阅读说明：本技术 一种割草机系统通信方法、割草机系统及割草机基站 (Communication method of mower system, mower system and mower base station ) 是由 不公告发明人 于 2019-09-02 设计创作，主要内容包括：本发明涉及一种割草机系统通信方法、割草机系统及割草机基站。该系统中基站的磁场发射模块发射预设变化磁场,割草机器人的磁场感测模块接收预设变化磁场后产生与预设变化磁场对应的变化感测信号,进而根据变化感测信号和控制指令的对应关系查找与变化感测信号对应的控制指令；割草机器人执行控制指令。本发明利用基站中现有的磁场发射模块和割草机器人现有的磁场感测模块,不需要增加独立的通信硬件,仅需要从软件方面改进即可实现基站和割草机器人的通信,从而简化设备结构同时降低制造成本。(The invention relates to a communication method of a mower system, the mower system and a mower base station. A magnetic field emission module of a base station in the system emits a preset variable magnetic field, a magnetic field sensing module of the mowing robot receives the preset variable magnetic field and then generates a change sensing signal corresponding to the preset variable magnetic field, and a control instruction corresponding to the change sensing signal is searched according to the corresponding relation between the change sensing signal and the control instruction; and the mowing robot executes the control instruction. The invention utilizes the existing magnetic field emission module in the base station and the existing magnetic field sensing module of the mowing robot, does not need to increase independent communication hardware, and can realize the communication between the base station and the mowing robot only by improving from the aspect of software, thereby simplifying the equipment structure and reducing the manufacturing cost.)

1. A lawn mower system communication method, the lawn mower system comprising a base station and a lawn mowing robot, the base station comprising a magnetic field emission module for emitting a magnetic field, the lawn mowing robot comprising a magnetic field sensing module for sensing the magnetic field and thereby generating a sensing signal, the lawn mowing robot determining a current location area from the sensing signal; characterized in that the method comprises:

s1, the base station receives an operation instruction, and a magnetic field emission module of the base station emits a preset variable magnetic field corresponding to the operation instruction;

s2, a magnetic field sensing module of the mowing robot receives the preset variable magnetic field and then generates a change sensing signal corresponding to the preset variable magnetic field;

and S3, searching a control instruction corresponding to the change sensing signal by the mowing robot according to the pre-stored corresponding relation between the change sensing signal and the control instruction.

2. The mower system communication method of claim 1, wherein the step S1 of receiving the operation instruction by the base station comprises:

s11, the base station receives an operation instruction generated by a control device on the base station; or

And S12, the base station receives an operation instruction sent by an external control terminal through a communication module.

3. The mower system communication method of claim 1, wherein said preset varying magnetic field of step S1 comprises:

presetting a strength changing magnetic field, wherein the magnetic field strength of the transmitting magnetic field changes according to a preset strength sequence; and/or

The method comprises the steps of presetting an interval variable magnetic field, and transmitting the magnetic field according to a preset time interval, wherein the preset time interval comprises a preset transmission time interval and a preset transmission pause time interval; and/or

The magnetic field direction of the transmitting magnetic field is changed according to a preset direction sequence.

4. The mower system communication method according to claim 1, wherein said step S2 comprises: and S21, generating a change sensing signal corresponding to the preset change magnetic field after the inductor of the mowing robot receives the preset change magnetic field, wherein the change sensing signal is change sensing current or change sensing voltage.

5. The mower system communication method according to claim 1, further comprising after said step S3:

s4, the mowing robot executes the control command; the control instruction comprises one or more of a return base station instruction, a mowing mode conversion instruction, a starting mowing instruction, a stopping mowing instruction, a fixed point mowing instruction, a spiral mowing instruction and a narrow-track mowing instruction.

6. The communication method of mower system according to claim 5, wherein if said control command is a return to base station command, said step S4 comprises:

and S41, the mowing robot returns to the base station.

7. A lawn mower system comprising a base station and a lawn mowing robot, the base station comprising a magnetic field emission module for emitting a magnetic field, the lawn mowing robot comprising a magnetic field sensing module for sensing the magnetic field to produce a sensing signal, the lawn mowing robot determining a current location area from the sensing signal; the device is characterized in that the magnetic field emission module is also used for emitting a preset variable magnetic field; the mowing robot comprises a memory for storing the corresponding relation between the change sensing signal and the control instruction;

a magnetic field sensing module of the mowing robot receives the preset variable magnetic field and then generates a change sensing signal corresponding to the preset variable magnetic field, and a control instruction corresponding to the change sensing signal is searched according to the corresponding relation between the change sensing signal and the control instruction; the mowing robot executes the control instruction.

8. The lawn mower system of claim 7, wherein the base station further comprises:

the control device is connected with the magnetic field emission module and used for generating an operation instruction, and the magnetic field emission module emits a preset variable magnetic field corresponding to the operation instruction; or

And the communication module is connected with the magnetic field transmitting module and used for receiving an operation instruction sent by an external control terminal, and the magnetic field transmitting module transmits a preset variable magnetic field corresponding to the operation instruction.

9. The mower system of claim 7 wherein the magnetic field emission module comprises:

the first magnetic field transmitting unit transmits a magnetic field according to the change of a preset intensity sequence; and/or

The second magnetic field transmitting unit transmits a magnetic field according to a preset time interval, wherein the preset time interval comprises a preset transmitting time interval and a preset magnetic field pause time interval; and/or

And the third magnetic field transmitting unit changes and transmits the magnetic field according to the preset direction sequence.

10. The mower system of claim 7 wherein the magnetic field receiving module is an inductor and the change sensing signal is a change sensing current or a change sensing voltage;

the control instruction comprises one or more of a return base station instruction, a mowing mode conversion instruction, a starting mowing instruction, a stopping mowing instruction, a fixed point mowing instruction, a spiral mowing instruction and a narrow-track mowing instruction.

