CN114079861A - Method, device and base station for determining boundary line signal - Google Patents
Method, device and base station for determining boundary line signal Download PDFInfo
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- CN114079861A CN114079861A CN202010823019.1A CN202010823019A CN114079861A CN 114079861 A CN114079861 A CN 114079861A CN 202010823019 A CN202010823019 A CN 202010823019A CN 114079861 A CN114079861 A CN 114079861A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000005855 radiation Effects 0.000 claims abstract description 161
- 230000006854 communication Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 9
- 230000008054 signal transmission Effects 0.000 claims description 6
- 230000002708 enhancing effect Effects 0.000 claims description 3
- 230000003313 weakening effect Effects 0.000 claims description 3
- 230000002238 attenuated effect Effects 0.000 claims description 2
- 239000002699 waste material Substances 0.000 abstract description 5
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007175 bidirectional communication Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/02—Power saving arrangements
- H04W52/0203—Power saving arrangements in the radio access network or backbone network of wireless communication networks
- H04W52/0206—Power saving arrangements in the radio access network or backbone network of wireless communication networks in access points, e.g. base stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a method, a device and a base station for determining boundary line signals, wherein the method can determine the boundary line signals through a working area of self-walking equipment, and comprises the following steps: acquiring actual working area boundary information transmitted from the walking equipment, wherein the actual working area boundary information represents the range of an actual working area of the self-walking equipment; determining an actual radiation signal according to the boundary information of the actual working area, wherein the actual radiation signal represents a signal with signal intensity matched with the range of the actual working area; and transmitting the actual radiation signal to the self-walking equipment so that the self-walking equipment executes corresponding operation in the actual working area according to the actual radiation signal. The method improves the matching degree of signal radiation and the actual operation environment, avoids energy waste, reduces energy consumption and improves user experience.
Description
Technical Field
The invention relates to the field of garden tools, in particular to a method, a device and a base station for determining a boundary line signal.
Background
When carrying out afforestation work, the robot of mowing can realize intelligent mowing, reduces the cost of labor, has consequently obtained extensive application. The mowing robot is usually used with a base station, and the mowing robot recognizes a boundary line signal emitted by the base station to operate within a coverage range of the boundary line signal, so that how to match the boundary line signal of the base station with an actual operating area of the mowing robot is a problem needing attention.
In the prior art, the preset signal intensity of the mowing robot is fixed, and the radiation range is fixed, so that the borderline radiation intensity of a small-area grassland is the same as that of a large-area borderline radiation intensity, the borderline signal of the base station is not matched with the actual working area of the mowing robot, and when a user is only used in the small-area grassland, the borderline radiation with high intensity is not actually needed, so that the energy is wasted, and unnecessary energy loss is caused.
Disclosure of Invention
According to the method, the device and the base station for determining the boundary line signal, the matching degree of the radiation signal and the range of the actual working area is improved, the energy consumption is reduced, and the user experience is improved.
One aspect of the invention proposes a method for determining a borderline signal from a working area of a self-propelled device, characterized in that the method comprises:
acquiring actual working area boundary information transmitted from the traveling equipment, wherein the actual working area boundary information represents the range of an actual working area of the traveling equipment;
determining an actual radiation signal according to the boundary information of the actual working area, wherein the actual radiation signal represents a signal with signal intensity matched with the range of the actual working area;
and transmitting the actual radiation signal to the self-walking equipment, so that the self-walking equipment executes corresponding operation in the actual working area according to the actual radiation signal.
Optionally, the method for determining a boundary line signal according to claim 1, wherein the acquiring boundary information of the actual working area transmitted from the traveling apparatus includes:
transmitting an initial radiation signal into the self-walking device so that the self-walking device travels at least one circle around a boundary of an initial working area within a radiation range of the initial radiation signal;
and when the self-walking equipment finishes running, acquiring the boundary information of the actual working area acquired by the self-walking equipment in running.
Optionally, the determining the actual radiation signal according to the boundary information of the working area includes:
acquiring actual signal intensity corresponding to the actual working area boundary information;
and determining the actual radiation signal according to the actual signal intensity.
Optionally, the obtaining the actual signal strength corresponding to the actual working area boundary information includes:
enhancing or weakening the radiation energy of the boundary line according to the boundary information of the actual working area;
and taking the signal intensity corresponding to the enhanced or attenuated boundary line radiation energy as the actual signal intensity.
