CN107957262B - Boundary line signal detection method and device and automatic walking equipment - Google Patents
Boundary line signal detection method and device and automatic walking equipment Download PDFInfo
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Abstract
The invention relates to a detection method, a detection device and automatic walking equipment of a boundary line signal, wherein the method judges whether a current signal is an effective boundary line signal or not by detecting whether the received current signal is the boundary line signal or not and detecting whether a time interval between the current signal and the boundary line signal before the received current signal is a preset first time period or not when the received current signal is the boundary line signal, so that the accuracy of detecting the boundary line signal is improved; when the current signal obtained continuously is larger than the preset number, waiting for a preset second time period, and detecting whether the boundary line signal is received in a preset third time period, wherein the second time period and the third time period are continuous time periods, so that when the next boundary line signal is received, because the signal is not received all the time in the second waiting time period, the interference signal can be avoided.
Description
Technical Field
The invention relates to the field of boundary line recognition, in particular to a boundary line signal detection method and device and automatic walking equipment.
Background
With the development of scientific technology, intelligent automatic walking equipment is gradually known. Because the automatic walking equipment can automatically execute related tasks according to a preset program without manual operation and intervention, the automatic walking equipment is widely applied to industrial application and household products, for example, robots for executing various functions are applied to the industrial application, and mowers, dust collectors and the like are applied to the household products. The intelligent automatic walking equipment greatly saves time of people and reduces the labor intensity of people, thereby improving the production efficiency or the life quality.
In order to prevent the lawn mower from exceeding the working range during operation, a boundary line is usually set for the lawn mower, the boundary line can generate a boundary line signal, and the lawn mower can identify the boundary line after receiving the boundary line signal, so that the lawn mower can work in the boundary line. However, in the conventional technology, the mower always receives the boundary line signal during operation, and if the received interference signal is similar to the boundary line signal, the mower may mistakenly recognize the boundary line, and the boundary line may be moved to the outside of the boundary line.
Disclosure of Invention
Therefore, it is necessary to provide a method and an apparatus for detecting boundary line signals, and an automatic traveling device, which can accurately identify the boundary line signals and determine the boundary line.
A method of detecting a boundary line signal, comprising:
the first step, detect the present signal received is the boundary line signal;
a second step of acquiring a time interval between the current signal and a boundary line signal before the received current signal if the current signal is received;
a third step of detecting whether the time interval is equal to a preset first time period;
if not, entering the first step, otherwise, detecting whether the number of the received current signals is larger than a preset number value or not;
step five, if not, entering the step one;
a sixth step of waiting for a preset second time period and detecting whether the boundary line signal is received within a preset third time period, wherein the second time period and the third time period are continuous time periods, the second time period is smaller than the first time period, and the sum of the second time period and the third time period is larger than the first time period;
and a seventh step, if yes, entering the sixth step, otherwise, entering the first step.
In one embodiment, the boundary line signal includes a rising edge and a falling edge, and the detecting whether the received current signal is the boundary line signal in the first step includes:
it is detected whether the current signal contains the same rising and falling edges as the borderline signal.
In one embodiment, the third period of time is longer than the pulse width time of the rising edge and the falling edge of the boundary line signal.
In one embodiment, the first time period is a time interval between two consecutive boundary line signals from a boundary line.
In one embodiment, the obtaining of the time interval between the current signal and the boundary line signal before the received current signal in the second step includes:
respectively acquiring the received current signal and the receiving time point of the boundary line signal before the current signal;
and acquiring the time interval between the current signal and the boundary line signal before the received current signal according to the receiving time point.
In the above boundary line signal detection method, for the received current signal, whether the current signal is an effective boundary line signal is determined by detecting whether the received current signal is a boundary line signal or not, and when the received current signal is a boundary line signal, detecting whether a time interval between the current signal and the boundary line signal before the received current signal is a preset first time period or not, so as to improve accuracy of detection of the boundary line signal; and when the number of the current signals which are continuously acquired is larger than the preset number value, waiting for a preset second time period, and detecting whether the boundary line signal is received in a preset third time period, wherein the second time period and the third time period are continuous time periods, so that when the next boundary line signal is received, because the signals are not always received in the waiting second time period, the interference signal can be avoided.
