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CN-122001040-A - Boundary signal sending method, system and storage device

CN122001040ACN 122001040 ACN122001040 ACN 122001040ACN-122001040-A

Abstract

The application relates to a boundary signal sending method, a boundary signal sending system and a boundary signal storage device, and relates to the field of mowers; amplifying the data frame information to obtain amplified data frame information, determining current line information, selecting a corresponding boundary surrounding line to electrify by a first selection switch according to the current line information, and sending a signal by the boundary surrounding line according to the amplified data frame information. The application solves the problems that the boundary of the mowing area and the boundary of the charging area respectively use respective power supply, encoder, current amplifier and wire, the number of elements is large, and the energy consumption is large.

Inventors

  • LUO HUI

Assignees

  • 宁波天辉机械有限公司

Dates

Publication Date
20260508
Application Date
20251222

Claims (9)

  1. 1. A boundary signal transmission method, comprising: Acquiring current time information and data frame information of an encoder; amplifying the data frame information to obtain corresponding amplified data frame information; Performing matching analysis according to the line stored in the preset switching database and the current time information to determine a line corresponding to the current time information, and defining the line as current line information; The first selection switch selects a corresponding boundary surrounding line to electrify according to the current line information; the border wire signals according to the amplified data frame information.
  2. 2. The boundary signal transmitting method according to claim 1, wherein the boundary line information signaling method comprises: Carrying out matching analysis on the current route information and the amplified data frame information to screen out an adaptive data frame, and defining the adaptive data frame as first screening data frame information; The first selection switch selects a corresponding boundary surrounding line to electrify according to the current line information; The boundary contour signals according to the first screening data frame information.
  3. 3. A boundary signal transmitting method, further comprising another method for transmitting boundary line information, the method comprising: Performing matching analysis according to the encoders stored in the switching database and the current time information to determine an encoder corresponding to the current time information, and defining the encoder as encoder information; The second selection switch selects a corresponding encoder to be electrified according to the encoder information; Acquiring data frame information of an encoder corresponding to the encoder information, and defining the data frame information as second screening data frame information; The first selection switch selects a corresponding boundary surrounding line to electrify according to the current line information; The boundary contour signals according to the second screening data frame information.
  4. 4. The method of claim 1, wherein the first selection switch selects a corresponding border wire to be energized according to current line information, the border wire including a mowing area border wire and a charging area border wire, and further including a charging area border guide, the method of signaling the charging area border guide comprising: acquiring state information of the mower; Performing matching analysis according to the requirement boundary contour and the state information stored in a preset requirement boundary database to determine a requirement boundary contour corresponding to the state information, and defining the requirement boundary contour as requirement boundary information; matching the required boundary information with preset boundary information of the mowing area and charging area respectively; if the required boundary information is matched with the boundary information of the mowing area, cutting off a line guided by the boundary of the charging area; If the demand boundary information is matched with the charging area boundary information, judging whether the first selection switch electrifies the charging area boundary information or not; if the charging area boundary information is not electrified, the mowing area boundary girth is signaled according to the first screening data frame information; If the charging area boundary information is electrified, carrying out matching analysis according to the charging circuit stored in the switching database and the current time information to determine a charging circuit of the current time information, and defining the charging circuit as first current charging circuit information; The third selection switch selects a corresponding charging area boundary surrounding line or charging area boundary guide to electrify according to the first current charging line information; carrying out matching analysis on the first current charging route information and the amplified data frame information to screen out an adaptive data frame, and defining the adaptive data frame as third screening data frame information; The charging area boundary contour or the charging area boundary guide signals according to the third screening data frame information when the third selection switch is switched.
  5. 5. The method of claim 4, further comprising the step of signaling the border wire, the method comprising: acquiring first current distance information between a mower and a mowing boundary line and first interval distance information taking preset unit time information as interval time; judging whether the first current distance information is smaller than preset safety distance information or not; If the detected value is greater than the preset value, cutting off a line of the early warning boundary girth; if the distance information is smaller than the safety distance information, calculating a difference value between the first current distance information and the first interval distance information, and defining the difference value as first difference value distance information; judging whether the first difference distance information is a negative value or not; If the value is not negative, cutting off the line of the early warning boundary girth; If the value is negative, judging whether the first selection switch electrifies the boundary information of the charging area; if the charging area boundary information is electrified, the