Optionally, the method further includes:
when the self-walking equipment executes an operation task in an initial working area, acquiring the boundary signal intensity of an actual working area received by the self-walking equipment in real time;
and adjusting the intensity of the actual radiation signal according to the boundary signal intensity of the actual working area.
Another aspect of the present invention also provides an apparatus for determining a boundary line signal, characterized in that the apparatus comprises:
the working area acquisition module is used for acquiring actual working area boundary information transmitted by the self-walking equipment, and the actual working area boundary information represents the range of an actual working area of the self-walking equipment;
the signal intensity adjusting module is used for determining an actual radiation signal according to the boundary information of the actual working area, wherein the actual radiation signal is a signal with intensity matched with the range of the actual working area of the self-walking equipment;
and the signal transmission module is used for transmitting the actual radiation signal to the self-walking equipment so as to enable the self-walking equipment to execute corresponding operation in the actual working area.
Optionally, the apparatus further comprises:
the initial signal transmission unit is used for transmitting an initial radiation signal to the self-walking equipment so that the self-walking equipment runs for at least one circle around the boundary of an initial working area in the radiation range of the initial radiation signal;
and when the self-walking equipment finishes running, the working area acquisition module acquires the boundary information of the actual working area acquired by the self-walking equipment in running.
Optionally, the apparatus further comprises:
an actual signal intensity obtaining unit, configured to obtain an actual signal intensity corresponding to the actual working area boundary information;
and the actual radiation signal acquisition unit is used for determining the actual radiation signal according to the actual signal intensity.
Another aspect of the present invention also provides a base station, including:
a signal output unit for outputting an initial radiation signal and an actual radiation signal;
and the signal adjusting unit is used for adjusting the boundary radiation energy according to the boundary information of the actual working area transmitted from the walking equipment and determining the actual radiation signal.
The base station is used for executing the method for determining the boundary line signal.
Optionally, the base station includes:
a signal output unit for outputting an initial radiation signal and an actual radiation signal;
and the signal adjusting unit is used for adjusting the boundary radiation energy according to the actual working area range information transmitted from the walking equipment and determining the actual radiation signal.
Optionally, the base station further includes: and the charging pole piece is used for establishing communication connection with the self-walking equipment to acquire boundary information of an actual working area.
The invention provides a method, a device and a base station for determining boundary line signals, wherein the method comprises the following steps: the self-walking equipment bypasses at least one week in a preset working area based on the initial radiation signal to obtain boundary information of an actual working area, the base station distinguishes the boundary information according to actual work to adjust the intensity of an output signal after acquiring the boundary information of the actual working area transmitted by the self-walking equipment to obtain the actual radiation signal, the base station transmits the actual radiation signal to the self-walking equipment, the self-walking equipment carries out boundary identification based on the actual radiation signal, and a working task is executed in the range of the actual working area. The method improves the matching degree of signal radiation and the actual operation environment, avoids energy waste, reduces energy consumption and improves user experience.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for determining a boundary line signal according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for acquiring boundary information of an actual working area in a method for determining a boundary signal according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for determining an actual radiation signal in a method for determining a boundary line signal according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for obtaining an actual signal strength in a method for determining a boundary line signal according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a method for adjusting signal strength in real time according to a method for determining a boundary line signal according to an embodiment of the present invention;
fig. 6 is a schematic view of an operation scenario of a self-walking device, a boundary line and a charging station in a method for determining a boundary line signal according to an embodiment of the present invention.
Fig. 7 is a schematic view of a scene in which information is transmitted from a traveling device and a charging station through a charging pole piece in a method for determining a boundary line signal according to an embodiment of the present invention;
fig. 8 is a schematic block diagram of an apparatus for determining a boundary line signal according to an embodiment of the present invention;
fig. 9 is a schematic block structure diagram of a base station according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
Referring to fig. 1, an embodiment of the present invention provides a method for determining a boundary line signal, which can be applied to a base station side, as shown in fig. 1, where the method includes:
s110, acquiring boundary information of an actual working area transmitted by self-walking equipment, wherein the boundary information of the actual working area represents the range of the actual working area of the self-walking equipment;
further, referring to fig. 2, the acquiring the boundary information of the actual working area transmitted from the traveling apparatus includes:
s210, transmitting an initial radiation signal to the self-walking equipment so that the self-walking equipment runs for at least one circle around the boundary of an initial working area in the radiation range of the initial radiation signal;
s220, when the self-walking equipment finishes running, acquiring the boundary information of the actual working area acquired by the self-walking equipment in running.