A boundary line signal detection device comprising:
the first module is used for detecting whether the received current signal is a boundary line signal;
a second module, configured to, when the current signal detected by the first module is a boundary line signal, obtain a time interval between the current signal and a boundary line signal before the received current signal;
a third module, configured to detect whether the time interval is equal to a preset first time period;
a fourth module, configured to detect whether the number of received current signals is greater than a preset number value when the time interval detected by the third module is equal to a preset first time period;
a fifth module, configured to start the first module when the number of received current signals detected by the fourth module is less than or equal to a preset number;
a sixth module, configured to wait a preset second time period and detect whether the boundary line signal is received within a preset third time period when the number of received current signals detected by the fourth module is greater than a preset number, where the second time period and the third time period are consecutive time periods, the second time period is smaller than the first time period, and a sum of the second time period and the third time period is greater than the first time period;
and the seventh module is used for starting the sixth module when the sixth module detects that the boundary line signal is received in a preset third time period, otherwise, starting the first module.
In one embodiment, the boundary line signal includes a rising edge and a falling edge, and the first module is further configured to detect whether the current signal includes the same rising edge and falling edge as the boundary line signal.
In one embodiment, the third period of time is longer than the pulse width time of the rising edge and the falling edge of the boundary line signal.
In one embodiment, the first time period is a time interval between two consecutive boundary line signals from a boundary line.
In one embodiment, the second module comprises:
an obtaining unit, configured to obtain a received current signal and a receiving time point of a boundary line signal before the current signal, respectively;
and the second acquisition unit is used for acquiring the time interval between the current signal and the boundary line signal before the received current signal according to the receiving time point.
In the above boundary line signal detection device, whether the received current signal is a boundary line signal or not is detected, and when the received current signal is the boundary line signal, whether a time interval between the current signal and the boundary line signal before the received current signal is a preset first time period or not is detected, so as to judge whether the current signal is an effective boundary line signal or not, thereby improving the accuracy of detecting the boundary line signal; and when the number of the current signals which are continuously acquired is larger than the preset number value, waiting for a preset second time period, and detecting whether the boundary line signal is received in a preset third time period, wherein the second time period and the third time period are continuous time periods, so that when the next boundary line signal is received, because the signals are not always received in the waiting second time period, the interference signal can be avoided.
The automatic walking equipment moves in a boundary line, a boundary line signal which can be detected by the automatic walking equipment to identify the boundary line is generated on the boundary line, and the automatic walking equipment is provided with the detection device.
In the automatic walking device, whether the received current signal is a boundary line signal or not is detected, and when the received current signal is the boundary line signal, whether a time interval between the current signal and the boundary line signal before the received current signal is a preset first time period or not is detected, so that whether the current signal is an effective boundary line signal or not is judged, and the accuracy of detecting the boundary line signal is improved; when the current signal obtained continuously is larger than the preset number, waiting for a preset second time period, and detecting whether the boundary line signal is received in a preset third time period, wherein the second time period and the third time period are continuous time periods, so that when the next boundary line signal is received, because the signal is not received all the time in the second waiting time period, the interference signal can be avoided.
Drawings
FIG. 1 is a flowchart illustrating a boundary line signal detection method according to an embodiment;
fig. 2 is a schematic diagram of the relationship between the time periods in step S150 in fig. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the method for detecting a boundary line signal of an embodiment includes steps S110 to S150.
Step S110, detecting whether the received current signal is a boundary line signal.
Normally, the boundary line signal includes a rising edge and a falling edge, and therefore, detecting whether the received current signal includes the same rising edge and falling edge as the boundary line signal can detect whether the received current signal is the boundary line signal. Specifically, the boundary line signal may be a rising edge followed by a falling edge, or a falling edge followed by a rising edge. Within the boundary line, the received current signal may be a first rising edge or a first falling edge, but since the signal received within the boundary line is opposite to the signal received outside the boundary line, that is, if the signal received within the boundary line is a first rising edge and then a second falling edge, the signal received outside the boundary line is a first falling edge and then a rising edge, and if the signal received within the boundary line is a first falling edge and then a rising edge, the signal received outside the boundary line is a rising edge and then a falling edge, the current signal can be accurately determined to be within or outside the boundary line according to the received current signal.
Step S120, if the current signal received in step S110 is a boundary signal, acquiring a time interval between the current signal and the boundary signal before the received current signal.