charging area boundary contour or the charging area boundary sends out a signal according to the third screening data frame information when the third selection switch is switched; If the boundary information of the charging area is not electrified, matching analysis is carried out according to the mowing line information stored in the switching database and the current time information to determine a mowing line of the current time information, and the mowing line is defined as the current mowing line information; The fourth switch selects a corresponding mowing area boundary enclosing line or an early warning boundary enclosing line to electrify according to the current mowing line information; carrying out matching analysis on the current mowing line information and the amplified data frame information to screen out an adaptive data frame, and defining the adaptive data frame as fourth screening data frame information; And when the fourth selection switch is switched, the boundary surrounding line of the mowing area or the early warning boundary surrounding line sends out a signal according to the fourth screening data frame information.
  6. 6. The method for sending a boundary signal according to claim 5, wherein the fourth selecting switch selects the corresponding charging area boundary line, charging area boundary guide or pre-warning boundary line to be electrified according to the second current charging line information, and the method comprises: Performing matching analysis according to 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 defining the time distribution as first time distribution information; the fourth selection switch selects a corresponding charging area boundary surrounding line, charging area boundary guiding or early warning boundary surrounding line to electrify according to the first time distribution information and the second current charging line information; screening out first time distribution information corresponding to the early warning boundary girth line, and defining the first time distribution information as early warning time distribution information; performing matching analysis according to the vector speed and the early warning time distribution information stored in a preset vector database to determine the vector speed corresponding to the early warning time distribution information, and defining the vector speed as vector speed information; the mower runs according to the speed and the direction of the vector speed information.
  7. 7. The boundary signaling method of claim 6, wherein the charging area boundary directing signaling according to the third screening data frame information when the third selection switch is switched comprises: Acquiring second current distance information between the mower and the boundary guide of the charging area and second interval distance information taking preset unit time information as interval time; Acquiring the approaching distance information between the mower and the charging area boundary girth in the direction corresponding to the second current distance information; Judging whether the proximity distance information is smaller than the safety distance information; If the current is larger than the current, cutting off a circuit guided by the boundary of the charging area; If the distance information is smaller than the first distance information, calculating a difference value between the second current distance information and the second interval distance information, and defining the difference value as second difference value distance information; Judging whether the second difference distance information is a negative value or not; If the current is not negative, cutting off a line guided by the boundary of the charging area; If the time distribution is negative, performing matching analysis according to the time distribution corresponding to the time distribution database and the proximity distance information to determine the time distribution corresponding to the proximity distance information, and defining the time distribution as second time distribution information; the third selection switch selects a corresponding charging area boundary contour or charging area boundary guide to electrify according to the second time distribution information and the first current charging line information; screening out second time distribution information corresponding to the boundary guidance of the charging area, and defining the second time distribution information as guidance time distribution information; performing matching analysis according to the movement distance and the guiding time distribution information stored in a preset movement database to determine the movement distance corresponding to the guiding time distribution information, and defining the movement distance as movement distance information; The charging area boundary guide moves according to the moving distance information and acquires the direction information between the charging area boundary guide and the mower; Performing matching analysis according to the speed and the guiding time distribution information stored in a preset speed database to determine the speed corresponding to the guiding time distribution information, and defining the speed as guiding speed information; The mower runs according to the speed corresponding to the speed information and the direction corresponding to the direction information.
  8. 8. A boundary signal transmission system, comprising: the time acquisition module is used for acquiring current time information; The data acquisition module is used for acquiring the data frame information of the encoder; the processing module is connected with the time acquisition module and the data acquisition module and is used for storing and processing information; the processing module amplifies the data frame information to obtain corresponding amplified data frame information; The processing module performs matching analysis according to the line stored in the preset switching database and the current time information to determine a line corresponding to the current time information, and defines the line as current line information; The processing module controls the first selection switch to select a corresponding boundary line for electrifying according to the current line information; the processing module controls the boundary surrounding line to send out signals according to the amplified data frame information.
  9. 9. Computer readable storage means, characterized in that it stores a computer program that can be loaded by a processor and that performs the boundary signaling according to any one of claims 1 to 7.