Specifically, the base station may be a charging station that charges the self-traveling device, and the base station may communicate with the self-traveling device, where a preset initial radiation signal is stored in the base station, and the intensity of the initial radiation signal is a preset boundary line radiation energy. And matching and identifying an initial radiation signal from the walking equipment based on the radiation range of the preset boundary line radiation energy, and performing at least one round of detour in the radiation range of the initial radiation signal to determine the actual working range. When the actual working range is determined by the self-walking equipment, the positioning information can be obtained, the information of the actual working range is determined according to the actual running path of the self-walking equipment, or corresponding actual working boundary information is acquired by a sensor on the self-walking equipment, for example, an electronic tag in the actual working area is identified, and the range of the actual working area is determined by the electronic tag. And after the self-walking equipment acquires the actual working boundary information, when the self-walking equipment finishes running and returns to the base station, the actual working boundary information is transmitted to the base station. In a specific embodiment, when the base station is a charging station, the self-propelled device can transmit the actual working boundary information to the charging station via the charging pole pieces.
A communication loop is established between the base station and the self-walking equipment, and the base station can obtain the boundary information of the actual working area from the self-walking equipment, so that the subsequent adjustment of the actual radiation signal is carried out.
S120, determining an actual radiation signal according to the boundary information of the actual working area, wherein the actual radiation signal represents a signal with signal intensity matched with the range of the actual working area;
further, referring to fig. 3, the determining the actual radiation signal according to the boundary information of the working area includes:
s310, acquiring actual signal intensity corresponding to the boundary information of the actual working area;
and S320, determining the actual radiation signal according to the actual signal intensity.
Specifically, after the base station acquires the boundary information of the actual working area, the base station may determine the actual signal intensity capable of covering the actual working area according to the boundary information of the actual working area, based on the actual signal intensity, may enhance or weaken the corresponding signal intensity on the basis of the initial signal intensity to obtain the actual radiation signal, and may also adjust the radiation energy of the boundary line when acquiring the actual signal intensity, and directly output the actual radiation signal corresponding to the adjusted boundary line radiation energy.
Further, referring to fig. 4, the acquiring the actual signal strength corresponding to the actual working area boundary information includes:
s410, enhancing or weakening boundary line radiation energy according to the boundary information of the actual working area;
and S420, taking the signal intensity corresponding to the radiation energy of the boundary line after being enhanced or weakened as the actual signal intensity.
In a specific embodiment, the initial signal intensity may be obtained first, and based on the initial signal intensity, the radiation range that can be covered by the initial radiation signal is determined, so as to obtain the initial working area boundary information. The initial signal strength can be derived from the initial borderline radiation energy. When the actual working area boundary information obtained by the base station is smaller than the initial working area boundary information, that is, the actual working range is smaller than the preset working range, the boundary line radiation energy can be weakened according to the direct difference between the actual working range and the preset working range, and the weakened boundary line radiation energy is used as the actual signal intensity. And the base station inputs the actual radiation signal corresponding to the adjusted actual signal intensity into a boundary line connected with the base station.
When the actual working area boundary information obtained by the base station is greater than the initial working area boundary information, that is, the actual working range is greater than the preset working range, the boundary line radiation energy may be enhanced according to the direct difference between the actual working range and the preset working range, and the enhanced boundary line radiation energy is used as the actual signal intensity. And the base station inputs the actual radiation signal corresponding to the adjusted actual signal intensity into a boundary line connected with the base station.
The base station adjusts the actual radiation signal, so that the actual radiation signal can be matched with the actual working area, resource waste caused by unchanged boundary line radiation energy when the actual working area is smaller than the initial working area is avoided, or all working tasks in the actual working area cannot be completed by the self-walking equipment due to unchanged boundary line energy when the actual working area is larger than the initial working area is avoided, the matching degree of signal radiation and the actual running environment is improved, and user experience is improved.
S130, transmitting the actual radiation signal to the self-walking equipment, so that the self-walking equipment executes corresponding operation in the actual working area according to the actual radiation signal.