11. A lawnmower base station comprising a magnetic field emission module for emitting a magnetic field, wherein the magnetic field emission module has two modes of operation: a positioning working mode and a communication working mode;

the positioning working mode comprises the following steps: the magnetic field emission module emits a magnetic field with fixed direction and fixed magnetic field intensity, and the magnetic field with fixed direction and fixed magnetic field intensity is used for determining the current position area of the mowing robot;

the communication working mode is as follows: the magnetic field emission module emits a preset variable magnetic field, the preset variable magnetic field is used for generating a change sensing signal by the mowing robot, and a control instruction corresponding to the change sensing signal is searched according to the corresponding relation between the change sensing signal and the control instruction, so that information transmission is realized.

12. The mower base station according to claim 11, further comprising a control device connected to the magnetic field emission module for generating an operation command, wherein the magnetic field emission module emits a preset variable magnetic field corresponding to the operation command;

the control device is at least one of a touch screen, a keyboard, a mouse, a mechanical button, a mechanical knob, a mechanical switch and a microphone.

13. The mower base station according to claim 11, further comprising a communication module connected to the magnetic field emission module and configured to receive an operation command sent by an external control terminal, wherein in the communication operation mode, the magnetic field emission module emits a preset variable magnetic field corresponding to the operation command.

14. The mower base station of claim 11, wherein said magnetic field emission module comprises:

the first magnetic field transmitting unit transmits a magnetic field according to the change of a preset intensity sequence; and/or

The second magnetic field transmitting unit transmits a magnetic field according to a preset time interval, wherein the preset time interval comprises a preset transmitting time interval and a preset magnetic field pause time interval; and/or

And the third magnetic field transmitting unit changes and transmits the magnetic field according to the preset direction sequence.

Technical Field

The invention relates to the field of mowers, in particular to a communication method of a mower system, the mower system and a mower base station.

Background

The mowing machine system comprises a base station and the mowing robot, wherein the base station and the mowing robot need to communicate with each other, and the control of the mowing robot by the base station is completed. In the prior art, one of a 433 wireless communication module, a bluetooth module and a WIFI module is adopted, so that a pair of 433 wireless communication modules or bluetooth modules or WIFI modules needs to be arranged on a base station and a mowing robot, and manufacturing cost and product complexity are increased.

Referring to fig. 1 and 2, in the conventional lawn mower system, a base station continuously emits a magnetic field with a fixed direction and a fixed magnetic field intensity during operation, an inductor of the lawn mowing robot receives the magnetic field to generate an induction signal, and the current position of the lawn mowing robot is determined according to the direction of the induction signal, that is, the lawn mowing robot is located on a mowing area boundary, within the mowing area boundary, and outside the mowing area boundary.

Disclosure of Invention

The present invention provides a communication method for a lawn mower system, a lawn mower system and a lawn mower base station, aiming at the defects of the prior art.

The technical scheme adopted by the invention for solving the technical problems is as follows: constructing a lawn mower system communication method, the lawn mower system comprising a base station and a lawn mowing robot, the base station comprising a magnetic field emission module for emitting a magnetic field, the lawn mowing robot comprising a magnetic field sensing module for sensing the magnetic field and thereby generating a sensing signal, the lawn mowing robot determining a current location area from the sensing signal; the method comprises the following steps:

s1, the base station receives an operation instruction, and a magnetic field emission module of the base station emits a preset variable magnetic field corresponding to the operation instruction;

s2, a magnetic field sensing module of the mowing robot receives the preset variable magnetic field and then generates a change sensing signal corresponding to the preset variable magnetic field;

and S3, searching a control instruction corresponding to the change sensing signal by the mowing robot according to the pre-stored corresponding relation between the change sensing signal and the control instruction.

Further, in the communication method of the lawn mower system according to the present invention, the receiving, by the base station, an operation instruction in step S1 includes:

s11, the base station receives an operation instruction generated by a control device on the base station; or

And S12, the base station receives an operation instruction sent by an external control terminal through a communication module.

Further, in the communication method of the lawn mower system according to the present invention, the step S1 where the preset varying magnetic field includes:

presetting a strength changing magnetic field, wherein the magnetic field strength of the transmitting magnetic field changes according to a preset strength sequence; and/or

The method comprises the steps of presetting an interval variable magnetic field, and transmitting the magnetic field according to a preset time interval, wherein the preset time interval comprises a preset transmission time interval and a preset transmission pause time interval; and/or

The magnetic field direction of the transmitting magnetic field is changed according to a preset direction sequence.

Further, in the communication method of the lawn mower system according to the present invention, the step S2 includes: and S21, generating a change sensing signal corresponding to the preset change magnetic field after the inductor of the mowing robot receives the preset change magnetic field, wherein the change sensing signal is change sensing current or change sensing voltage.

Further, in the communication method of a mower system according to the present invention, after step S3, the method further includes:

s4, the mowing robot executes the control command; the control instruction comprises one or more of a return base station instruction, a mowing mode conversion instruction, a starting mowing instruction, a stopping mowing instruction, a fixed point mowing instruction, a spiral mowing instruction and a narrow-track mowing instruction.

Further, in the communication method of a lawnmower system according to the present invention, if the control command is a return base station command, the step S4 includes:

and S41, the mowing robot returns to the base station.

In addition, the invention also provides a mower system, which comprises a base station and a mowing robot, wherein the base station comprises a magnetic field emission module for emitting a magnetic field, the mowing robot comprises a magnetic field sensing module for sensing the magnetic field to generate a sensing signal, and the mowing robot determines the current position area according to the sensing signal; the magnetic field emission module is also used for emitting a preset variable magnetic field; the mowing robot comprises a memory for storing the corresponding relation between the change sensing signal and the control instruction;

a magnetic field sensing module of the mowing robot receives the preset variable magnetic field and then generates a change sensing signal corresponding to the preset variable magnetic field, and a control instruction corresponding to the change sensing signal is searched according to the corresponding relation between the change sensing signal and the control instruction; the mowing robot executes the control instruction.

Further, in the mower system of the present invention, the base station further includes:

the control device is connected with the magnetic field emission module and used for generating an operation instruction, and the magnetic field emission module emits a preset variable magnetic field corresponding to the operation instruction; or

And the communication module is connected with the magnetic field transmitting module and used for receiving an operation instruction sent by an external control terminal, and the magnetic field transmitting module transmits a preset variable magnetic field corresponding to the operation instruction.

Further, in the mower system of the present invention, the magnetic field emission module includes:

the first magnetic field transmitting unit transmits a magnetic field according to the change of a preset intensity sequence; and/or

The second magnetic field transmitting unit transmits a magnetic field according to a preset time interval, wherein the preset time interval comprises a preset transmitting time interval and a preset magnetic field pause time interval; and/or

And the third magnetic field transmitting unit changes and transmits the magnetic field according to the preset direction sequence.

Further, in the mower system of the present invention, the magnetic field receiving module is an inductor, and the change sensing signal is a change sensing current or a change sensing voltage;

the control instruction comprises one or more of a return base station instruction, a mowing mode conversion instruction, a starting mowing instruction, a stopping mowing instruction, a fixed point mowing instruction, a spiral mowing instruction and a narrow-track mowing instruction.

In addition, the invention also provides a mower base station, which comprises a magnetic field emission module used for emitting a magnetic field, wherein the magnetic field emission module has two working modes: a positioning working mode and a communication working mode;

the positioning working mode comprises the following steps: the magnetic field emission module emits a magnetic field with fixed direction and fixed magnetic field intensity, and the magnetic field with fixed direction and fixed magnetic field intensity is used for determining the current position area of the mowing robot;

the communication working mode is as follows: the magnetic field emission module emits a preset variable magnetic field, the preset variable magnetic field is used for generating a change sensing signal by the mowing robot, and a control instruction corresponding to the change sensing signal is searched according to the corresponding relation between the change sensing signal and the control instruction, so that information transmission is realized.

Further, the mower base station of the invention further comprises a control device connected with the magnetic field emission module and used for generating an operation instruction, wherein the magnetic field emission module emits a preset variable magnetic field corresponding to the operation instruction;

the control device is at least one of a touch screen, a keyboard, a mouse, a mechanical button, a mechanical knob, a mechanical switch and a microphone.

Further, the mower base station of the present invention further includes a communication module connected to the magnetic field emission module and configured to receive an operation instruction sent by an external control terminal, where the magnetic field emission module emits a preset variable magnetic field corresponding to the operation instruction in the communication operation mode.

Further, in the lawn mower base station of the present invention, the magnetic field emission module includes:

the first magnetic field transmitting unit transmits a magnetic field according to the change of a preset intensity sequence; and/or

The second magnetic field transmitting unit transmits a magnetic field according to a preset time interval, wherein the preset time interval comprises a preset transmitting time interval and a preset magnetic field pause time interval; and/or

And the third magnetic field transmitting unit changes and transmits the magnetic field according to the preset direction sequence.

The communication method of the mower system, the mower system and the mower base station have the following beneficial effects: the invention utilizes the existing magnetic field emission module in the base station and the existing magnetic field sensing module of the mowing robot, does not need to increase independent communication hardware, and can realize the communication between the base station and the mowing robot only by improving from the aspect of software, thereby simplifying the equipment structure and reducing the manufacturing cost.

Drawings

The invention will be further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a schematic diagram of a prior art base station and mowing robot;

FIG. 3 is a schematic diagram of a mower system according to an exemplary embodiment;

FIG. 4 is a schematic diagram of a mower system according to an exemplary embodiment;

FIG. 5 is a schematic diagram of a mower system according to an exemplary embodiment;

FIG. 6 is a flow chart of a communication method of a lawn mower system provided by an embodiment;

FIG. 7 is a flow chart of a communication method for a lawn mower system provided by an embodiment;

fig. 8 is a schematic structural diagram of a mower system according to an embodiment.

Detailed Description

For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

Examples

Referring to fig. 3, the lawn mower system of the present embodiment includes a base station including a magnetic field emission module for emitting a magnetic field, and a lawn mowing robot. The mowing robot comprises a magnetic field sensing module for sensing a magnetic field to generate a sensing signal, and the mowing robot determines a current position area according to the sensing signal; referring to fig. 2, the mowing robot is located on the mowing zone boundary, within the mowing zone boundary, and outside the mowing zone boundary, and the current position area determined by the mowing robot according to the sensing signal may refer to the prior art, which is not described in detail in this embodiment. It should be noted that the magnetic field emission module of this embodiment has two operation modes: positioning working mode and communication working mode:

the method comprises the following steps that a magnetic field emission module emits a magnetic field with fixed direction and fixed magnetic field intensity in a positioning working mode, a magnetic field sensing module of the mowing robot senses the magnetic field to generate sensing signals, and a current position area is determined according to the sensing signals; referring to fig. 2, the mowing robot is located on the mowing zone boundary, within the mowing zone boundary, and outside the mowing zone boundary, and the current position area determined by the mowing robot according to the sensing signal may refer to the prior art, which is not described in detail in this embodiment. Alternatively, the magnetic field receiving module is an inductor, the number of the inductors can be set according to requirements, and the inductor senses a magnetic field to generate an induction current or an induction voltage.

The magnetic field emission module emits a preset variable magnetic field in a communication working mode, and the magnetic field sensing module of the mowing robot generates a change sensing signal corresponding to the preset variable magnetic field after receiving the preset variable magnetic field. The mowing robot of the embodiment further comprises a memory for storing the corresponding relation between the change sensing signal and the control instruction, and after the mowing robot generates the change sensing signal, the control instruction corresponding to the change sensing signal is searched according to the corresponding relation between the change sensing signal and the control instruction. And after the control command is generated, the mowing robot executes the control command. Alternatively, the magnetic field receiving module is an inductor, and the change sensing signal is a change sensing current or a change sensing voltage.

