CN115469589A - Signal control circuit and method, signal generation device, docking station, autonomous operating system, and storage medium - Google Patents

Abstract

An embodiment of the 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 for controlling the generation of pulses in the boundary line loop, and comprises a boundary line; and the control module is configured to be connected with the boundary line and control the frequency of the pulse according to the state of the boundary line loop, so that the problem that sparks are easy to generate when the boundary line is connected is solved.

Description

Signal control circuit and method, generating device, docking station, autonomous operation system and storage storage medium

technical field

The present invention relates to the field of intelligent robots, in particular to a signal control circuit and a control method for an autonomous operation system, and also to a signal generating device, a docking station, an autonomous operation system including the above-mentioned signal control circuit, and the above-mentioned control can be realized when the storage is executed Storage medium of the computer program of the method.

Background technique

Many existing robots, such as smart lawnmowers, are designed to work in a work area defined by a boundary line constructed as a metal wire forming a closed loop. Usually, the docking station docked with the intelligent lawn mower is equipped with a signal generating device, and the boundary line is drawn from the signal generating device and laid along the corresponding working boundary of the intelligent lawn mower, and finally returns to the signal generating device to form an intelligent mower. The working area of the lawn mower. The signal generating device controls the pulse signal transmission of the boundary line through the opening and closing of the electronic switch. When the user connects the boundary line when the charging station is powered on, for example, when connecting the boundary line and the terminal of the charging station, or connecting two broken boundary lines, if the electronic switch happens to be in the open state, the large current at the moment of wiring will Arcing occurs. Usually, the electronic switch of the charging station is turned on and off at a high frequency, which leads to a high probability of arcing in the wiring of the user in the above situation. The arc not only frightens the customer, but also causes danger when there are flammable and explosive objects nearby; moreover, the arc also has a great destructive effect on the contacts and prolongs the time for disconnecting the circuit.

Contents of the invention

The technical problem mainly solved by the present invention is to provide a signal control circuit which is not easy to generate arc when connecting to the boundary line.

In order to solve the above technical problems, the present invention provides a signal control circuit for controlling the generation of pulses in the boundary line loop, including: a boundary line; a control module configured to be connected to the boundary line, according to the boundary line loop state, controls the frequency of the pulses.

As a specific embodiment of the present invention, the signal control circuit further includes a state information acquisition module configured to be connected to the boundary line to obtain state information of the boundary line loop; the control module is configured to be connected to the state information acquisition module The module is connected to control the frequency of the pulse according to the state information of the boundary line loop.

As a specific embodiment of the present invention, when the boundary loop is in the first state, the control module controls the pulse of the first frequency to be generated in the boundary loop; when the boundary loop is in the second state , the control module controls the generation of pulses with a second frequency in the boundary line loop.

As a specific implementation manner of the present invention, the first state is a conduction state, and the second state is an open state; the first frequency is greater than the second frequency.

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

As a specific embodiment of the present invention, a wiring assembly is provided on the boundary line circuit, and the wiring assembly includes a wiring seat and a diode; the boundary line is connected to the wiring assembly.

As a specific embodiment of the present invention, the control module includes a switch module and a control unit, and the switch module is arranged 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 off When on, the boundary loop is in an open state; the control unit is connected to the switch module to control the on-off of the switch module, and the control unit is configured to control the on-off frequency of the switch module according to the state of the boundary loop.

As a specific embodiment of the present invention, the switch module is configured to include an electronic switch, and the electronic switch includes a field effect transistor.

As a 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.

As a specific embodiment of the present invention, the first switch circuit includes a switch unit, the control terminal of the switch unit is connected to the control unit, the input terminal of the switch unit is connected to the power chip, and at the same time, the switch unit The input end is connected with the control end of the electronic switch, and the output end of the switch unit is grounded.

As a specific embodiment of the present invention, the switch unit includes a transistor Q2; the switch unit is configured such that when the control unit sends a first level signal, the transistor Q2 is in an off state, and the electronic switch is turned on; When the control unit sends a second level signal, the transistor Q2 is in a conduction state, and the electronic switch is in a cut-off state. Further, the first level signal is a low level signal, and the second level signal is a high level signal.