It will be appreciated that the current signal received by step S110 is not necessarily the first signal, which is the second or third signal in succession or … …. If the current signal received in step S110 is the first signal, the next signal can be continuously received in step S110 and the process proceeds to step S120. Specifically, step S120 includes step S121 and step S122.
Step S121, respectively acquiring the received current signal and the receiving time point of the boundary line signal before the current signal.
When the boundary line signal is detected in step S110, the receiving time of the current signal may be directly recorded, that is, for each signal received in step S110, a corresponding receiving time is recorded.
Step S122, acquiring a time interval between the current signal and the boundary line signal before the received current signal according to the receiving time point.
Step S130, it is detected whether the time interval is equal to a preset first time period.
In this embodiment, the first time period is a time interval between two consecutive boundary line signals sent by the boundary line, that is, a period of the boundary line signal. When a borderline signal is emitted at a borderline, there must be a time interval between the two borderline signals. When receiving the boundary line signal, the time interval between two received continuous boundary line signals can be obtained from the receiving time point of the received boundary line signal. If the two time intervals are the same or within a certain error range, the received current signal is necessarily the boundary line signal.
Therefore, in the present embodiment, it is detected whether the current signal is the boundary line signal in step S110, and further detected whether the time interval between two consecutive boundary line signals received is the same as the time interval between two boundary line signals transmitted by the boundary line in step S130, so as to determine whether the current signal is a valid boundary line signal, thereby improving the accuracy of detecting the boundary line signal.
Step S140, if the time interval detected in step S130 is not equal to the preset first time period, indicating that the current signal is not the boundary signal, the step S110 needs to be performed to detect the received signal; if the time interval detected in step S130 is equal to the preset first time period, it is detected whether the number of the received current signals is greater than a preset number value.
In this embodiment, the preset number is greater than or equal to 3.
If the number of the received current signals is detected to be less than or equal to the preset number value, the process goes to step S110.
Step S150, waiting for a preset second time period, and detecting whether the boundary line signal is received within a preset third time period, where the second time period and the third time period are consecutive time periods, the second time period is smaller than the first time period, and the sum of the second time period and the third time period is greater than the first time period.
It can be known that, in this embodiment, when detecting whether the received current signal is the preset boundary line signal, step S110 is in a state of receiving and detecting the signal all the time, and it is obviously easy to receive the interference signal. When the received current signal reaches the preset value, the received boundary line signal is relatively stable, when the boundary line signal is received next time, in order to avoid interference signals, a preset second time period can be waited, the second time period is inevitably smaller than the first time period (the time interval between two continuous boundary line signals sent by the boundary line), then whether the boundary line signal can be received or not is detected in a third time period, and the third time period is slightly larger than the pulse width time of the rising edge and the falling edge of the boundary line signal.
As shown in fig. 2, for the first period of time, i.e., one boundary line signal period T, it includes a time interval T1 when the boundary line signal is generated and a boundary line signal pulse width time T2. The state of step S110 is a state in which the boundary line signal is always detected in the period T, and the interference signal is easily detected in the time interval T1. And for step S150, it may wait for the second time period T3 first, and detect whether the boundary line signal can be received within the third time period T4. Obviously, the second period T3 is a continuous period with the third period T4, and the second period T3 is significantly shorter than the first period T, in order to ensure that the boundary line signal is detected in the third period T4, it is necessary to ensure that the third period T4 is slightly longer than the boundary line pulse width time T2. It is apparent that the boundary line signal is not received and detected during the waiting second period T3, so that an external interference signal can be effectively prevented, and the accuracy of detection can be improved because the boundary line signal is detected only during the third period T4 slightly longer than the boundary line pulse width time T2.
It is obvious that the step S150 is cyclically started to enter the detection state of the boundary line signal when the boundary line signal is detected within the third time period, and the step S110 is started to re-enter the continuous detection state if the boundary line signal is not detected within the third time period, indicating that the boundary line signal is abnormal.
In the above boundary line signal detection method, for the received current signal, whether the current signal is a valid boundary line signal is determined by detecting whether the received current signal is a boundary line signal or not, and when the received current signal is a boundary line signal, detecting whether a time interval between the current signal and the boundary line signal before the received current signal is a preset first time period or not, thereby improving the accuracy of detecting the boundary line signal; when the number of the current signals which are continuously acquired is larger than the preset number value, waiting for a preset second time period, and detecting whether the boundary line signal is received in a preset third time period, wherein the second time period and the third time period are continuous time periods, so that when the next boundary line signal is received, because the signal is not always received in the waiting second time period, the interference signal can be avoided.