Alternatively, the control instructions include, but are not limited to, a return base instruction for returning the mowing robot to the base station, a mowing mode switching instruction, a start mowing instruction, a stop mowing instruction, a spot mowing instruction, a spiral mowing instruction, a narrow-lane mowing instruction, and the like; the mowing mode conversion instruction is used for converting the working modes of the mowing robot, and the mowing robot comprises a plurality of working modes; starting the mowing robot to start mowing operation under the mowing instruction; stopping the mowing operation of the mowing robot under the mowing stopping instruction; carrying out mowing operation on the mowing robot at a certain position under the fixed-point mowing instruction; the spiral mowing instruction refers to that the mowing robot carries out spiral mowing operation; the narrow-path mowing instruction means that the current position of the mower is a narrow path, and mowing operation is carried out according to a narrow-path mowing mode.

The embodiment utilizes the existing magnetic field emission module in the base station and the existing magnetic field sensing module of the mowing robot, does not need to increase independent communication hardware, and can realize the communication between the base station and the mowing robot only by improving from the aspect of software, thereby simplifying the equipment structure and reducing the manufacturing cost.

Examples

Referring to fig. 3, the lawn mower system of the present embodiment includes a base station including a magnetic field emission module for emitting a magnetic field, and a lawn mowing robot. The mowing robot comprises a magnetic field sensing module for sensing a magnetic field to generate a sensing signal, and the mowing robot determines a current position area according to the sensing signal; referring to fig. 2, the mowing robot is located on the mowing zone boundary, within the mowing zone boundary, and outside the mowing zone boundary, and the current position area determined by the mowing robot according to the sensing signal may refer to the prior art, which is not described in detail in this embodiment. It should be noted that the magnetic field emission module of this embodiment has two operation modes: positioning working mode and communication working mode:

the magnetic field emission module emits a magnetic field with fixed direction and fixed magnetic field intensity in a positioning working mode, the magnetic field sensing module of the mowing robot senses the magnetic field to generate a sensing signal, and a current position area is determined according to the sensing signal. Alternatively, the magnetic field receiving module is an inductor, and the inductor senses a magnetic field to generate an induced current or an induced voltage.

The magnetic field emission module emits a preset variable magnetic field in a communication working mode, and the magnetic field sensing module of the mowing robot generates a change sensing signal corresponding to the preset variable magnetic field after receiving the preset variable magnetic field. The mowing robot of the embodiment further comprises a memory for storing the corresponding relation between the change sensing signal and the control instruction, and after the mowing robot generates the change sensing signal, the control instruction corresponding to the change sensing signal is searched according to the corresponding relation between the change sensing signal and the control instruction. And after the control command is generated, the mowing robot executes the control command. Alternatively, the magnetic field receiving module is an inductor, and the change sensing signal is a change sensing current or a change sensing voltage.

Alternatively, the control instructions include, but are not limited to, a return base instruction for returning the mowing robot to the base station, a mowing mode switching instruction, a start mowing instruction, a stop mowing instruction, a spot mowing instruction, a spiral mowing instruction, a narrow-lane mowing instruction, and the like; the mowing mode conversion instruction is used for converting the working modes of the mowing robot, and the mowing robot comprises a plurality of working modes; starting the mowing robot to start mowing operation under the mowing instruction; stopping the mowing operation of the mowing robot under the mowing stopping instruction; carrying out mowing operation on the mowing robot at a certain position under the fixed-point mowing instruction; the spiral mowing instruction refers to that the mowing robot carries out spiral mowing operation; the narrow-path mowing instruction means that the current position of the mower is a narrow path, and mowing operation is carried out according to a narrow-path mowing mode.

Further, the magnetic field emission module in the mower system of the present embodiment includes:

and the first magnetic field transmitting unit is used for transmitting the magnetic field according to the preset intensity sequence change. The magnetic field intensity in the preset intensity sequence is changed, the preset intensity sequence comprises at least two magnetic fields with different intensities, the magnetic field sensing module of the mowing robot can detect the magnetic field with the changed magnetic field intensity and generate change sensing signals corresponding to the change of the magnetic field intensity, and the change sensing signals can be used as carriers for transmitting control instructions. For example, a first magnetic field strength and a second magnetic field strength can be set, and the magnetic field strength of the first magnetic field strength and the magnetic field strength of the second magnetic field strength are different, so that a first sensing signal generated by a magnetic field sensing module of the mowing robot is different from a second sensing signal, wherein the first sensing signal corresponds to the first magnetic field strength, and the second sensing signal corresponds to the second magnetic field strength, so that transmission of a control instruction from the base station to the mowing robot is realized.

And the second magnetic field transmitting unit transmits the magnetic field according to a preset time interval, wherein the preset time interval comprises a preset transmitting time interval and a preset magnetic field pause time interval. The preset time interval can be a fixed preset time interval or a variable preset time interval; that is, the preset transmission time interval may be a fixed preset transmission time interval or a variable preset transmission time interval; similarly, the preset pause transmission magnetic field time interval may be a fixed preset pause transmission magnetic field time interval or a variable preset pause transmission magnetic field time interval. For example, if the preset transmission time interval is fixed to be 1 second and the preset transmission pause time interval is 1 second, the magnetic field transmission module of the base station transmits a magnetic field for 1 second and pauses for one second; then the magnetic field is emitted for another 1 second and then paused for another 1 second. Correspondingly, the sensing signal monitored by the magnetic field sensing module of the mowing robot lasts for 1 second, no sensing signal lasts for 1 second, and no sensing signal lasts for 1 second. Therefore, the magnetic field sensing module of the mowing robot can know the existence of the magnetic field and the duration of the magnetic field at present through the sensing signal, and the existence and the duration of the sensing signal are used as carriers for transmitting the control instruction, so that the control instruction transmission from the base station to the mowing robot is realized.

And the third magnetic field transmitting unit changes and transmits the magnetic field according to the preset direction sequence. The magnetic field direction of the magnetic field transmitted by the magnetic field transmitting module of the base station is controllable, so that the magnetic field direction of the magnetic field is transmitted according to a preset direction sequence. For example, defining the magnetic field direction as a forward direction and a reverse direction, the predetermined direction sequence is an alignment of the forward direction and the direction. For example, the predetermined directional sequence is: forward, reverse, forward. Correspondingly, the magnetic field sensing module of the mowing robot can acquire the magnetic field direction of the current magnetic field through the direction of the sensing signal, and the direction of the sensing signal obtained correspondingly is forward, reverse, forward and forward. And the direction change of the sensing signal is used as a carrier for transmitting a control instruction, so that the base station transmits the control instruction to the mowing robot.

Alternatively, the magnetic field emission module of the present embodiment may be implemented by using one of the first magnetic field emission unit, the second magnetic field emission unit, and the third magnetic field emission unit, or by using two of the first magnetic field emission unit, the second magnetic field emission unit, and the third magnetic field emission unit, or by using three of the first magnetic field emission unit, the second magnetic field emission unit, and the third magnetic field emission unit. It will be appreciated that the strength, time interval, and direction of the magnetic field are taken as dimensions, and that the more dimensions are selected, the greater the amount of information that can be transmitted.

The embodiment utilizes the existing magnetic field emission module in the base station and the existing magnetic field sensing module of the mowing robot, does not need to increase independent communication hardware, and can realize the communication between the base station and the mowing robot only by improving from the aspect of software, thereby simplifying the equipment structure and reducing the manufacturing cost.

Examples

Referring to fig. 4, the lawn mower system of the present embodiment includes a base station including a magnetic field emission module for emitting a magnetic field, and a lawn mowing robot. The mowing robot comprises a magnetic field sensing module for sensing a magnetic field to generate a sensing signal, and the mowing robot determines a current position area according to the sensing signal; referring to fig. 2, the mowing robot is located on the mowing zone boundary, within the mowing zone boundary, and outside the mowing zone boundary, and the current position area determined by the mowing robot according to the sensing signal may refer to the prior art, which is not described in detail in this embodiment. It should be noted that the magnetic field emission module of this embodiment has two operation modes: positioning working mode and communication working mode:

the magnetic field emission module emits a magnetic field with fixed direction and fixed magnetic field intensity in a positioning working mode, the magnetic field sensing module of the mowing robot senses the magnetic field to generate a sensing signal, and a current position area is determined according to the sensing signal. Alternatively, the magnetic field receiving module is an inductor, and the inductor senses a magnetic field to generate an induced current or an induced voltage.

The magnetic field emission module emits a preset variable magnetic field in a communication working mode, and the magnetic field sensing module of the mowing robot generates a change sensing signal corresponding to the preset variable magnetic field after receiving the preset variable magnetic field. The mowing robot of the embodiment further comprises a memory for storing the corresponding relation between the change sensing signal and the control instruction, and after the mowing robot generates the change sensing signal, the control instruction corresponding to the change sensing signal is searched according to the corresponding relation between the change sensing signal and the control instruction. And after the control command is generated, the mowing robot executes the control command. Alternatively, the magnetic field receiving module is an inductor, and the change sensing signal is a change sensing current or a change sensing voltage.

Alternatively, the control instructions include, but are not limited to, a return base instruction for returning the mowing robot to the base station, a mowing mode switching instruction, a start mowing instruction, a stop mowing instruction, a spot mowing instruction, a spiral mowing instruction, a narrow-lane mowing instruction, and the like; the mowing mode conversion instruction is used for converting the working modes of the mowing robot, and the mowing robot comprises a plurality of working modes; starting the mowing robot to start mowing operation under the mowing instruction; stopping the mowing operation of the mowing robot under the mowing stopping instruction; carrying out mowing operation on the mowing robot at a certain position under the fixed-point mowing instruction; the spiral mowing instruction refers to that the mowing robot carries out spiral mowing operation; the narrow-path mowing instruction means that the current position of the mower is a narrow path, and mowing operation is carried out according to a narrow-path mowing mode.

The base station of the embodiment further comprises a control device connected with the magnetic field transmitting module and used for generating an operation instruction, and the magnetic field transmitting module transmits a preset variable magnetic field corresponding to the operation instruction. The control device can be a touch screen, a keyboard, a mouse, a mechanical button, a mechanical knob, a mechanical switch, a microphone and the like, and a worker operates the control device to generate a corresponding operation instruction. For example, a mechanical button for sending a return instruction to the base station is arranged on the base station, so that a worker can generate the return instruction to the base station by pressing the mechanical button, and then the magnetic field emission module emits a preset variable magnetic field corresponding to the return instruction to the base station. Alternatively, the base station stores transmission programs corresponding to multiple operation instructions, and the transmission programs can control the magnetic field transmission module to send out a preset variable magnetic field corresponding to the operation instructions.

In the embodiment, the existing magnetic field emission module in the base station and the existing magnetic field sensing module of the mowing robot are utilized, and the control device controls the magnetic field emission module to emit the preset variable magnetic field corresponding to the operation instruction. The communication between the base station and the mowing robot can be realized only by improving software without adding independent communication hardware, so that the equipment structure is simplified, and the manufacturing cost is reduced.

Examples

Referring to fig. 5, the lawn mower system of the present embodiment includes a base station including a magnetic field emission module for emitting a magnetic field, and a lawn mowing robot. The mowing robot comprises a magnetic field sensing module for sensing a magnetic field to generate a sensing signal, and the mowing robot determines a current position area according to the sensing signal; referring to fig. 2, the mowing robot is located on the mowing zone boundary, within the mowing zone boundary, and outside the mowing zone boundary, and the current position area determined by the mowing robot according to the sensing signal may refer to the prior art, which is not described in detail in this embodiment. It should be noted that the magnetic field emission module of this embodiment has two operation modes: positioning working mode and communication working mode:

the magnetic field emission module emits a magnetic field with fixed direction and fixed magnetic field intensity in a positioning working mode, the magnetic field sensing module of the mowing robot senses the magnetic field to generate a sensing signal, and a current position area is determined according to the sensing signal. Alternatively, the magnetic field receiving module is an inductor, and the inductor senses a magnetic field to generate an induced current or an induced voltage.