As a specific embodiment of the present invention, the first switch 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, and the input terminal of the voltage limiting unit is connected to the control terminal of the electronic switch. The terminal is connected, and the output terminal of the voltage limiting unit is grounded. Further, the voltage limiting unit includes a transistor Q1.

As a specific embodiment of the present invention, the first switch circuit further includes a filter capacitor C18, the first end of the filter capacitor C18 is connected to the control end of the electronic switch, and the second end of the filter capacitor C18 is connected through a resistor R22 Connect with the output terminal of the electronic switch.

As a specific embodiment of the present invention, the first switch circuit further includes a step-down unit, the input end of the step-down unit is connected to the power chip, and the output end of the step-down unit is connected to the control end of the electronic switch.

As a specific embodiment of the present invention, the step-down unit includes a diode D6 and a capacitor C16, the first end of the capacitor C16 is connected to the cathode of the diode D6, and the second end of the capacitor C16 is grounded.

As a specific embodiment of the present invention, the switch module is configured to include a relay.

As a specific embodiment of the present invention, the state information sampling module is configured to include a sampling circuit for detecting the characteristic value of the current flowing through the boundary line loop; wherein, the first end of the boundary line is connected to the external power supply connected, the 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, and 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.

As a specific embodiment of the present invention, the sampling circuit includes a current sampling resistor, the first end of the current sampling resistor is connected to the input end of the sampling circuit, and the second end of the current sampling resistor is grounded .

As a specific embodiment of the present invention, the sampling circuit further includes a first filter, the input end of the first filter is connected to the first end of the current sampling resistor, and the output end of the first filter connected to the control unit.

As a specific embodiment of the present invention, the sampling circuit further includes a follower unit, the input terminal of the follower unit is connected to the output terminal of the first filter, and the output terminal of the follower unit is connected to the Control unit connection.

As a specific implementation manner 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.

As a specific implementation manner 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.

In order to solve the above technical problems, the present invention also provides a signal control method, which includes acquiring the state of the boundary line loop; and controlling the frequency of the boundary signal according to the state of the boundary line loop.

As a specific embodiment of the present invention, when the boundary loop is in the first state, the frequency of the boundary signal is controlled to be the first frequency; when the boundary loop is in the second state, the frequency of the boundary signal is controlled is the second frequency.

As a specific implementation manner of the present invention, the first state is a conduction state, and the second state is an open state; the first frequency is greater than the second frequency.

In order to solve the above technical problems, the present invention also provides a signal control circuit for controlling the frequency of pulses in the boundary line circuit, including: a boundary line; a control module configured to be connected to the boundary line; the control module also It is configured to include a memory and a processor, the memory stores a computer program that can run on the processor; when the processor executes the computer program, the above signal control method can be realized.

In order to solve the above technical problems, the present invention also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the above-mentioned signal control method can be realized.

To solve the above technical problem, the present invention further provides a signal generating device configured to generate a boundary signal, including the above signal control circuit.

In order to solve the above technical problems, the present invention also provides a docking station configured to supply energy to autonomous operation equipment parked at the docking station, including the above-mentioned signal generating device.

In order to solve the above technical problems, the present invention also provides an autonomous operation system, which includes autonomous operation equipment, and also includes the above-mentioned signal generating device or the above-mentioned docking station.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention , for those skilled in the art, other drawings can also be obtained according to the content of the embodiment of the present invention and these drawings without any creative effort.

Fig. 1 is a schematic diagram of an autonomous operation system provided by an embodiment of the present invention.

Fig. 2 is a schematic diagram of a signal control circuit provided by an embodiment of the present invention.

Fig. 3 is a schematic diagram of a switch module provided by an embodiment of the present invention.

Fig. 4 is a circuit diagram of a switch module provided by an embodiment of the present invention.

Fig. 5 is a schematic diagram of a state information collection module provided by an embodiment of the present invention.

Fig. 6 is a schematic diagram of a sampling circuit provided by an embodiment of the present invention.

Fig. 7 is a flowchart of a signal control method provided by an embodiment of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.

Referring to FIG. 1 , this embodiment provides an autonomous operation system, including an autonomous operation device 10 , a docking station 20 and a boundary 30 .