Specifically, after the base station completes one session with the self-walking device, the base station determines an actual radiation signal and transmits the actual radiation signal to the self-walking device. And identifying the boundary of the actual working area by the self-walking equipment based on the actual radiation signal, and determining that the self-walking equipment is positioned in the boundary line, outside the boundary line or on the boundary line during working.
Further, the method further comprises:
s510, when the self-walking equipment executes the operation task in the initial working area, acquiring the boundary signal intensity of the actual working area received by the self-walking equipment in real time;
s520, adjusting the intensity of the actual radiation signal according to the boundary signal intensity of the actual working area.
In particular, the adjustment of the actual radiation signal may also be performed in a real-time adjustment manner. And establishing bidirectional communication connection between the base station and the self-walking equipment, and transmitting the boundary information of the actual working area to the base station from the self-walking equipment in real time. And the base station adjusts the size of boundary radiation energy according to the boundary information of the actual working area transmitted by the self-walking equipment, so that the actual radiation signal is matched with the boundary information of the actual working area transmitted by the self-walking equipment. In a specific embodiment, the adjustment of the magnitude of the radiant energy to the boundary line may be a real-time adjustment.
Through the mode of real-time adjustment, can make and can directly be applied to in the actual work from the walking equipment, need not get back to base station department through the mode of winding and transmit actual work scope boundary information to simplify the operation step in the actual application, improved user experience.
In a specific implementation scenario, as shown in fig. 6, the self-walking device may be a robot for mowing, the self-walking device has a boundary line detection unit, a positioning unit and an electronic tag identification unit, the self-walking device may identify a boundary line through the boundary line detection unit, obtain positioning information through the positioning unit, and identify an electronic tag through the electronic tag identification unit, the base station is a charging station for charging the mowing robot, and a working range of the mowing robot is a lawn to be trimmed. The charging station transmits a preset initial radiation signal to the mowing robot, the mowing robot identifies an initial boundary line according to the preset initial radiation signal, and moves in the coverage range of the initial radiation signal, namely the mowing robot moves in an initial working area. The mowing robot can surround the initial working area for one or more weeks, the range of the actual working area is determined in the period, and the boundary information of the actual working area is obtained. And the mowing robot transmits the obtained actual working area boundary information to a charging station through a charging pole piece. As shown in fig. 7, the charging station is connected to the boundary line, and after acquiring boundary information of an actual working area through the charging pole piece, the charging station distinguishes the boundary information according to the actual working, adjusts an actual radiation signal, and transmits the adjusted actual radiation signal to the mowing robot. The mowing robot performs boundary identification according to the actual radiation signal and performs mowing tasks in the range of the actual working area.
The embodiment of the invention provides a method for determining a boundary line signal, which comprises the following steps: the self-walking equipment bypasses at least one week in a preset working area based on the initial radiation signal to obtain boundary information of an actual working area, the base station distinguishes the boundary information according to actual work to adjust the intensity of an output signal after acquiring the boundary information of the actual working area transmitted by the self-walking equipment to obtain the actual radiation signal, the base station transmits the actual radiation signal to the self-walking equipment, the self-walking equipment carries out boundary identification based on the actual radiation signal, and a working task is executed in the range of the actual working area. The method improves the matching degree of signal radiation and the actual operation environment, avoids energy waste, reduces energy consumption and improves user experience.
In one possible embodiment of the present invention, an apparatus for determining a boundary line signal is provided, as shown in fig. 8, the apparatus comprising:
a working area obtaining module 810, configured to obtain actual working area boundary information transmitted by the self-walking device, where the actual working area boundary information represents a range of an actual working area of the self-walking device;
a signal intensity adjusting module 820, configured to determine an actual radiation signal according to the boundary information of the actual working area, where the actual radiation signal is a signal having an intensity that matches a range of the actual working area of the self-walking device;
a signal transmission module 830, configured to transmit the actual radiation signal to the self-walking device, so that the self-walking device performs a corresponding operation in the actual working area.
Further, the apparatus further comprises:
the initial signal transmission unit is used for transmitting an initial radiation signal to the self-walking equipment so that the self-walking equipment runs for at least one circle around the boundary of an initial working area in the radiation range of the initial radiation signal;
and when the self-walking equipment finishes running, the working area acquisition module acquires the boundary information of the actual working area acquired by the self-walking equipment in running.