The magnetic field emission module emits a preset variable magnetic field in a communication working mode, and the magnetic field sensing module of the mowing robot generates a change sensing signal corresponding to the preset variable magnetic field after receiving the preset variable magnetic field. The mowing robot of the embodiment further comprises a memory for storing the corresponding relation between the change sensing signal and the control instruction, and after the mowing robot generates the change sensing signal, the control instruction corresponding to the change sensing signal is searched according to the corresponding relation between the change sensing signal and the control instruction. And after the control command is generated, the mowing robot executes the control command. Alternatively, the magnetic field receiving module is an inductor, and the change sensing signal is a change sensing current or a change sensing voltage.

Alternatively, the control instructions include, but are not limited to, a return base instruction for returning the mowing robot to the base station, a mowing mode switching instruction, a start mowing instruction, a stop mowing instruction, a spot mowing instruction, a spiral mowing instruction, a narrow-lane mowing instruction, and the like; the mowing mode conversion instruction is used for converting the working modes of the mowing robot, and the mowing robot comprises a plurality of working modes; starting the mowing robot to start mowing operation under the mowing instruction; stopping the mowing operation of the mowing robot under the mowing stopping instruction; carrying out mowing operation on the mowing robot at a certain position under the fixed-point mowing instruction; the spiral mowing instruction refers to that the mowing robot carries out spiral mowing operation; the narrow-path mowing instruction means that the current position of the mower is a narrow path, and mowing operation is carried out according to a narrow-path mowing mode.

The base station of this embodiment further includes a communication module connected to the magnetic field transmitting module and configured to receive an operation instruction sent by an external control terminal, where the magnetic field transmitting module transmits a preset variable magnetic field corresponding to the operation instruction. The communication module can select a wired communication module or a wireless communication module, and the wireless communication module can be a 2G wireless communication module, a 3G wireless communication module, a 4G wireless communication module, a 5G wireless communication module, a WIFI communication module and the like. The staff can send the operating command to the base station on remote control terminal, and after the communication module of base station received the operating command, magnetic field emission module launched the preset change magnetic field that corresponds with the operating command. Therefore, the working state of the base station and the mowing robot can be remotely controlled by workers.

In the embodiment, the existing magnetic field emission module in the base station and the existing magnetic field sensing module of the mowing robot are utilized, the communication module receives an operation instruction sent from the outside, and the magnetic field emission module emits a preset variable magnetic field corresponding to the operation instruction. The communication between the base station and the mowing robot can be realized only by improving software without adding independent communication hardware, so that the equipment structure is simplified, and the manufacturing cost is reduced.

Examples

Referring to fig. 8, the lawn mower system of the present embodiment includes a base station and a lawn mowing robot, the base station includes a magnetic field emission module for emitting a magnetic field and a boundary wire, both ends of the boundary wire are respectively connected to the base station, and the wire forms an enclosed area. The robot lawnmower includes a magnetic field sensing module for sensing a magnetic field to generate a sensing signal from which the robot lawnmower determines a current location area.

Examples

Referring to fig. 6, the communication method of the lawn mower system explained in the present embodiment is applied to a lawn mower system, the lawn mower system includes a base station and a lawn mowing robot, the base station includes a magnetic field emission module for emitting a magnetic field, the lawn mowing robot includes a magnetic field sensing module for sensing the magnetic field and generating a sensing signal, and the lawn mowing robot determines a current location area according to the sensing signal; referring to fig. 2, the mowing robot is located on the mowing zone boundary, within the mowing zone boundary, and outside the mowing zone boundary, and the current position area determined by the mowing robot according to the sensing signal may refer to the prior art, which is not described in detail in this embodiment. The method comprises the following steps:

s1, the base station receives the operation instruction, and the magnetic field emission module of the base station emits a preset variable magnetic field corresponding to the operation instruction.

Specifically, the present embodiment provides two ways for the base station to receive the operation command, which are described below:

the first receiving mode: and S11, the base station receives an operation instruction generated by the control device on the base station. The base station of the embodiment comprises a control device which is connected with a magnetic field transmitting module and used for generating an operation instruction, wherein the magnetic field transmitting module transmits a preset variable magnetic field corresponding to the operation instruction. The control device can be a touch screen, a keyboard, a mouse, a mechanical button, a mechanical knob, a mechanical switch, a microphone and the like, and a worker operates the control device to generate a corresponding operation instruction. For example, a mechanical button for sending a return instruction to the base station is arranged on the base station, so that a worker can generate the return instruction to the base station by pressing the mechanical button, and then the magnetic field emission module emits a preset variable magnetic field corresponding to the return instruction to the base station. Alternatively, the base station stores transmission programs corresponding to multiple operation instructions, and the transmission programs can control the magnetic field transmission module to send out a preset variable magnetic field corresponding to the operation instructions.

The second receiving mode: and S12, the base station receives the operation instruction sent by the external control terminal through the communication module. The base station of the embodiment comprises a communication module which is connected with a magnetic field transmitting module and used for receiving an operation instruction sent by an external control terminal, wherein the magnetic field transmitting module transmits a preset variable magnetic field corresponding to the operation instruction. The communication module can select a wired communication module or a wireless communication module, and the wireless communication module can be a 2G wireless communication module, a 3G wireless communication module, a 4G wireless communication module, a 5G wireless communication module, a WIFI communication module and the like. The staff can send the operating command to the base station on remote control terminal, and after the communication module of base station received the operating command, magnetic field emission module launched the preset change magnetic field that corresponds with the operating command. Therefore, the working state of the base station and the mowing robot can be remotely controlled by workers.

In this embodiment, the preset varying magnetic field includes at least three separate varying modes:

first individual variation: the preset intensity changing magnetic field, and the magnetic field intensity of the transmitting magnetic field changes according to a preset intensity sequence. The magnetic field intensity in the preset intensity sequence is changed, the preset intensity sequence comprises at least two magnetic fields with different intensities, the magnetic field sensing module of the mowing robot can detect the magnetic field with the changed magnetic field intensity and generate change sensing signals corresponding to the change of the magnetic field intensity, and the change sensing signals can be used as carriers for transmitting control instructions. For example, a first magnetic field strength and a second magnetic field strength can be set, and the magnetic field strength of the first magnetic field strength and the magnetic field strength of the second magnetic field strength are different, so that a first sensing signal generated by a magnetic field sensing module of the mowing robot is different from a second sensing signal, wherein the first sensing signal corresponds to the first magnetic field strength, and the second sensing signal corresponds to the second magnetic field strength, so that transmission of a control instruction from the base station to the mowing robot is realized.

Second individual variation: and changing the magnetic field at preset intervals, and transmitting the magnetic field at preset time intervals, wherein the preset time intervals comprise preset transmitting time intervals and preset pause transmitting magnetic field time intervals. The preset time interval can be a fixed preset time interval or a variable preset time interval; that is, the preset transmission time interval may be a fixed preset transmission time interval or a variable preset transmission time interval; similarly, the preset pause transmission magnetic field time interval may be a fixed preset pause transmission magnetic field time interval or a variable preset pause transmission magnetic field time interval. For example, if the preset transmission time interval is fixed to be 1 second and the preset transmission pause time interval is 1 second, the magnetic field transmission module of the base station transmits a magnetic field for 1 second and pauses for one second; then the magnetic field is emitted for another 1 second and then paused for another 1 second. Correspondingly, the sensing signal monitored by the magnetic field sensing module of the mowing robot lasts for 1 second, no sensing signal lasts for 1 second, and no sensing signal lasts for 1 second. Therefore, the magnetic field sensing module of the mowing robot can know the existence of the magnetic field and the duration of the magnetic field at present through the sensing signal, and the existence and the duration of the sensing signal are used as carriers for transmitting the control instruction, so that the control instruction transmission from the base station to the mowing robot is realized.

Third individual variation: the magnetic field direction of the transmitting magnetic field is changed according to a preset direction sequence. The magnetic field direction of the magnetic field transmitted by the magnetic field transmitting module of the base station is controllable, so that the magnetic field direction of the magnetic field is transmitted according to a preset direction sequence. For example, defining the magnetic field direction as a forward direction and a reverse direction, the predetermined direction sequence is an alignment of the forward direction and the direction. For example, the predetermined directional sequence is: forward, reverse, forward. Correspondingly, the magnetic field sensing module of the mowing robot can acquire the magnetic field direction of the current magnetic field through the direction of the sensing signal, and the direction of the sensing signal obtained correspondingly is forward, reverse, forward and forward. And the direction change of the sensing signal is used as a carrier for transmitting a control instruction, so that the base station transmits the control instruction to the mowing robot.

Alternatively, the magnetic field emission module of the present embodiment may be implemented by using one of the first individual variation mode, the second individual variation mode, and the third individual variation mode, or by using two of the first individual variation mode, the second individual variation mode, and the third individual variation mode, or by using three of the first individual variation mode, the second individual variation mode, and the third individual variation mode. It will be appreciated that the strength, time interval, and direction of the magnetic field are taken as dimensions, and that the more dimensions are selected, the greater the amount of information that can be transmitted.

S2, the magnetic field sensing module of the mowing robot receives the preset variable magnetic field and then generates a change sensing signal corresponding to the preset variable magnetic field.

Specifically, corresponding to the preset variation mode of the variable magnetic field in this embodiment, the magnetic field sensing module of the robot mower of this embodiment generates the corresponding sensing signal:

first individual variation: the preset intensity changing magnetic field, and the magnetic field intensity of the transmitting magnetic field changes according to a preset intensity sequence. The magnetic field intensity in the preset intensity sequence is changed, the preset intensity sequence comprises at least two magnetic fields with different intensities, the magnetic field sensing module of the mowing robot can detect the magnetic field with the changed magnetic field intensity and generate change sensing signals corresponding to the change of the magnetic field intensity, and the change sensing signals can be used as carriers for transmitting control instructions. For example, a first magnetic field strength and a second magnetic field strength can be set, and the magnetic field strength of the first magnetic field strength and the magnetic field strength of the second magnetic field strength are different, so that a first sensing signal generated by a magnetic field sensing module of the mowing robot is different from a second sensing signal, wherein the first sensing signal corresponds to the first magnetic field strength, and the second sensing signal corresponds to the second magnetic field strength, so that transmission of a control instruction from the base station to the mowing robot is realized.

Second individual variation: and changing the magnetic field at preset intervals, and transmitting the magnetic field at preset time intervals, wherein the preset time intervals comprise preset transmitting time intervals and preset pause transmitting magnetic field time intervals. The magnetic field sensing module of the mowing robot generates sensing signals according to preset time intervals, wherein the preset emission time intervals generate the sensing signals, and the preset pause magnetic field emission time intervals do not generate the sensing signals. Further, the preset time interval may be a fixed preset time interval, or may be a variable preset time interval; that is, the preset transmission time interval may be a fixed preset transmission time interval or a variable preset transmission time interval; similarly, the preset pause transmission magnetic field time interval may be a fixed preset pause transmission magnetic field time interval or a variable preset pause transmission magnetic field time interval. For example, if the preset transmission time interval is fixed to be 1 second and the preset transmission pause time interval is 1 second, the magnetic field transmission module of the base station transmits a magnetic field for 1 second and pauses for one second; then the magnetic field is emitted for another 1 second and then paused for another 1 second. Correspondingly, the sensing signal monitored by the magnetic field sensing module of the mowing robot lasts for 1 second, no sensing signal lasts for 1 second, and no sensing signal lasts for 1 second. Therefore, the magnetic field sensing module of the mowing robot can know the existence of the magnetic field and the duration of the magnetic field at present through the sensing signal, and the existence and the duration of the sensing signal are used as carriers for transmitting the control instruction, so that the control instruction transmission from the base station to the mowing robot is realized.

Third individual variation: the magnetic field direction of the transmitting magnetic field is changed according to a preset direction sequence. The magnetic field direction of the magnetic field transmitted by the magnetic field transmitting module of the base station is controllable, so that the magnetic field direction of the magnetic field is transmitted according to a preset direction sequence. Correspondingly, the direction of the induction signal generated by the magnetic field sensing module of the mowing robot corresponds to the preset direction sequence. For example, defining the magnetic field direction as a forward direction and a reverse direction, the predetermined direction sequence is an alignment of the forward direction and the direction. For example, the predetermined directional sequence is: forward, reverse, forward. Correspondingly, the magnetic field sensing module of the mowing robot can acquire the magnetic field direction of the current magnetic field through the direction of the sensing signal, and the direction of the sensing signal obtained correspondingly is forward, reverse, forward and forward. And the direction change of the sensing signal is used as a carrier for transmitting a control instruction, so that the base station transmits the control instruction to the mowing robot.

Alternatively, the magnetic field emission module of the present embodiment may be implemented by using one of the first individual variation mode, the second individual variation mode, and the third individual variation mode, or by using two of the first individual variation mode, the second individual variation mode, and the third individual variation mode, or by using three of the first individual variation mode, the second individual variation mode, and the third individual variation mode. It will be appreciated that the strength, time interval, and direction of the magnetic field are taken as dimensions, and that the more dimensions are selected, the greater the amount of information that can be transmitted.

Alternatively, the magnetic field sensing module of the mowing robot is an inductor, and the number of the inductors can be set according to needs. Step S2 includes: and S21, generating a change sensing signal corresponding to the preset change magnetic field after the inductor of the mowing robot receives the preset change magnetic field, wherein the change sensing signal is change sensing current or change sensing voltage.

And S3, searching a control instruction corresponding to the change sensing signal according to the corresponding relation between the pre-stored change sensing signal and the control instruction by the mowing robot.

Specifically, the mowing robot of the embodiment includes a memory for storing a correspondence between the change sensing signal and the control instruction, and after the mowing robot generates the change sensing signal, the control instruction corresponding to the change sensing signal is searched for according to the correspondence between the change sensing signal and the control instruction. And after the control command is generated, the mowing robot executes the control command.

The embodiment utilizes the existing magnetic field emission module in the base station and the existing magnetic field sensing module of the mowing robot, does not need to increase independent communication hardware, and can realize the communication between the base station and the mowing robot only by improving from the aspect of software, thereby simplifying the equipment structure and reducing the manufacturing cost.

Examples

Referring to fig. 7, on the basis of the above embodiment, the present embodiment further includes, after step S3:

and S4, executing the control command by the mowing robot. Alternatively, the control instructions include, but are not limited to, a return base instruction for returning the mowing robot to the base station, a mowing mode switching instruction, a start mowing instruction, a stop mowing instruction, a spot mowing instruction, a spiral mowing instruction, a narrow-lane mowing instruction, and the like; the mowing mode conversion instruction is used for converting the working modes of the mowing robot, and the mowing robot comprises a plurality of working modes; starting the mowing robot to start mowing operation under the mowing instruction; stopping the mowing operation of the mowing robot under the mowing stopping instruction; carrying out mowing operation on the mowing robot at a certain position under the fixed-point mowing instruction; the spiral mowing instruction refers to that the mowing robot carries out spiral mowing operation; the narrow-path mowing instruction means that the current position of the mower is a narrow path, and mowing operation is carried out according to a narrow-path mowing mode.

For example, if the control command is a return to base station command, step S4 includes: and S41, returning the mowing robot to the base station.

The embodiment utilizes the existing magnetic field emission module in the base station and the existing magnetic field sensing module of the mowing robot, does not need to increase independent communication hardware, and can realize the communication between the base station and the mowing robot only by improving from the aspect of software, thereby simplifying the equipment structure and reducing the manufacturing cost.

Examples

The lawn mower base station of the embodiment comprises a magnetic field emission module for emitting a magnetic field, and the magnetic field emission module has two working modes: a positioning working mode and a communication working mode;

positioning the working mode: the magnetic field emission module emits a magnetic field with fixed direction and fixed magnetic field intensity, and the magnetic field with fixed direction and fixed magnetic field intensity is used for the mowing robot to determine the current position area;

the communication working mode is as follows: the magnetic field emission module emits a preset variable magnetic field, the preset variable magnetic field is used for generating a change sensing signal for the mowing robot, and a control instruction corresponding to the change sensing signal is searched according to the corresponding relation between the change sensing signal and the control instruction, so that information transmission is realized.

Further, the lawn mower base station of the embodiment further comprises a control device connected with the magnetic field emission module and used for generating an operation instruction, wherein the magnetic field emission module emits a preset variable magnetic field corresponding to the operation instruction;

control devices include, but are not limited to, touch screens, keyboards, mice, mechanical buttons, mechanical knobs, mechanical switches, microphones, and the like.

Further, the lawn mower base station of this embodiment also includes a communication module connected with the magnetic field emission module and used for receiving an operation instruction sent by an external control terminal, and the magnetic field emission module emits a preset variable magnetic field corresponding to the operation instruction in the communication working mode.

Further, the magnetic field emission module in the lawn mower base station of this embodiment includes:

the first magnetic field transmitting unit transmits a magnetic field according to the change of a preset intensity sequence; and/or

The second magnetic field transmitting unit transmits a magnetic field according to a preset time interval, wherein the preset time interval comprises a preset transmitting time interval and a preset magnetic field pause time interval; and/or

And the third magnetic field transmitting unit changes and transmits the magnetic field according to the preset direction sequence. The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.