The autonomous operation equipment 10 is especially a robot that can autonomously move in a preset area and perform specific operations, typically such as an intelligent sweeper/vacuum cleaner for cleaning operations, or an intelligent lawnmower for mowing grass. Wherein, the specific operation particularly refers to the operation of processing the work surface and changing the state of the work surface. The present invention is described in detail by taking an intelligent lawnmower as an example. The autonomous operation equipment 10 can autonomously walk on the surface of the working area, especially as an intelligent lawnmower, it can autonomously mow grass on the ground. The autonomous operation device 10 includes at least a main mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module, and the like.

The main mechanism usually includes a chassis and a shell, and the chassis is used to install and accommodate functional mechanisms and functional modules such as a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module. The casing is generally configured to at least partially cover the chassis, mainly to enhance the aesthetics and recognition of the autonomous operation device 10 . In this embodiment, the housing is configured to translate and/or rotate relative to the chassis under the action of an external force, and cooperate with an appropriate detection module, such as a Hall sensor for example, to further sense collisions, lifting function as an event.

The moving mechanism is configured to support the main body on the ground and drive the main body to move on the ground, and generally includes a wheeled moving mechanism, a crawler or half-track moving mechanism, and a walking moving mechanism. In this embodiment, the moving mechanism is a wheeled moving mechanism, including at least one driving wheel and at least one driving prime mover. The driving prime mover is preferably an electric motor, and in other embodiments, it can also be an internal combustion engine or a machine that uses other types of energy sources to generate power. In this embodiment, preferably a left driving wheel, a left traveling prime mover driving the left driving wheel, a right driving wheel and a right traveling prime mover driving the right driving wheel are preferably provided. In this embodiment, the straight-line travel of the autonomous operation equipment is realized by the left and right driving wheels rotating at the same speed at the same speed, and the steering travel is realized by the same direction differential or opposite rotation of the left and right driving wheels. In other embodiments, the moving mechanism may further include a steering mechanism independent of the driving wheels and a steering prime mover independent of the walking prime mover. In this implementation, the moving mechanism further includes at least one driven wheel, the driven wheel is typically configured as a universal wheel, and the driving wheel and the driven wheel are respectively located at the front and rear ends of the autonomous working equipment.

The working mechanism is configured to perform specific work tasks, including a work piece and a working prime mover driving the work piece to run. Exemplarily, for an intelligent sweeper/vacuum cleaner, the work piece includes a roller brush, a dust suction pipe, and a dust chamber; for an intelligent lawn mower, the work piece includes a cutting blade or a cutting disc, and further includes Other components that optimize or adjust the mowing performance, such as the height adjustment mechanism for adjusting the mowing height. The working prime mover is preferably an electric motor, and in other embodiments, it can also be an internal combustion engine or a machine that uses other types of energy sources to generate power. In some other embodiments, the working prime mover and the walking prime mover are configured as the same prime mover.

The energy module is configured to provide energy for various tasks of the autonomous working 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 outside the autonomous operation equipment.

The detection module is configured as at least one sensor that perceives the environmental parameters of the autonomous operation equipment 10 or its own working parameters. Typically, the detection module may include sensors related to the working area limitation, such as magnetic induction, impact, ultrasonic, infrared, radio and other types, and the sensor type is adapted to the position and quantity of the corresponding signal generating device . The detection module may also include sensors related to positioning and navigation, such as a GPS positioning device, a laser positioning device, an electronic compass, an acceleration sensor, an odometer, an angle sensor, a geomagnetic sensor, and the like. The detection module can also include sensors related to its own working safety, such as obstacle sensors, lift sensors, battery pack temperature sensors, and the like. The detection module may also include sensors related to the external environment, such as an ambient temperature sensor, an ambient humidity sensor, a light sensor, a rain sensor, and the like.

The interaction module is configured to at least receive control instruction information input by the user, send out information requiring user perception, communicate with other systems or devices to send and receive information, and the like. In this embodiment, the interaction module includes an input device arranged on the autonomous operation equipment 10 for receiving control instruction information input by the user, typically such as a control panel, an emergency stop button, etc.; the interaction module also includes an input device arranged on the autonomous operation equipment 10. The display screen, indicator light and/or buzzer on 10 make the user perceive information by emitting light or sounding. In other embodiments, the interaction module includes a communication module set on the autonomous operation device 10 and a terminal device independent of the autonomous operation device 10, such as a mobile phone, a computer, a network server, etc., and the user's control instruction information or other information can be displayed on the terminal The input on the device reaches the autonomous operation device 10 via a wired or wireless communication module.