Specifically, the base station may be a charging station that charges the self-traveling device, and the base station may communicate with the self-traveling device, where a preset initial radiation signal is stored in the base station, and the intensity of the initial radiation signal is a preset boundary line radiation energy. And matching and identifying an initial radiation signal from the walking equipment based on the radiation range of the preset boundary line radiation energy, and performing at least one round of detour in the radiation range of the initial radiation signal to determine the actual working range. When the actual working range is determined by the self-walking equipment, the positioning information can be obtained, the information of the actual working range is determined according to the actual running path of the self-walking equipment, or the corresponding actual working boundary information is acquired by a sensor on the self-walking equipment. And after the self-walking equipment acquires the actual working boundary information, when the self-walking equipment finishes running and returns to the base station, the actual working boundary information is transmitted to the base station. In a specific embodiment, when the base station is a charging station, the self-propelled device can transmit the actual working boundary information to the charging station via the charging pole pieces.
A communication loop is established between the base station and the self-walking equipment, and the base station can obtain the boundary information of the actual working area from the self-walking equipment, so that the subsequent adjustment of the actual radiation signal is carried out.
Further, the apparatus further comprises:
an actual signal intensity obtaining unit, configured to obtain an actual signal intensity corresponding to the actual working area boundary information;
and the actual radiation signal acquisition unit is used for determining the actual radiation signal according to the actual signal intensity.
Specifically, after the base station acquires the boundary information of the actual working area, the base station may determine the actual signal intensity capable of covering the actual working area according to the boundary information of the actual working area, based on the actual signal intensity, may enhance or weaken the corresponding signal intensity on the basis of the initial signal intensity to obtain the actual radiation signal, and may also adjust the radiation energy of the boundary line when acquiring the actual signal intensity, and directly output the actual radiation signal corresponding to the adjusted boundary line radiation energy.
Specifically, based on the initial signal strength, the radiation range which can be covered by the initial radiation signal is determined, so as to obtain the initial working area boundary information. The initial signal strength can be derived from the initial borderline radiation energy. When the actual working area boundary information obtained by the base station is smaller than the initial working area boundary information, that is, the actual working range is smaller than the preset working range, the boundary line radiation energy can be weakened according to the direct difference between the actual working range and the preset working range, and the weakened boundary line radiation energy is used as the actual signal intensity. And the base station inputs the actual radiation signal corresponding to the adjusted actual signal intensity into a boundary line connected with the base station.
When the actual working area boundary information obtained by the base station is greater than the initial working area boundary information, that is, the actual working range is greater than the preset working range, the boundary line radiation energy may be enhanced according to the direct difference between the actual working range and the preset working range, and the enhanced boundary line radiation energy is used as the actual signal intensity. And the base station inputs the actual radiation signal corresponding to the adjusted actual signal intensity into a boundary line connected with the base station.
The base station adjusts the actual radiation signal, so that the actual radiation signal can be matched with the actual working area, resource waste caused by unchanged boundary line radiation energy when the actual working area is smaller than the initial working area is avoided, or all working tasks in the actual working area cannot be completed by the self-walking equipment due to unchanged boundary line energy when the actual working area is larger than the initial working area is avoided, the matching degree of signal radiation and the actual running environment is improved, and user experience is improved.
The device provided in the above embodiments can execute the method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. Technical details that have not been described in detail in the above embodiments may be referred to a method of determining a boundary line signal provided in any of the embodiments of the present invention.
In one possible embodiment of the present invention, a base station is provided, please refer to fig. 9, where the base station includes:
a signal output unit 910 for outputting an initial radiation signal and an actual radiation signal;
the signal adjusting unit 920 is configured to adjust boundary radiation energy according to the boundary information of the actual working area transmitted from the traveling device, and determine the actual radiation signal.
Further, the base station further includes: and the charging pole piece is used for establishing communication connection with the self-walking equipment to acquire boundary information of an actual working area. In one embodiment, the communication link may also be a wireless communication link.
The present specification provides method steps as described in the examples or flowcharts, but may include more or fewer steps based on routine or non-inventive labor. The steps and sequences recited in the embodiments are but one manner of performing the steps in a multitude of sequences and do not represent a unique order of performance. In the actual system or interrupted product execution, the method according to the embodiment or the figures can be executed in sequence or in parallel.
The configurations shown in the present embodiment are only partial configurations related to the present application, and do not constitute a limitation on the devices to which the present application is applied, and a specific device may include more or less components than those shown, or combine some components, or have an arrangement of different components. It should be understood that the methods, apparatuses, and the like disclosed in the embodiments may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a division of one logic function, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or unit modules.