The embodiment also provides a detection device of the boundary line signal, which comprises a first module, a second module, a third module, a fourth module, a fifth module, a sixth module and a seventh module.
The first module is used for detecting whether the received current signal is a boundary line signal.
Normally, the boundary line signal includes a rising edge and a falling edge, and therefore, detecting whether the received current signal includes the same rising edge and falling edge as the boundary line signal can detect whether the received current signal is the boundary line signal. Specifically, the boundary line signal may be a rising edge followed by a falling edge, or a falling edge followed by a rising edge. Within the boundary line, the received current signal may be a first rising edge or a first falling edge, but since the signal received within the boundary line is opposite to the signal received outside the boundary line, that is, if the signal received within the boundary line is a first rising edge and then a second falling edge, the signal received outside the boundary line is a first falling edge and then a rising edge, and if the signal received within the boundary line is a first falling edge and then a rising edge, the signal received outside the boundary line is a rising edge and then a falling edge, the current signal can be accurately determined to be within or outside the boundary line according to the received current signal.
The second module is used for acquiring the time interval between the current signal and the boundary line signal before the received current signal when the current signal detected by the first module is the boundary line signal.
It will be appreciated that the current signal received by the first module is not necessarily the first signal, which is the second or third signal in succession or … …. If the current signal received by the first module is the first signal, the next signal may be received by the first module continuously. Specifically, the second module includes an acquisition one unit and an acquisition two unit.
An acquisition unit acquires a reception time point of a received current signal and a boundary line signal before the current signal, respectively. When the first module detects that the current signal is the boundary signal, the receiving time point of the current signal may be directly recorded, that is, for each signal received by the first module, a corresponding receiving time point is recorded.
The acquisition unit is used for acquiring the time interval between the current signal and the boundary line signal before the received current signal according to the receiving time point.
The third module is configured to detect whether the time interval is equal to a preset first time period.
In this embodiment, the first time period is a time interval between two consecutive boundary line signals sent by the boundary line, that is, a period of the boundary line signal. When a borderline signal is emitted at a borderline, there must be a time interval between the two borderline signals. When receiving the boundary line signal, the time interval between two received continuous boundary line signals can be obtained from the receiving time point of the received boundary line signal. If the two time intervals are the same or within a certain error range, the received current signal is necessarily the boundary line signal.
Therefore, in the embodiment, whether the current signal is the boundary line signal is detected by the first module, and further, whether the time interval between two received continuous boundary line signals is the same as the time interval between two boundary line signals transmitted by the boundary line is detected by the third module, so that whether the current signal is the valid boundary line signal is determined, and the accuracy of detecting the boundary line signal can be improved.
The fourth module is used for detecting whether the number of the received current signals is larger than a preset number value or not when the time interval detected by the third module is equal to a preset first time period.
In this embodiment, the preset number is greater than or equal to 3.
The fifth module is used for starting the first module when the number of the received current signals detected by the fourth module is less than or equal to a preset number value.
The sixth module is configured to wait for a preset second time period and detect whether the boundary line signal is received in a preset third time period when the number of the received current signals detected by the fourth module is greater than the preset number, where the second time period and the third time period are consecutive time periods, the second time period is smaller than the first time period, and a sum of the second time period and the third time period is greater than the first time period.
It can be known that, in this embodiment, when detecting whether the received current signal is the preset boundary line signal, the first module is in a state of always receiving and detecting the signal, and is obviously easy to receive the interference signal. When the received current signal reaches the preset value, the received boundary line signal is relatively stable, when the boundary line signal is received next time, in order to avoid interference signals, a preset second time period can be waited, the second time period is inevitably smaller than the first time period (the time interval between two continuous boundary line signals sent by the boundary line), then whether the boundary line signal can be received or not is detected in a third time period, and the third time period is slightly larger than the pulse width time of the rising edge and the falling edge of the boundary line signal.
As shown in fig. 2, for the first period of time, i.e., one boundary line signal period T, it includes a time interval T1 when the boundary line signal is generated and a boundary line signal pulse width time T2. The state of the first module is a state in which the boundary line signal is detected all the time during the period T, and it is easy to detect the interference signal during the time interval T1. Therefore, it is possible to wait for the second period T3 first and detect whether the boundary line signal can be received or not during the third period T4. Obviously, the second period T3 is a continuous period with the third period T4, and the second period T3 is significantly shorter than the first period T, in order to ensure that the boundary line signal is detected in the third period T4, it is necessary to ensure that the third period T4 is slightly longer than the boundary line pulse width time T2. It is apparent that the boundary line signal is not received and detected during the waiting second period T3, so that an external interference signal can be effectively prevented, and the accuracy of detection can be improved because the boundary line signal is detected only during the third period T4 slightly longer than the boundary line pulse width time T2.
The seventh module is configured to start the sixth module when the sixth module detects that the boundary line signal is received within a preset third time period, and otherwise, start the first module.
In the detection device of the boundary line signal, whether the received current signal is the boundary line signal or not is detected, and when the received current signal is the boundary line signal, whether the time interval between the current signal and the boundary line signal before the received current signal is a preset first time period or not is detected, and whether the current signal is an effective boundary line signal or not is judged, so that the accuracy of detecting the boundary line signal is improved; when the number of the current signals which are continuously acquired is larger than the preset number value, waiting for a preset second time period, and detecting whether the boundary line signal is received in a preset third time period, wherein the second time period and the third time period are continuous time periods, so that when the next boundary line signal is received, because the signal is not always received in the waiting second time period, the interference signal can be avoided.
The embodiment also provides the automatic traveling equipment, the automatic traveling equipment moves in the boundary line, a boundary line signal which can be detected by the automatic traveling equipment to identify the boundary line is generated on the boundary line, and the automatic traveling equipment is provided with the detection device.
In this embodiment, the self-propelled device may be a lawn mower, and the present embodiment is not limited to other various self-propelled devices having the functions described in the present embodiment.
In the above automatic walking device, whether the received current signal is a boundary line signal or not is detected, and when the received current signal is the boundary line signal, whether a time interval between the current signal and the boundary line signal before the received current signal is a preset first time period or not is detected, and whether the current signal is an effective boundary line signal or not is determined, so that the accuracy of detecting the boundary line signal is improved; when the number of the current signals which are continuously acquired is larger than the preset number value, waiting for a preset second time period, and detecting whether the boundary line signal is received in a preset third time period, wherein the second time period and the third time period are continuous time periods, so that when the next boundary line signal is received, because the signal is not always received in the waiting second time period, the interference signal can be avoided.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A method for detecting a boundary line signal, comprising:
the first step, detect the present signal received is the boundary line signal;
a second step of acquiring a time interval between the current signal and a boundary line signal before the received current signal if the current signal is received;
a third step of detecting whether the time interval is equal to a preset first time period, wherein the first time period is a period of the boundary line signal;
a fourth step of entering the first step if the time interval is not equal to the preset first time period, and detecting whether the number of the received current signals is greater than a preset number value if the time interval is equal to the preset first time period;
a fifth step of entering the first step if the number of the received current signals is detected to be less than or equal to the preset number value, and entering a sixth step if the number of the received current signals is detected to be greater than the preset number value;
a sixth step of waiting for a preset second time period and detecting whether the boundary line signal is received within a preset third time period, wherein the second time period and the third time period are continuous time periods, the second time period is smaller than the first time period and is smaller than or equal to a time interval for generating the boundary signal, the third time period is larger than a pulse width time of a rising edge and a falling edge of the boundary line signal, and the sum of the second time period and the third time period is larger than the first time period;
a seventh step of entering the sixth step if it is detected that the boundary line signal is received within the third time period, and entering the first step if it is detected that the boundary line signal is not received within the third time period.
2. The method according to claim 1, wherein the boundary line signal includes a rising edge and a falling edge, and the detecting whether the received current signal is the boundary line signal in the first step includes:
it is detected whether the current signal contains the same rising and falling edges as the borderline signal.
3. The detection method according to claim 1, characterized in that said preset number is greater than or equal to 3.
4. The detection method according to claim 1, characterized in that the first period of time is the time interval between two consecutive border line signals issued by a border line.
5. The detection method according to claim 1, wherein the second step of obtaining a time interval between the current signal and a boundary line signal before the received current signal comprises:
respectively acquiring the received current signal and the receiving time point of the boundary line signal before the current signal;
and acquiring the time interval between the current signal and the boundary line signal before the received current signal according to the receiving time point.
6. A boundary line signal detection device, comprising:
the first module is used for detecting whether the received current signal is a boundary line signal;
a second module, configured to, when the current signal detected by the first module is a boundary line signal, obtain a time interval between the current signal and a boundary line signal before the received current signal;
a third module, configured to detect whether the time interval is equal to a preset first time period, where the first time period is a period of the boundary line signal;
a fourth module, configured to detect whether the number of received current signals is greater than a preset number value when the time interval detected by the third module is equal to a preset first time period;
a fifth module, configured to start the first module when the number of the received current signals detected by the fourth module is less than or equal to the preset number value, and start a sixth module if the number of the received current signals detected by the fourth module is greater than the preset number value;
a sixth module, configured to wait a preset second time period and detect whether the boundary line signal is received within a preset third time period when the number of received current signals detected by the fourth module is greater than a preset number, where the second time period and the third time period are consecutive time periods, the second time period is smaller than the first time period and is less than or equal to a time interval for generating the boundary signal, the third time period is greater than a pulse width time of a rising edge and a falling edge of the boundary line signal, and a sum of the second time period and the third time period is greater than the first time period;
a seventh module, configured to continue to wait for the preset second time period through the sixth module when the sixth module detects that the boundary line signal is received within a preset third time period, and detect whether the boundary line signal is received within the preset third time period, and start the first module if the boundary line signal is not received within the third time period.
7. The apparatus of claim 6, wherein the boundary line signal comprises a rising edge and a falling edge, and wherein the first module is further configured to detect whether the current signal contains the same rising edge and falling edge as the boundary line signal.
8. The detection device according to claim 6, wherein the preset number is greater than or equal to 3.
9. A detection device according to claim 6, characterized in that the first period of time is the time interval between two consecutive border line signals from a border line.
10. The detection apparatus according to claim 6, wherein the second module comprises:
an obtaining unit, configured to obtain a received current signal and a receiving time point of a boundary line signal before the current signal, respectively;
and the second acquisition unit is used for acquiring the time interval between the current signal and the boundary line signal before the received current signal according to the receiving time point.
11. An autonomous walking device, which moves within a boundary line on which a boundary line signal is generated that can be detected by the autonomous walking device to identify the boundary line, characterized in that the autonomous walking device is equipped with a detection apparatus according to any one of claims 6-10.
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| CN1144426A (en) * | 1995-06-30 | 1997-03-05 | 日本电装株式会社 | Intermittent reception control device |
| CN103324108A (en) * | 2013-06-26 | 2013-09-25 | 山东潍微科技股份有限公司 | Control device used for achieving intermittent service of single-chip microcomputer |
| CN103838238A (en) * | 2012-11-23 | 2014-06-04 | 苏州宝时得电动工具有限公司 | Automatic working system |
| CN103869813A (en) * | 2012-12-14 | 2014-06-18 | 苏州宝时得电动工具有限公司 | Automatic working system |
| CN104252175A (en) * | 2013-06-28 | 2014-12-31 | 苏州宝时得电动工具有限公司 | Automatic working system and single interference resisting method thereof |
-
2016
- 2016-10-14 CN CN201610898387.6A patent/CN107957262B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1144426A (en) * | 1995-06-30 | 1997-03-05 | 日本电装株式会社 | Intermittent reception control device |
| CN103838238A (en) * | 2012-11-23 | 2014-06-04 | 苏州宝时得电动工具有限公司 | Automatic working system |
| CN103869813A (en) * | 2012-12-14 | 2014-06-18 | 苏州宝时得电动工具有限公司 | Automatic working system |
| CN103324108A (en) * | 2013-06-26 | 2013-09-25 | 山东潍微科技股份有限公司 | Control device used for achieving intermittent service of single-chip microcomputer |
| CN104252175A (en) * | 2013-06-28 | 2014-12-31 | 苏州宝时得电动工具有限公司 | Automatic working system and single interference resisting method thereof |
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| CN107957262A (en) | 2018-04-24 |
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