The control module generally includes at least one processor and at least one non-volatile memory, the memory is stored with a pre-written computer program or instruction set, and the processor controls the autonomous operation device 10 according to the computer program or instruction set Execution of movement, work and other actions. Further, the control module can also control and adjust the corresponding behavior of the autonomous operation equipment 10, modify the parameters in the memory, etc. according to the signal of the detection module and/or user control instructions.

The boundary 30 is used to limit the working area of the robot system, and generally includes an outer boundary and an inner boundary. The autonomous operation equipment 10 is limited to move and work within the outer boundary, outside the inner boundary, or between the outer boundary and the inner boundary. The boundary can be physical, typically such as walls, fences, railings, etc.; the boundary can also be virtual, typically such as a virtual boundary signal sent by a signal generating device, and the virtual boundary signal is usually an electromagnetic signal or light Signal, or for the autonomous operation equipment 10 equipped with a positioning device (such as GPS, etc.), a virtual boundary set in an electronic map exemplarily formed by two-dimensional or three-dimensional coordinates. In this embodiment, the boundary 30 is configured as a closed and energized boundary line electrically connected to the signal generating device, and the signal generating device is usually arranged in the docking station 20 .

The docking station 20 is usually constructed on or within the boundary 30 for mooring the autonomous working device 10 , in particular capable of supplying energy to the autonomous working device 10 parked at the docking station.

In order to solve the problems existing in the prior art, with reference to Fig. 2, an embodiment of the present invention provides a signal generating device, the signal generating device includes a signal control circuit; the signal control circuit is used to control the generation of Pulse, including boundary line 30 and control module. The control module 31 is configured to be connected with the boundary line 30, and control the frequency of the pulse according to the state of the boundary line loop. Further, the signal control circuit also includes a state information collection module configured to be connected to the boundary line to acquire state information of the boundary line circuit; the control module is configured to be connected to the state information collection module according to The state information of the boundary loop controls the frequency of the pulses.

In this embodiment, a wiring assembly is provided on the boundary loop, and the wiring assembly includes a wiring holder and a diode D5. The terminal block is installed on the docking station, and the terminal block includes two terminal pole pieces. The terminal pole pieces respectively include opposite first ends and second ends, wherein the first end is exposed outside the docking station, and the second end is inserted into the Stop inside the station. The first ends of the two connecting pole pieces are respectively electrically connected to the two ends of the boundary line, and the second ends of the two connecting pole pieces are respectively connected to the two ends of the diode D5. The diode D5 plays a role of freewheeling in the circuit. The cathode of the diode D5 is connected to the 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.

Further, the control module 31 includes a switch module 311 and a control unit 312, the switch module 311 is set 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 off When it is on, the boundary line circuit is in an open state; the control unit 312 is electrically connected to the switch module 311, and controls the on-off of the switch module 311 to generate pulses in the boundary line circuit; the control unit 312 is configured to communicate with the The state information collection module 32 is connected to control the on-off frequency of the switch module 311 according to the state of the boundary loop. In this embodiment, the control unit 312 is configured to include a single-chip microcomputer.

In this embodiment, the switch module 311 is configured to include an electronic switch 3111. Referring to FIGS. The input terminal 32i of the state information collection module is connected, and the control terminal 3111c of the electronic switch is connected with the control unit 312 . The electronic switch includes a field effect transistor Q3; the electronic switch is configured to be turned on when the gate voltage of the field effect transistor Q3 reaches a certain voltage threshold. Wherein, when the control unit sends a first level signal, the electronic switch is turned on; when the control unit sends a second level signal, 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.

Further, the electronic switch further 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, and the 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, the anode of the diode D3 is connected to the output terminal 311o of the switch module, and the diode D3 is connected to the output terminal 311o of the switch module. D3 is called a body diode, and is used to prevent the field effect transistor Q3 from being burned out when the power supply voltage is too high.

Further, the electronic switch is configured to be connected in parallel with the diode TVS1, and the diode TVS1 is connected in parallel with the field effect transistor Q3 to protect the field effect transistor Q3. Preferably, the diode TVS1 is a transient suppression diode. The cathode of the diode TVS1 is connected to the drain of the field effect transistor Q3, and the anode of the diode TVS1 is connected to the source of the field effect transistor Q3. Further, a resistor R16 is connected in parallel between the source and the gate of the field effect transistor Q3, which functions as a voltage divider and a current drain in the circuit.

