared light towards the boundary and then measures the distance. The second interval distance information is the distance prior to the unit time information.

[0118] Step 701: Obtain the proximity distance information between the lawnmower and the boundary line of the charging area in the direction corresponding to the second current distance information.

[0119] The proximity distance information is the distance between the lawnmower and the charging zone boundary fence along the direction corresponding to the second current distance information. This can be the second current distance information minus the distance between the charging zone boundary guide and the charging zone boundary fence, or it can be direct distance measurement, that is, when the fence signal appears, the fence emits infrared light along the direction corresponding to the second current distance information, and then the distance is measured.

[0120] Step 702: Determine whether the approach distance information is less than the safe distance information.

[0121] The purpose of the judgment is the same as in step 501: to prevent the lawnmower from colliding or running out of the boundary when it gets close to the boundary.

[0122] Step 7021: If the value is greater than the specified value, then disconnect the line guiding the charging area boundary.

[0123] If the distance is greater than the safe distance information, it means that the distance to the boundary of the charging area is still relatively far, and no guidance is needed.

[0124] Step 7022: If it is less than, calculate the difference between the second current distance information and the second interval distance information, and define it as the second difference distance information.

[0125] The second difference distance information is the difference between the second current distance information and the second interval distance information. If it is less than the difference, it indicates that a collision may occur, and it is necessary to determine whether it is close to the boundary of the charging area.

[0126] Step 703: Determine whether the second difference distance information is negative.

[0127] The purpose of this judgment is to determine whether it is close to the boundary of the charging area. Step 7031: If the value is not negative, then disconnect the line guiding the charging area boundary.

[0128] If you are not near the boundary of the charging area, it means you are currently mowing the lawn or taking a break, and there is no need for guidance from the charging area boundary.

[0129] Step 7032: If the value is negative, then perform matching analysis based on the time distribution and proximity information in the time distribution database to determine the time distribution corresponding to the proximity information, and define it as the second time distribution information.

[0130] The second time distribution information is the time distribution information corresponding to the proximity distance information. In this embodiment, the time distribution is different when the proximity distance to the boundary is different, thus forming different signals to change certain parameters. The database contains the mapping relationship between the second time distribution information and the proximity distance information, which is directly set by those skilled in the art, that is, artificially defined but with a certain regularity.

[0131] Step 704: The third selection switch selects the corresponding charging area boundary line or charging area boundary guide to power on based on the second time distribution information and the first current charging line information.

[0132] Once the time distribution is known, power can be supplied according to the second time distribution information. It should be noted that the time distribution between the charging area boundary information and the mowing area boundary information remains unchanged, and only the time distribution guided by the charging area boundary line or the charging area boundary becomes the time distribution.

[0133] Step 705: Filter out the second time distribution information corresponding to the boundary guidance of the charging area and define it as the guidance time distribution information.

[0134] The purpose of screening is to determine the power-on time distribution guided by the charging zone boundary, in order to send different messages to control the lawnmower.

[0135] Step 706: Perform a matching analysis based on the movement distance and guidance time distribution information stored in the preset movement database to determine the movement distance corresponding to the guidance time distribution information, and define it as movement distance information.

[0136] The movement distance information refers to the movement distance corresponding to the guidance time distribution information, specifically the movement distance required for guidance at the charging zone boundary in the direction perpendicular to the second current distance information. The movement database stores the mapping relationship between the movement distance information and the guidance time distribution information, which can be defined by those skilled in the art. That is, after the system obtains the guidance time distribution information, the database automatically finds the corresponding movement distance. The purpose is to control the movement at the charging zone boundary for guidance purposes.

[0137] Step 707: The charging area boundary guide moves according to the movement distance information and obtains the direction information between the charging area boundary guide and the lawnmower.

[0138] The direction information refers to the direction between the charging zone boundary guide and the lawnmower. This can be calculated or obtained through any method. Once the travel distance information is known, the charging zone boundary guide moves accordingly to guide the lawnmower towards the charging zone boundary guide.

[0139] Step 708: Perform a matching analysis based on the speed and guidance time distribution information stored in the preset speed database to determine the speed corresponding to the guidance time distribution information, and define it as guidance speed information.

[0140] The guidance speed information corresponds to the speed specified in the guidance time distribution. The speed database stores a mapping relationship between guidance time distribution information and guidance speed information; this mapping is manually configured. Once the system obtains the guidance time distribution information, the database automatically retrieves the corresponding speed. This is to coordinate with the guidance control at the charging zone boundary to adjust the lawnmower's speed and direction as it approaches the charging zone boundary.

[0141] Step 709: The lawnmower travels according to the speed information and the direction information.

[0142] After the charging zone boundary guide moves, the lawnmower receives the information from the charging zone boundary guide and moves in the direction of the guide, and moves at the speed.

[0143] Based on the same inventive concept, embodiments of the present invention provide a boundary signal transmission system, comprising: Reference Figure 12 A boundary signal transmission system, comprising: Time acquisition module 802 is used to acquire current time information; The data acquisition module 803 is used to acquire the data frame information of the encoder; The processing module 801, connected to the time acquisition module 802 and the data acquisition module 803, is used for information storage and processing. Processing module 801 amplifies the data frame information to obtain the corresponding amplified data frame information; The processing module 801 performs matching analysis based on the line and current time information stored in the preset switching database to determine the line corresponding to the current time information, and defines the line as the current line information; Processing module 801 controls the first selection switch to select the corresponding boundary line for energization based on the current line information; The processing module 801 controls the boundary contour to send signals based on the magnified data frame information.

[0144] This invention provides a computer-readable storage device storing a computer program that can be loaded by a processor and executed as a boundary signal transmission method.

[0145] Computer storage devices include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks or optical disks, and other media capable of storing program code.

[0146] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as a boundary signal transmission method.

[0147] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0148] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for transmitting boundary signals, characterized in that, include: Obtain the current time information and encoder data frame information; The data frame information is magnified to obtain the corresponding magnified data frame information; The matching analysis is performed based on the line and current time information stored in the preset switching database to determine the line corresponding to the current time information, and the line is defined as the current line information. The first selection switch selects the corresponding boundary line to energize based on the current line information; The boundary line sends a signal based on the information in the magnified data frame.

2. The boundary signal transmission method according to claim 1, characterized in that, Methods for transmitting boundary line information include: The current route information and the magnified data frame information are matched and analyzed to filter out the suitable data frames, which are defined as the first filtered data frame information; The first selection switch selects the corresponding boundary line to energize based on the current line information; The boundary line sends a signal based on the information in the first filtered data frame.

3. A method for transmitting boundary signals, characterized in that, It also includes another method for signaling boundary information, which includes: The encoder information is determined by matching and analyzing the encoder information stored in the switching database with the current time information, and then defined as encoder information. The second selection switch selects the corresponding encoder to power on based on the encoder information; Obtain the encoder data frame information corresponding to the encoder information and define it as the second filtered data frame information; The first selection switch selects the corresponding boundary line to energize based on the current line information; The boundary line sends a signal based on the information in the second filtered data frame.

4. The boundary signal transmission method according to claim 1, characterized in that, The first selection switch selects the corresponding boundary fence to energize based on the current line information. The boundary fence includes the lawn mowing area boundary fence and the charging area boundary fence, and also includes charging area boundary guidance. The charging area boundary guidance sends signals through the following methods: Get the status information of the lawnmower; Matching analysis is performed based on the demand boundary contours and status information stored in the preset demand boundary database to determine the demand boundary contours corresponding to the status information, and the demand boundary contours are defined as demand boundary information. The demand boundary information is matched with the preset lawn mowing area boundary information and charging area boundary information respectively; If the demand boundary information and the mowing area boundary information match, then the line guided by the charging area boundary is cut off. If the demand boundary information and the charging area boundary information match, then determine whether the first selection switch should energize the charging area boundary information. If the charging area boundary information is not energized, the lawn mowing area boundary line sends a signal according to the first filtered data frame information; If the charging area boundary information is energized, the charging line stored in the switching database is matched and analyzed with the current time information to determine the charging line of the current time information, and the charging line is defined as the first current charging line information. The third selection switch selects the corresponding charging area boundary line or charging area boundary guide to power on based on the first current charging line information. The first current charging route information and the amplified data frame information are matched and analyzed to filter out the suitable data frames, which are defined as the third filtered data frame information. The charging area boundary line or charging area boundary guide sends a signal according to the third filter data frame information when the third selection switch is switched.

5. A boundary signal transmission method according to claim 4, characterized in that, It also includes a method for issuing early warning signals for boundary perimeters, the method comprising: Obtain the first current distance information between the lawnmower and the mowing boundary line and the first interval distance information with a preset unit time information as the interval time; Determine whether the current distance information is less than the preset safe distance information; If the value is greater than the warning boundary line, then the line will be cut off. If it is less than the safe distance information, then calculate the difference between the first current distance information and the first interval distance information, and define it as the first difference distance information; Determine if the first difference distance information is negative; If the value is not negative, then the line enclosing the warning boundary is cut off; If the value is negative, it is determined whether the first selection switch should energize the charging area boundary information; If the charging area boundary information is energized, the charging area boundary line or the charging area boundary will send a signal according to the third filter data frame information when the third selection switch is switched. If the charging area boundary information is not powered, the lawn mowing route information stored in the switching database is matched and analyzed with the current time information to determine the lawn mowing route for the current time information, and the lawn mowing route is defined as the current lawn mowing route information. The fourth switch selects the corresponding mowing area boundary or warning boundary based on the current mowing line information and energizes it. The current mowing route information and the magnified data frame information are matched and analyzed to filter out the suitable data frames, which are defined as the fourth filter data frame information. When the fourth selection switch is switched, the boundary line of the mowing area or the warning boundary line sends a signal according to the information of the fourth filter data frame.

6. A boundary signal transmission method according to claim 5, characterized in that, The fourth selection switch selects the corresponding charging area boundary line, charging area boundary guide line, or warning boundary line for power supply based on the second current charging line information. The methods include: Matching analysis is performed based on the time distribution corresponding to the preset time distribution database and the first current distance information to determine the time distribution corresponding to the first current distance information, and this is defined as the first time distribution information; The fourth selection switch selects the corresponding charging area boundary line, charging area boundary guide line, or warning boundary line for power supply based on the first time distribution information and the second current charging line information. The first time distribution information corresponding to the warning boundary line is selected and defined as the warning time distribution information; The vector velocity and warning time distribution information stored in the preset vector database are matched and analyzed to determine the vector velocity corresponding to the warning time distribution information, and this is defined as vector velocity information. The lawnmower travels according to the speed and direction of the vector velocity information.

7. A boundary signal transmission method according to claim 6, characterized in that, The method for guiding the charging area boundary to send signals according to the third filtered data frame information when the third selection switch is switched includes: Acquire the second current distance information between the lawnmower and the boundary guide of the charging area, and the second interval distance information with a preset unit time information as the interval time; Obtain proximity distance information between the lawnmower and the boundary line of the charging area in the direction corresponding to the second current distance information; Determine if the approach distance information is less than the safe distance information; If the value is greater than the limit, the line guiding the charging area boundary will be cut off. If it is less than, then calculate the difference between the second current distance information and the second interval distance information, and define it as the second difference distance information; Determine whether the second difference distance information is negative; If the value is not negative, the circuit guiding the charging area boundary will be cut off; If the value is negative, a matching analysis is performed based on the time distribution and proximity information in the time distribution database to determine the time distribution corresponding to the proximity information, and this is defined as the second time distribution information. The third selection switch selects the corresponding charging area boundary line or charging area boundary guide for power supply based on the second time distribution information and the first current charging line information. The second time distribution information corresponding to the boundary guidance of the charging area is filtered out and defined as the guidance time distribution information; The matching analysis is performed based on the movement distance and guidance time distribution information stored in the preset movement database to determine the movement distance corresponding to the guidance time distribution information, and this is defined as movement distance information. The charging area boundary guide moves according to the movement distance information and obtains the directional information between the charging area boundary guide and the lawnmower. The speed is determined by matching and analyzing the speed and guidance time distribution information stored in the preset speed database to determine the speed corresponding to the guidance time distribution information, and this speed is defined as the guidance speed information. The lawnmower travels according to the speed information and the direction information.

8. A boundary signal transmission system, characterized in that, include: The time acquisition module is used to obtain the current time information; The data acquisition module is used to acquire data frame information from the encoder; The processing module, connected to the time acquisition module and the data acquisition module, is used for information storage and processing. The processing module amplifies the data frame information to obtain the corresponding amplified data frame information; The processing module performs matching analysis based on the lines and current time information stored in the preset switching database to determine the line corresponding to the current time information, and defines the line as the current line information; The processing module controls the first selection switch to select the corresponding boundary line for energization based on the current line information; The processing module controls the boundary line to send signals based on the magnified data frame information.

9. A computer-readable storage device, characterized in that, It stores a computer program that can be loaded by a processor and executed to transmit a boundary signal as claimed in any of claims 1 to 7.

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