Those of skill would further appreciate that the various illustrative components 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 above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of determining a boundary line signal, the method comprising:
acquiring actual working area boundary information transmitted from the traveling equipment, wherein the actual working area boundary information represents the range of an actual working area of the traveling equipment;
determining an actual radiation signal according to the boundary information of the actual working area, wherein the actual radiation signal represents a signal with signal intensity matched with the range of the actual working area;
and transmitting the actual radiation signal to the self-walking equipment, so that the self-walking equipment executes corresponding operation in the actual working area according to the actual radiation signal.
2. A method of determining a boundary line signal as claimed in claim 1, wherein the obtaining of the actual working area boundary information transmitted from the traveling apparatus comprises:
transmitting an initial radiation signal into the self-walking device so that the self-walking device travels at least one circle around a boundary of an initial working area within a radiation range of the initial radiation signal;
and when the self-walking equipment finishes running, acquiring the boundary information of the actual working area acquired by the self-walking equipment in running.
3. A method of determining a borderline signal according to claim 1, characterized in that said determining an actual radiation signal based on said work area boundary information comprises:
acquiring actual signal intensity corresponding to the actual working area boundary information;
and determining the actual radiation signal according to the actual signal intensity.
4. A method of determining boundary line signals as claimed in claim 3, wherein said obtaining actual signal strengths corresponding to said actual working area boundary information comprises:
enhancing or weakening the radiation energy of the boundary line according to the boundary information of the actual working area;
and taking the signal intensity corresponding to the enhanced or attenuated boundary line radiation energy as the actual signal intensity.
5. A method of determining a borderline signal according to claim 1, characterized in that the method further comprises:
when the self-walking equipment executes an operation task in an initial working area, acquiring the boundary signal intensity of an actual working area received by the self-walking equipment in real time;
and adjusting the intensity of the actual radiation signal according to the boundary signal intensity of the actual working area.
6. An apparatus for determining a boundary line signal, the apparatus comprising:
the working area acquisition module is used for acquiring actual working area boundary information transmitted by the self-walking equipment, and the actual working area boundary information represents the range of an actual working area of the self-walking equipment;
the signal intensity adjusting module is used for determining an actual radiation signal according to the boundary information of the actual working area, wherein the actual radiation signal is a signal with intensity matched with the range of the actual working area of the self-walking equipment;
and the signal transmission module is used for transmitting the actual radiation signal to the self-walking equipment so as to enable the self-walking equipment to execute corresponding operation in the actual working area.
7. An apparatus for determining a borderline signal according to claim 6, characterized in that said apparatus further comprises:
the initial signal transmission unit is used for transmitting an initial radiation signal to the self-walking equipment so that the self-walking equipment runs for at least one circle around the boundary of an initial working area in the radiation range of the initial radiation signal;
and when the self-walking equipment finishes running, the working area acquisition module acquires the boundary information of the actual working area acquired by the self-walking equipment in running.
8. An apparatus for determining a borderline signal according to claim 6, characterized in that said apparatus further comprises:
an actual signal intensity obtaining unit, configured to obtain an actual signal intensity corresponding to the actual working area boundary information;
and the actual radiation signal acquisition unit is used for determining the actual radiation signal according to the actual signal intensity.
9. A base station, characterized in that the base station comprises:
a signal output unit for outputting an initial radiation signal and an actual radiation signal;
and the signal adjusting unit is used for adjusting the boundary radiation energy according to the boundary information of the actual working area transmitted from the walking equipment and determining the actual radiation signal.
10. A base station according to claim 9, characterized in that the base station further comprises: and the charging pole piece is used for establishing communication connection with the self-walking equipment to acquire boundary information of an actual working area.
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| CN202010823019.1A CN114079861A (en) | 2020-08-17 | 2020-08-17 | Method, device and base station for determining boundary line signal |
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| CN202010823019.1A CN114079861A (en) | 2020-08-17 | 2020-08-17 | Method, device and base station for determining boundary line signal |
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| CN111352428A (en) * | 2016-04-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
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| US20040203988A1 (en) * | 2002-06-11 | 2004-10-14 | Tai-Her Yang | Wireless information device with its transmission power level adjustable |
| CN111352428A (en) * | 2016-04-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
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