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

Further, the first switch circuit includes a triode Q2. The base of the triode Q2 is connected to the control unit 312, the collector of the triode Q2 is connected to the power chip V1 through the resistor R11, and at the same time, the collector of the triode Q2 is connected to the control terminal 3111c of the electronic switch through the resistor R13, The emitter of the triode Q2 is grounded. The first switch circuit is configured such that when the level of the control terminal 3112c of the switch unit changes, the transistor Q2 switches between the on state and the off state, so that the gate voltage of the field effect transistor Q3 changes, thereby Control the on and off of the electronic switch. Wherein, when the control unit 312 sends out the first level signal, the transistor Q2 is in the cut-off state, at this time the gate voltage of the field effect transistor Q3 reaches a certain voltage threshold, and the electronic switch is turned on; when the control unit 312 sends out When the signal is at the second level, the transistor Q2 is in the conduction state, and at this time the gate voltage of the field effect transistor Q3 cannot reach a certain voltage threshold, 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.

In this embodiment, the first switch 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, and the input terminal 3113i of the voltage limiting unit is connected to the electronic switch The control terminal 3111c is connected, 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, the The emitter of the transistor Q1 is grounded.

In this embodiment, the first switch 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 electronic switch through a resistor R22. The output terminal 3111o of the switch is connected.

In this embodiment, the first switch circuit further includes a step-down unit 3114, the input end 3114i of the step-down unit is connected to the power chip V1, the output end 3114o of the step-down unit is connected to the control end 3111c of the electronic switch connect.

Further, the step-down unit 3114 includes a diode D6 and a capacitor C16, the diode D6 is connected in series with the capacitor C16, wherein the anode of the diode D6 is connected to the power supply chip V1, and the cathode of the diode D6 is connected to the electron through the resistor R13. The output end 3111o of the switch is connected, the first end of the capacitor C11 is connected to the cathode of the diode D6, and the second end of the capacitor C16 is grounded.

In other embodiments, the switch module 31 is configured to include relays.

In this embodiment, the state information collection module 32 is configured to include a sampling circuit. Refer to Figures 4-5. The sampling circuit is used to detect the characteristic value of the current flowing through the boundary line loop. In this embodiment, the control unit 312 controls the electronic switch to be turned on. If a 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 judges that the boundary line loop is in a conduction state; if No current is generated in the boundary loop, and the sampling circuit cannot detect the current characteristic value of the boundary loop, and the control unit 312 judges that the boundary loop is in an open state.

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 end 311i of the switch module, and the control end 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.

In this embodiment, the sampling circuit includes: a current sampling resistor 321, the first end of the current sampling resistor 321 is connected to the input end 32i of the sampling circuit, and the second end of the current sampling resistor 321 end grounded. Preferably, the current sampling resistor 321 is configured to be composed of at least two resistors connected in parallel. The sampling circuit also includes a first filter 324, the input end 324i of the first filter is connected to the first end of the current sampling resistor 321, and the output end 324o of the first filter is connected to the control unit 312 connection; wherein, the first filter includes an RC filter and a diode D10, and the RC filter is connected in parallel with the diode D10. Further, the sampling circuit also includes a follower unit 325, the input terminal 325i of the follower unit is connected to the output terminal 324o of the first filter, and the output terminal 325o of the follower unit is connected to the control unit 312 connections. For the convenience of AD sampling, the sampling circuit further includes an amplifier 323, and the first end of the current sampling resistor 321 is connected to the input end 324i of the first filter through the amplifier 323. Further, the sampling circuit further includes a second filter 322, and the first end of the current sampling resistor 321 is connected to the input end 323i of the amplifier through the second filter 322.

Using the signal control circuit provided by the above embodiment, the state information of the boundary line circuit is obtained through the sampling circuit. When the boundary line is disconnected, the control module cannot detect the boundary signal, and it will control the frequency of the switch circuit to be turned on and off from a high frequency. Going to a low frequency, thereby reducing the probability that the switch module is just in the conducting state when the boundary line loop is closed, thereby reducing the probability of arcing.

Fig. 7 is a flowchart of a signal control method provided by an embodiment of the present invention. Referring to Figure 7, the signal control method provided by the embodiment of the present invention includes:

S1. Obtain the current characteristic value of the boundary line loop.

Specifically, the state information collection module samples the boundary line current. In this embodiment, when the power is turned on, the control module defaults to control the boundary line loop to generate pulses of the first frequency. In other embodiments, when the power is turned on, the control module may control the boundary line loop to generate pulses of the second frequency by default.

S2. Determine the state of the boundary line loop according to 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.

Specifically, when the electronic switch is turned on or within a preset time period after the electronic switch is turned on, the state information acquisition module detects the boundary line sampling current, that is, it is judged that the boundary line loop is in the first state; when the electronic switch is turned on or the electronic switch If the state information acquisition module does not detect the boundary line sampling current within a preset period of time after the conduction, it is judged that the boundary line loop is in the second state. Wherein, the first state is a conduction state, and the second state is an open state.

S3. Controlling the generation of pulses of the first frequency in the boundary line loop.

Specifically, when the boundary line loop is in the first state, the control module controls the boundary line loop to generate a pulse of a first frequency, for example, the first frequency is not less than 50 Hz. In this embodiment, the first frequency is preferably 60 Hz-100 Hz; further, the first frequency is preferably 60 Hz-70 Hz.

S4. Control the boundary line loop to generate a pulse of a second frequency, wherein the second frequency is lower than the first frequency.

Specifically, when the boundary line loop is in the second state, the control module controls the boundary line loop to generate pulses of a second frequency, for example, the second frequency is less than 50 Hz. In this embodiment, the second frequency is preferably 0.3 Hz-30 Hz; further, the second frequency is preferably 0.5 Hz-1.5 Hz.

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope 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 can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.

Claims (29)

1. A signal control circuit for controlling the generation of pulses in the boundary loop, characterized in that it comprises: borderline; A control module, configured to be connected to the boundary line, controls the frequency of the pulse according to the state of the boundary line loop. 2. The signal control circuit according to claim 1, further comprising a state information acquisition module configured to be connected to the boundary line to obtain state information of the boundary line loop; the control module is configured to communicate with the boundary line The state information collection module is connected to control the frequency of the pulse according to the state information of the boundary loop. 3. The signal control circuit according to claim 1, characterized in that, when the boundary line loop is in the first state, the control module controls the pulse of the first frequency to be generated in the boundary line loop; when the When the boundary loop is in the second state, the control module controls the boundary loop to generate pulses with a second frequency. 4. The signal control circuit according to claim 3, wherein the first state is a conduction state, and the second state is an open state; the first frequency is greater than the second frequency. 5. The signal control circuit according to claim 3, characterized in that, the first frequency is not less than 50 Hz; the second frequency is less than 50 Hz; further, the first frequency is 60 Hz-100 Hz, and the second frequency The second frequency ranges from 0.3 Hz to 30 Hz; further preferably, the first frequency ranges from 60 Hz to 70 Hz, and the second frequency ranges from 0.5 Hz to 1.5 Hz. 6 . The signal control circuit according to claim 1 , wherein a wiring assembly is provided on the boundary line circuit, and the wiring assembly includes a wiring seat and a diode; the boundary line is connected to the wiring assembly. 7 . 7. The signal control circuit according to any one of claims 1 to 6, wherein the control module includes a switch module and a control unit, and the switch module is arranged on the boundary circuit; when the switch module is turned on , the boundary line loop is in a conduction state; when the switch module is disconnected, the boundary line loop is in an open state; the control unit is connected with the switch module to control the on-off of the switch module, and the control unit is configured to The state of the loop controls the on-off frequency of the switch module. 8. The signal control circuit according to claim 7, wherein the switch module is configured to include an electronic switch, and the electronic switch includes a field effect transistor. 9. The signal control circuit according to claim 8, wherein the switch module further comprises a first switch circuit, and the electronic switch is connected to the control unit through the first switch circuit. 10. The signal control circuit according to claim 9, wherein the first switch circuit comprises a switch unit, the control terminal of the switch unit is connected to the control unit, and the input terminal of the switch unit is connected to the power chip , at the same time, the input terminal of the switch unit is connected to the control terminal of the electronic switch, and the output terminal of the switch unit is grounded. 11. The signal control circuit according to claim 10, wherein the switch unit comprises a triode Q2; the switch unit is configured such that when the control unit sends a first level signal, the triode Q2 is in a cut-off state , the electronic switch is turned on; when the control unit sends a second level signal, the triode Q2 is in an on state, and the electronic switch is turned off. Preferably, the first level signal is a low level signal, and the second level signal is a high level signal. 12. The signal control circuit according to claim 9, wherein the first switch circuit further comprises a voltage limiting unit, the control terminal of the voltage limiting unit is connected to the output terminal of the electronic switch, and the voltage limiting unit The input end of the voltage limiting unit is connected to the control end of the electronic switch, and the output end of the voltage limiting unit is grounded. Preferably, the voltage limiting unit includes a transistor Q1. 13. The signal control circuit according to claim 9, wherein the first switch circuit further comprises a filter capacitor C18, the first terminal of the filter capacitor C18 is connected to the control terminal of the electronic switch, and the filter capacitor The second terminal of C18 is connected with the output terminal of the electronic switch through the resistor R22. 14. The signal control circuit according to claim 9, wherein the first switch circuit further comprises a step-down unit, the input end of the step-down unit is connected to the power chip, and the output end of the step-down unit Connect with the control terminal of the electronic switch. Preferably, the step-down unit includes a diode D6 and a capacitor C16, the first end of the capacitor C16 is connected to the cathode of the diode D6, and the second end of the capacitor C16 is grounded. 15. The signal control circuit according to claim 7, wherein the switch module is configured to include a relay. 16. The signal control circuit according to claim 7, wherein the state information sampling module is configured to include a sampling circuit for detecting a characteristic value of a current flowing through the boundary loop; wherein the boundary The first end of the line is connected to an external power supply, the 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, and the output end of the switch module is connected to the The input terminal of the sampling circuit is connected, the signal terminal of the sampling circuit is connected with the control unit, and the output terminal of the sampling circuit is grounded. 17. The signal control circuit according to claim 16, wherein the sampling circuit comprises a current sampling resistor, the first end of the current sampling resistor is connected to the input terminal of the sampling circuit, and the current The second end of the sampling resistor is grounded. 18. The signal control circuit according to claim 16, wherein the sampling circuit further comprises a first filter, the input end of the first filter is connected to the first end of the current sampling resistor, the The output terminal of the first filter is connected with the control unit. 19. The signal control circuit according to claim 18, wherein the sampling circuit further comprises a follower unit, the input end of the follower unit is connected to the output end of the first filter, and the follower unit The output terminal of the controller unit is connected with the control unit. 20. The signal control circuit according to claim 18, wherein the sampling circuit further comprises an amplifier, and the first terminal of the current sampling resistor is connected to the input terminal of the first filter through the amplifier. 21. The signal control circuit according to claim 19, wherein the sampling circuit further comprises a second filter, and the first end of the current sampling resistor passes through the second filter and the input of the amplifier end connection. 22. A signal control method, characterized in that, Obtain the state of the boundary line loop; Depending on the state of the boundary line loop, the frequency of the boundary signal is controlled. 23. The signal control method according to claim 22, characterized in that, when the boundary line loop is in the first state, the frequency of the boundary signal is controlled to be the first frequency; when the boundary line loop is in the second state , controlling the frequency of the boundary signal to be a second frequency. 24. The signal control method according to claim 23, wherein the first state is a conduction state, and the second state is an open state; the first frequency is greater than the second frequency. 25. A signal control circuit for controlling the frequency of pulses in a boundary loop, characterized by comprising: borderline; The control module is configured to be connected to the boundary line; the control module is also configured to include a memory and a processor, the memory stores a computer program that can run on the processor; the processor executes the The signal control method according to any one of claims 22-24 can be realized when the computer program is used. 26. A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the signal control method according to any one of claims 22-24 can be realized. 27. A signal generating device configured to generate a boundary signal, characterized by comprising the signal control circuit according to any one of claims 1-21, 25. 28. A docking station configured to be able to supply energy to autonomous operating equipment parked at the docking station, characterized by comprising the signal generating device as claimed in claim 27. 29. An autonomous operation system, comprising autonomous operation equipment, characterized by further comprising the signal generating device as claimed in claim 27 or the docking station as claimed in claim 28.

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