Description

Boundary signal sending method, system and storage device Technical Field The present application relates to the field of mowers, and in particular, to a boundary signal sending method, a boundary signal sending system, and a storage device. Background In general, all outdoor gardening cutting tools such as mowers are provided with an operating handle for pushing, and a switch box and a control mechanism which are convenient for an operator to operate and control are arranged on the operating handle close to a holding part. The mower runs on the ground by virtue of the pushing force applied by an operator to the operation handle, and the operator has very high labor intensity for operating the push type mower. With the continuous development of artificial intelligence, intelligent mowers capable of self-walking have also been developed. Because the intelligent mower can automatically walk to execute preset related tasks, manual operation and intervention are not needed, manpower and material resources are greatly saved, and convenience is brought to operators. In order to enable a mower to be placed in a mowing area, the main current mode of identifying the boundary of the working area of the intelligent mower is to put an electric wire on the boundary of the working area, send an electric signal on the electric wire, and the main current signal form comprises a pulse signal with fixed frequency, a pulse signal with random frequency, a pseudo-random pulse signal and the like. Then, for further convenience of the operator, a charging area is also provided on the boundary of the working area, while a corresponding electrical signal is also emitted. In view of the above related art, the inventors consider that the mowing area boundary and the charging area boundary use respective power supplies, encoders, current amplifiers, and girds, respectively, and there is room for improvement because of the large number of components, large energy consumption, high cost. Disclosure of Invention In order to solve the problems that the mowing area boundary and the charging area boundary respectively use a power supply, an encoder, a current amplifier and a wire, the number of elements is large, and the energy consumption is large, the application provides a boundary signal sending method, a boundary signal sending system and a storage device. In a first aspect, the present application provides a boundary signal sending method, which adopts the following technical scheme: A boundary signal transmission method, comprising: Acquiring current time information and data frame information of an encoder; amplifying the data frame information to obtain corresponding amplified data frame information; Performing matching analysis according to the line stored in the preset switching database and the current time information to determine a line corresponding to the current time information, and defining the line as current line information; The first selection switch selects a corresponding boundary surrounding line to electrify according to the current line information; the border wire signals according to the amplified data frame information. Through adopting above-mentioned technical scheme, the signal to the data frame through a selector switch is launched to different boundary enclosing lines for the boundary of charging area and the boundary of mowing area can share an encoder, mcu, current amplifier, with charging area enclosing line and mowing area enclosing line be connected in same mcu, mcu control mowing area and the signal on-off switch of charging area, charging area signal disconnection when mowing area signal intercommunication, mowing area signal disconnection when the mowing area intercommunication. The mowing area and the charging area intermittently transmit signals, so that components are greatly reduced, the cost is lower, the same power supply supplies power, and the energy consumption is lower. Optionally, the method for signaling the boundary contour information includes: Carrying out matching analysis on the current route information and the amplified data frame information to screen out an adaptive data frame, and defining the adaptive data frame as first screening data frame information; The first selection switch selects a corresponding boundary surrounding line to electrify according to the current line information; The boundary contour signals according to the first screening data frame information. Through adopting above-mentioned technical scheme, only need set up a selector switch before the border enclosing wire and can connect in parallel the border enclosing wire of mowing district and charging district enclosing wire for the same can all be used to other components and parts of emergence current signal, has practiced thrift the cost of component ware, and the energy consumption is lower. Optionally, another method for signaling boundary contour information is further included, the method including: