WO2016127923A1 - 多区域工作控制***及其控制方法 - Google Patents

多区域工作控制***及其控制方法 Download PDF

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Publication number
WO2016127923A1
WO2016127923A1 PCT/CN2016/073615 CN2016073615W WO2016127923A1 WO 2016127923 A1 WO2016127923 A1 WO 2016127923A1 CN 2016073615 W CN2016073615 W CN 2016073615W WO 2016127923 A1 WO2016127923 A1 WO 2016127923A1
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WIPO (PCT)
Prior art keywords
work
working
area unit
wire loop
wire
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PCT/CN2016/073615
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English (en)
French (fr)
Inventor
焦石平
孙根
董永明
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苏州宝时得电动工具有限公司
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Priority to EP16748724.8A priority Critical patent/EP3257349A4/en
Publication of WO2016127923A1 publication Critical patent/WO2016127923A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires

Definitions

  • the invention relates to the technical field of multi-region work of smart devices, in particular to a multi-region work control system and a control method thereof.
  • Self-moving work devices such as intelligent lawn mowers, intelligent snowplow machines, intelligent fertilizer applicators, etc.
  • the self-moving work box has an automatic walking function, which can automatically return to charge, and carry out safety detection and battery power detection. It has certain climbing ability, especially suitable for home garden, public green space and other places for lawn trimming maintenance and snow removal. , fertilizer application, etc.
  • the work area is not partitioned, but is randomly operated in an area surrounded by the boundary line.
  • the user's grassland is often divided into many areas such as the front yard and the backyard.
  • the boundary line limits all areas to one range, intelligent lawn mowers often appear in a certain area. Mowing or missing a certain area in an area, and different areas have different growth conditions due to light and other factors.
  • the cutting frequency and mowing depth requirements are different. If only one mowing mode is used, mowing Frequency and mowing depth to deal with all areas will reduce the efficiency of mowing, and the mowing effect is difficult to meet the user's requirements.
  • the present invention provides a multi-zone work control system for multi-zone cutting control of a self-moving work apparatus, comprising: a wire loop that divides the cut work area into a plurality of work area units; each of said The wire loop corresponds to a working area unit, the wire of the wire loop is disposed along a boundary of the working area unit; the wire loop is connected to the control module; and the control module is connected to the wire loop for Controlling the wire loops in the above working area, only one wire loop transmits electrical signals at the same time or at the same time at least two different wire loops simultaneously transmit different types of electrical signals; the self-moving working device, the self-moving Working device in said Performing work in the working area; the self-moving working device is provided with a sensor and a working module; the sensor is configured to collect the electrical signal of the wire loop, and the working module is configured to collect the wire loop transmission according to the sensor In the case of an electrical signal, the self-moving work device is controlled to perform work on a work area unit corresponding to
  • the self-moving work device is further provided with a return module; the return module is configured to return the self-moving work device to the designated position before the working area unit is turned on or after the work is completed.
  • a docking station or a charging station is provided at the designated location, and the control module is located at the docking station or the charging station.
  • the working module includes a preset module, a comparison module, and an execution module; the preset module is configured to preset a working mode corresponding to the working area unit; and the comparing module is configured to: The work area unit corresponding to the electrical signal collected by the sensor is compared with the preset information in the preset module to obtain an operation mode corresponding to the work area unit; the execution module is configured to execute the comparison module to obtain The working mode works.
  • the self-moving work implement is a smart lawn mower, the working mode comprising a cutting height, and/or a cutting frequency, and/or a cutting time, and/or a cutting speed.
  • the self-moving work device is provided with a position determining module, and the position determining module is configured to determine, according to the electrical signal collected by the sensor, that the self-moving working device is located inside and outside the work area to be cut. Or on the border.
  • the system when the control module controls the wires to simultaneously transmit different types of electrical signals by at least two different wire loops at the same time, includes a plurality of self-moving work devices, each self-moving The working device operates in a working area unit formed by a wire loop that transmits a corresponding type of electrical signal, depending on the type of electrical signal.
  • the invention also provides a multi-area work control method, comprising the steps of: dividing a working area to be operated into a plurality of working area units, each wire loop corresponding to one working area unit, and the wire edge of the wire loop Setting a boundary of the working area unit; controlling a wire loop in the working area, and only one wire loop transmits an electrical signal at the same time or at the same time Two different wire loops transmit different types of electrical signals at the same time; the sensor from the mobile working device collects the electrical signal transmitted in the working area unit wire loop, and the work corresponding to the wire loop with the electrical signal transmission from the mobile working device The area unit or the work area unit corresponding to the wire loop having the preset type of electrical signal transmission is cut.
  • the method further includes: presetting a specified position returned by the self-moving work device before the working area unit is turned on or returned after the work is completed.
  • the magnetic field strength or the direction of the magnetic field line generated by the wire for collecting the electrical signal is collected by the sensor to find the wire, along the wire loop in the region, or The cross-wire returns to the specified position.
  • the self-moving working device is located when switching the electrical signals transmitted between the wire loops corresponding to the different working area units and the switching of the different electrical signals in the wire loops on the same working area unit. Specify the location.
  • the self-moving working device determines that the cutting device is located inside or outside the unit to be cut according to the magnetic flux direction of the electromagnetic field generated by the electrical signal transmitted in the wire loop collected by the sensor. On the border.
  • the working area unit corresponding to the wire loop having the electrical signal transmission is operated by the mobile working device.
  • the step of the present invention includes the following steps: presetting the working mode corresponding to the working area unit; comparing the working area unit corresponding to the electrical signal collected by the sensor with preset information, and obtaining the corresponding working area unit Working mode; performing the working mode obtained by the comparing module to work.
  • control module controls the time or sequence in which each of the wire loops transmits electrical signals, thereby controlling the operating time or operating sequence of the cutting device within the corresponding work area unit of the wire loop.
  • the multi-zone work control system described above collects electrical signal information of wires on the working area unit by sensors on the mobile working device, and performs work on the working area unit where the wire loop with electrical signal transmission is located according to the condition of transmitting electrical signals on the wire loop. Alternatively, the work area unit corresponding to the wire loop having the preset type of electrical signal transmission is performed. Effectively avoiding self-moving work devices Always work in the same area or miss an area that is not working. Moreover, the self-moving working device can select different working modes when it is in different working area units, thereby more adapting to the needs of each working area unit and satisfying the diversified requirements of the user.
  • FIG. 1 is a schematic block diagram of an embodiment of a multi-zone cutting control system
  • FIG. 2 is a schematic block diagram of still another embodiment of a multi-zone cutting control system
  • FIG. 3 is a flow chart of an embodiment of a multi-region cutting control method
  • FIG. 4 is a flow chart of still another embodiment of a multi-region cutting control method
  • FIG. 5 is a specific flowchart of a step in the multi-region cutting control method of FIGS. 3 and 4; FIG.
  • FIG. 6 is a flow chart of still another embodiment of a multi-zone cutting control method
  • FIG. 7 is a flow chart of still another embodiment of a multi-region cutting control method
  • FIG. 8 is a schematic structural view of an embodiment of a multi-zone cutting control system
  • Figure 9-1 is a waveform diagram of an embodiment of a neutral signal
  • Figure 9-2 is a waveform diagram of still another embodiment of a neutral signal.
  • the self-moving work device of the present invention includes a machine capable of automatically moving and automatically performing work, and the types of work are specifically such as mowing, snow sweeping, sweeping, fertilizing, etc., that is, a self-moving work device such as a smart lawn mower or a smart sweep. Snow machine, smart sweeper, intelligent fertilizer applicator and other machines.
  • the multi-zone work control system referred to in the present invention includes a multi-zone cutting system, a multi-zone cleaning system, a multi-zone fertilization system, and the like.
  • the multi-area control of the present invention is not affected, and therefore, the embodiment of the present invention is exemplified only by a machine whose work type is mowing. Other work types can be used to replace the mowing work piece.
  • the multi-zone cutting control system 100 of the present invention is used for multi-zone cutting control of a lawn mower, comprising a plurality of wire loops 121, a control module 120, and a cutting device 130 disposed on the working area 110.
  • the cutting device 130 is specifically a smart lawn mower.
  • the working area 110 is a to-be-cut area, and the plurality of wire loops 121 divide the cut working area 110 into a plurality of working area units 111; each of the wire loops 121 corresponds to one working area unit 111.
  • Wires 112 are disposed along the boundary of each work area unit 111, and the wires 112 of each work area unit 111 are connected to the control module 120 to form a wire loop 121.
  • the work area 110 is a lawn of a user's courtyard, and includes three work area units 111a, 111b, and 111c, respectively.
  • Wires 112 are disposed on the boundary of each of the work area units 111, and the wires 112 of each of the individual work area units 111 form a wire loop 121 with the control module 120 described below.
  • the number of working area units 111 included in the working area 110 is not limited, at least two, and may be set according to different situations in the working area 110, for example, for example.
  • the front of the house 600 is better. The lawn is long and needs to be cut frequently. The sunlight behind the house 600 is not enough. The lawn is slow and does not need to be cut frequently. The lawn on the side of the house 600 needs to be cut. Between the front and the back, the user can set the lawn of his own courtyard to three working area units 111.
  • the control module 120 is configured to control the transmission of electrical signals in the wire loop 121 corresponding to different working area units 111 (ie, subunits) in the working area 110. At the same time, the control module 120 controls only one of the wire loops 121 to transmit electrical signals, or at the same time the control module 120 controls at least two different wire loops to simultaneously transmit different electrical signals. As shown in connection with FIG. 8, control module 120 is preferably disposed at a charging station or docking station of cutting device 130. The cutting device 130 returns to the charging station or the docking station after completing the work in one of the working area units 111.
  • the control module 120 can be implemented by an integrated circuit, a single chip microcomputer, etc., and those skilled in the art should be able to recognize that the specific implementation manner of the control module 120 is not limited, as long as the function of the control module 120 is satisfied.
  • the control module 120 controls the wire loop 121 according to user requirements. The user can select an external signal to transmit an electrical signal to the wire loop 121 of the work area unit 111 that needs to be cut, or can be directly disposed in the control module 120. Software implementation in . In one embodiment, control module 120 controls all of one of conductor loops 121 to transmit electrical signals at the same time. The cutting device 130 can only detect the electrical signals transmitted on the wire loop 121 of one working area unit 111 during different time periods.
  • the cutting device 130 can enter different working area units 111 at different time periods, and determine the working area unit in which it is located by the difference of the time period. 111, thereby performing a cutting mode corresponding to the work area unit 111.
  • the electrical signals transmitted by the different wire loops 121 can be different or the same.
  • the different types of electrical signals transmitted by the wire loop 121 specifically, the waveforms, amplitudes, and frequencies of the electrical signals are at least different.
  • the control module 120 controls at least two different wire loops to simultaneously transmit different electrical signals at the same time.
  • the cutting device 130 detects that the electrical signals transmitted on the different wire loops 121 are different. Therefore, the cutting device 130 can determine the working area unit 111 in which it is located by the difference in electrical signals, thereby performing the cutting mode corresponding to the working area unit 111.
  • a plurality of cutting devices 130 may be simultaneously operated in different working area units 111, and different cutting devices 130 perform cutting modes corresponding to their respective working area units 111.
  • a cutting device 130 can also be operated in different working area units 111, and the control module 120 can transmit different electrical signals in different wire loops in a time-sharing manner.
  • the cutting device 130 is used for cutting the working area 110; the cutting device 130 is provided with a sensor 131 and a cutting module 132.
  • the sensor 131 is used to collect the electrical signal of the wire loop 121 of the working area unit 111.
  • the cutting module 132 is configured to control the working of the wire loop 121 with the electrical signal transmission by the cutting device 130 according to the condition that the sensor 131 collects the electrical circuit of the wire loop 121.
  • the area unit 111 performs cutting. As shown in FIG.
  • the lawn of the user courtyard is divided into three working area units 111, where the cutting device 130 is a smart lawn mower, and the lawn mower is provided with a sensor 131 for collecting the wires on the working area unit 111.
  • the electrical signal of the circuit 121 preferably, the sensor 131 has a function of sensing the electromagnetic field strength or the electrical signal waveform. Since the control module 120 controls the different wire loops 121 to not transmit the electrical signals at the same time, the sensor 131 on the smart lawn mower senses the wire loop 121 transmitting the electrical signals, and then cuts the working area unit 111 corresponding to the wire loop 121.
  • the user can set relevant parameters in the control module 120 according to the specific conditions of the working area unit 111 corresponding to the different wire loops 121. If the user sets the lawn of the own courtyard to the three working area units 111, the user sets the duration or time period of the electrical signals transmitted by each of the wire loops 121 according to the size of each working area unit 111, the degree of grass lush, or the growth of the grass. .
  • control module 120 controls only one of the wire loops 121 to transmit electrical signals in all of the wire loops
  • control mode The block 120 controls the length of time of the electrical signals transmitted in the different wire loops 121, thereby controlling the length of the working time of the cutting device 130 in the different working area units 111; the control module 120 controls the time period of the electrical signals transmitted in the different wire loops 121 or The chronological order, thereby controlling the working period of the cutting device 130 at different working area units 111 or the working order of entering the different working area units 111.
  • control module 120 controls at least two of the wire loops 121 to transmit different types of electrical signals at the same time
  • the control module 120 controls by controlling the length of transmission time or the transmission period or time sequence of different types of electrical signals.
  • the working time or period or working order of the cutting device 130 at different working area units 111.
  • the cutting module 132 includes a preset module 132a, a comparison module 132b, and an execution module 132c.
  • the preset module 132a is configured to preset a cutting mode corresponding to the work area unit 111.
  • the comparison module 132b is configured to compare the work area unit 111 corresponding to the electrical signal collected by the sensor 131 with the preset information in the preset module 132a to obtain a cutting mode corresponding to the work area unit 111.
  • the execution module 132c is configured to perform cutting according to the cutting mode obtained by the comparison module 132b.
  • the working area unit 111 can also be numbered, the sensor 131 collects electrical signal information, obtains the number of the working area unit 111 corresponding to the electrical signal, and the preset module 132a presets the cutting mode corresponding to each number, and compares The module 132b numbers the work area unit 111 to be cut collected by the sensor 131, corresponding to the preset module 132a, and obtains the cutting mode of the cutting device 130, and the execution module 132c of the cutting device 130 performs cutting in the cutting mode.
  • the electrical signals transmitted in the wire loop 121 corresponding to each of the work area units 111 are different and are transmitted in a time-division manner.
  • Different electrical signals corresponding to different wire loops 121 also correspond to the cutting modes required by the different working area units 111.
  • the cutting mode includes at least one of a cutting frequency (ie, the number of cuttings per unit time period), a cutting height, a cutting speed, and a cutting time (ie, the duration of each cutting).
  • a cutting frequency ie, the number of cuttings per unit time period
  • a cutting height ie, the cutting height
  • a cutting speed ie, the duration of each cutting.
  • the working area unit 111 where the soil and the sunny lawn are located requires more cutting in a certain period of time, and the cutting depth is relatively deep, and the cutting speed is relatively slow in a fixed time, and the cutting time is longer. Wait.
  • control module 120 controls at least two different wire loops to simultaneously transmit different electrical signals at the same time
  • multiple smart lawn mowers can also work simultaneously.
  • Different electrical signals correspond to different working area units, and may also represent a single corresponding to the working area.
  • Different cutting modes of the yuan Different cutting modes of the yuan.
  • the left and right sides of the cutting device 130 are respectively provided with sensors 131, and the cutting device 130 is further provided with a position judging module 134.
  • the position determining module 134 is configured to determine that the cutting device 130 is located inside, outside or on the boundary of the working area unit 111 according to the electromagnetic field generated by the electric signal transmitted in the wire loop 121 collected by the sensor 131 on the left and right sides of the cutting device 130. Specifically, it depends on the direction of the magnetic flux in the sensor 131.
  • the magnetic flux collected by the sensor 131 on the left and right sides of the cutting device is directed downward, it is inside the working area unit 111; if both are facing upward, it is outside the working area unit 111; if one is facing up, then The boundary line of the work area unit 111.
  • the specific direction is based on the direction of the current passing through the wire and satisfies the law of electromagnetic induction.
  • an abnormality occurs in the position of the cutting device 130, such as an artificial or other factor, the cutting device 130 is moved, and the like.
  • the cutting device 130 is further provided with a return module 133.
  • the return module 133 is used to return the cutting device 130 before it is turned on or after the cutting of the working area unit 111 is completed.
  • the cutting device 130 should be in a designated position before or after cutting one of the work area units 111. If not in the designated position, the cutting device 130 collects the magnetic field strength generated by the electrical signal transmitted in the wire loop 121 through the sensor 131 to find the wire 112, and then returns to the designated position along the wire 112, so the designated position should be set on all the wires.
  • the location where the loop 121 will pass preferably the charging station where the control module 120 is located.
  • control module 120 controls the switching of the electrical signals transmitted between the wire loops corresponding to the different working area units 111, and the switching of the different electrical signals by the wire loops on the same working area unit 111, it is ensured that the cutting device 130 is located at the designated position. .
  • a multi-region cutting control method includes the following steps:
  • the wire loop 121 divides the work area 110 to be cut into a plurality of work area units 111, each wire loop 121 corresponding to one work area unit 111, and the wire 112 of the wire loop 121 is disposed along the boundary of the work area unit 111.
  • the work area 110 is the lawn of the user's courtyard, and includes three work area units 111a, 111b, and 111c, respectively.
  • Wires 112 are disposed on the boundary of each work area unit 111, and the wires 112 of each of the independent work area units 111 form a wire loop. 121.
  • the division of the work area units in the work area is divided according to the actual situation and needs. For example, in Figure 8, the sunlight in front of the house 600 is better, the lawn is long and needs to be cut frequently, and the sunlight behind the house 600 is not sufficient, and the lawn is long. Slow, there is no need to cut frequently. The lawn on the side of the house 600 needs to be cut between the front and the back. Therefore, three working area units 111 can be set in the lawn of the courtyard.
  • the cutting device 130 in the multi-zone cutting control system 100 is docked at the charging station when it is not in operation.
  • the cutting device 130 When the cutting device 130 starts to operate, it enters different working area units to operate according to the electrical signals on the respective wire loops 121 on the boundary of the working area units 111a, 111b, 111c.
  • the control module 120 controls only one of the wire loops 121 of the three working area units to transmit an electrical signal.
  • the cutting device 130 enters the working area unit with the electrical signal to perform the cutting work, and cuts the working area unit according to the selected cutting mode according to the time period. After the cutting of the work area unit is completed, the cutting device 130 returns to the charging station.
  • control module 120 controls the transmission of different electrical signals in at least two different wire loops in the corresponding wire loops 121 of the three working area units.
  • the cutting device 130 enters its corresponding working area unit according to the type of electrical signal, and cuts the working area unit according to the type of electrical signal using an adapted cutting mode. After the cutting of the work area unit is completed, the cutting device 130 returns to the charging station.
  • S220 Control the wire loop 121 in the working area 110, and only one wire loop transmits an electrical signal at the same time.
  • the control module 120 for controlling the wire loop 121 of the working area unit 111 is preferably disposed on the charging station of the cutting device 130 , and the control module 120 can be implemented by an integrated circuit, a single chip microcomputer, or the like.
  • the skilled person should be able to recognize that the specific implementation of the control module 120 is not limited as long as the function of the control module 120 is satisfied.
  • the control module 120 controls the wire loop 121 according to user requirements. The user can select an external signal to transmit an electrical signal to the wire loop 121 of the work area unit 111 that needs to be cut, or can be directly disposed in the control module 120.
  • the electrical signals transmitted by the different wire loops 121 may be different or the same.
  • the electrical signals transmitted by the wire loop 121 are different. Specifically, the waveform, amplitude, and frequency of the electrical signals are at least different.
  • the sensor 131 of the cutting device 130 collects an electric signal transmitted in the wire loop 121 of the working area unit 111, and the cutting device 130 cuts the working area unit 111 corresponding to the wire loop 121 having the electrical signal transmission.
  • the lawn of the user courtyard is divided into three working area units 111, where the cutting device 130 is a smart lawn mower, and the lawn mower is provided with a sensor 131, and the sensor 131 collects the working area.
  • the electrical signal of the wire loop 121 on unit 111 preferably sensor 131 has the function of sensing the electromagnetic field strength or electrical signal waveform. Since the control module 120 controls the different wire loops 121 to not transmit the electrical signals at the same time, the sensor 131 on the smart lawn mower senses the wire loop 121 transmitting the electrical signals, and then cuts the working area unit 111 corresponding to the wire loop 121.
  • the cutting device 130 determines the working area unit 111 in which it is located according to the time period in which it is located, thereby executing the unit with the working area. 111 corresponding cutting mode.
  • step S230 further includes:
  • S233 Perform a cutting mode obtained by the comparison module 132b to perform cutting.
  • the working area unit 111 can also be numbered, the sensor 131 collects electrical signal information, obtains the number of the working area unit 111 corresponding to the electrical signal, and the preset module 132a presets the cutting mode corresponding to each number, and compares The module 132b numbers the work area unit 111 to be cut collected by the sensor 131, corresponding to the preset module 132a, and obtains the cutting mode of the cutting device 130, and the execution module 132c of the cutting device 130 performs cutting in the cutting mode.
  • the electrical signals transmitted in the wire loop 121 corresponding to each of the work area units 111 are different and are transmitted in a time-division manner.
  • Different electrical signals corresponding to different wire loops 121 also correspond to the cutting modes required by the different working area units 111.
  • the cutting mode includes at least one of a cutting number, a cutting depth, a cutting speed, and a cutting time parameter.
  • the working area unit 111 where the soil and the sunny lawn are located requires more cutting in a certain period of time, and the cutting depth is relatively deep, and is fixed. The cutting speed in the time will be relatively slow, the cutting time is longer, and so on.
  • a multi-region cutting control method includes the following steps:
  • the wire loop 121 divides the work area 110 to be cut into a plurality of work area units 111, each wire loop 121 corresponding to one work area unit 111, and the wire 112 of the wire loop 121 is disposed along the boundary of the work area unit 111.
  • the work area 110 is the lawn of the user's courtyard, and includes three work area units 111a, 111b, and 111c, respectively.
  • Wires 112 are disposed on the boundary of each of the work area units 111, and the wires 112 of each of the individual work area units 111 form a wire loop 121.
  • the division of the work area units in the work area is divided according to the actual situation and needs. For example, in Figure 8, the sunlight in front of the house 600 is better, the lawn is long and needs to be cut frequently, and the sunlight behind the house 600 is not sufficient, and the lawn is long. Slow, there is no need to cut frequently. The lawn on the side of the house 600 needs to be cut between the front and the back. Therefore, three working area units 111 can be set in the lawn of the courtyard.
  • S520 Control the wire loop 121 in the working area 110, and simultaneously transmit different electrical signals by at least two different wire loops at the same time.
  • the control module 120 for controlling the wire loop 121 of the working area unit 111 is preferably disposed on the charging station of the cutting device 130 , and the control module 120 can be implemented by an integrated circuit, a single chip microcomputer, or the like.
  • the skilled person should be able to recognize that the specific implementation of the control module 120 is not limited as long as the function of the control module 120 is satisfied.
  • the control module 120 controls the wire loop 121 according to user requirements. The user can select an external signal to transmit an electrical signal to the wire loop 121 of the work area unit 111 that needs to be cut, or can be directly disposed in the control module 120. Software implementation in .
  • more than two wire loops 121 simultaneously transmit different electrical signals.
  • the electrical signals transmitted by the wire loop 121 are different.
  • the waveform, amplitude, and frequency of the electrical signals are at least different.
  • the plurality of cutting devices simultaneously cut the corresponding working area units in the working area according to the collected different electrical signals.
  • the sensor 131 of the cutting device 130 collects an electrical signal transmitted in the wire loop 121 of the working area unit 111, and the cutting device 130 corresponds to the wire loop 121 having the electrical signal transmission.
  • the work area unit 111 performs cutting.
  • the lawn of the user courtyard is divided into three working area units 111, where the cutting device 130 is a smart lawn mower, and the lawn mower is provided with a sensor 131, and the sensor 131 collects the working area.
  • the electrical signal of the wire loop 121 on unit 111, preferably sensor 131 has the function of sensing the electromagnetic field strength or electrical signal waveform. Since the control module 120 controls at least two different wire loops simultaneously to transmit different electrical signals at the same time. At this time, multiple intelligent lawn mowers can be operated simultaneously in different work area units 111, or a set of intelligent lawn mowers can work in different work area units in a time division manner.
  • step S530 further includes:
  • S233 Perform a cutting mode obtained by the comparison module 132b to perform cutting.
  • the working area unit 111 can also be numbered, the sensor 131 collects electrical signal information, obtains the number of the working area unit 111 corresponding to the electrical signal, and the preset module 132a presets the cutting mode corresponding to each number, and compares The module 132b numbers the work area unit 111 to be cut collected by the sensor 131, corresponding to the preset module 132a, and obtains the cutting mode of the cutting device 130, and the execution module 132c of the cutting device 130 performs cutting in the cutting mode.
  • the electrical signals transmitted in the wire loops 121 corresponding to each of the work area units 111 are different and simultaneously transmitted.
  • a specific cutting mode corresponding to different electrical signals is preset in the cutting device, and different electrical signals correspond to different wire loops 121, that is, different working area units 111 correspond to the required cutting mode.
  • the cutting mode includes at least one of a cutting frequency, a cutting height, a cutting speed, and a cutting time parameter.
  • the working area unit 111 where the soil and the sunny lawn are located requires more cutting in a certain period of time, and the cutting depth is relatively deep, and the cutting speed is relatively slow in a fixed time, and the cutting time is longer. Wait.
  • a multi-region cutting control method includes the following steps:
  • S310 The predetermined position returned by the preset cutting device 130 after the cutting of the work area unit 111 is completed.
  • the designated position should be set at a position where all the wire loops 121 can pass, preferably at the charging station of the cutting device 130, so that the cutting device 130 returns to the designated position after completing the cutting work of the working area unit 111, which is convenient. Controlling the execution of the next cutting task from the designated position uniformly makes the cutting of the cutting device 130 more orderly. When the cutting device 130 is cut, it can automatically return to the charging station for charging to meet the power demand during cutting.
  • the wire loop 121 divides the work area 110 to be cut into a plurality of work area units 111, each wire loop 121 corresponding to one work area unit 111, and the wire 112 of the wire loop 121 is disposed along the boundary of the work area unit 111.
  • the work area 110 is the lawn of the user's courtyard, and includes three work area units 111a, 111b, and 111c, respectively. Wires 112 are disposed on the boundary of each of the work area units 111, and the wires 112 of each of the individual work area units 111 form a wire loop 121.
  • the number of working area units 111 included in the working area 110 is not limited, at least two, and may be set according to different situations in the working area 110, for example, for example.
  • the front of the house 600 is better. The lawn is long and needs to be cut frequently. The sunlight behind the house 600 is not enough. The lawn is slow and does not need to be cut frequently. The lawn on the side of the house 600 needs to be cut. Between the front and the back, it is possible to set three working area units 111 for the lawn of the courtyard in the future.
  • the control module 120 for controlling the wire loop 121 of the working area unit 111 is preferably disposed on the charging station of the cutting device 130 , and the control module 120 can be implemented by an integrated circuit, a single chip microcomputer, or the like.
  • the skilled person should be able to recognize that the specific implementation of the control module 120 is not limited as long as the function of the control module 120 is satisfied.
  • the control module 120 controls the wire loop 121 according to user requirements. The user can select an external signal to transmit an electrical signal to the wire loop 121 of the work area unit 111 that needs to be cut, or can be directly disposed in the control module 120. Software implementation in .
  • the electrical signals transmitted by the different wire loops 121 may be different or the same. As shown in Figures 9-1 and 9-2, the electrical signals transmitted by the wire loop 121 are different. Specifically, the waveform, amplitude, and frequency of the electrical signals are at least different.
  • the sensor 131 of the cutting device 130 collects an electrical signal transmitted in the wire loop 121 of the working area unit 111, and the cutting device 130 cuts the working area unit 111 corresponding to the wire loop 121 having the electrical signal transmission.
  • the lawn of the user courtyard is divided into three working area units 111, where the cutting device 130 is a smart lawn mower, and the lawn mower is provided with a sensor 131, and the sensor 131 collects the working area.
  • the electrical signal of the wire loop 121 on unit 111 preferably sensor 131 has the function of sensing the electromagnetic field strength or electrical signal waveform. Since the control module 120 controls the different wire loops 121 to not transmit the electrical signals at the same time, the sensor 131 on the smart lawn mower senses the wire loop 121 transmitting the electrical signals, and then cuts the working area unit 111 corresponding to the wire loop 121.
  • the cutting device 130 searches for the wire 112 according to the magnetic field strength generated by the sensor 131 collecting the electrical signal transmitted in the wire loop 121, and returns to the designated position along the wire loop 121.
  • the cutting device 130 collects the magnetic field generated by the wire 112 transmitting the electrical signal through the sensor 131 to find the wire 112. Specifically, by collecting the intensity of the magnetic field, the direction of the magnetic field can also be collected.
  • the wire 112 is found and returned to the specified position along the wire 112.
  • the designated position is preferably set on the charging station, and the cutting device 130 can be directly charged after returning to the designated position in preparation for performing the next cutting task.
  • the cutting device 130 when controlling the switching of the electrical signals transmitted between the wire loops corresponding to the different working area units 111, the cutting device 130 needs to perform the corresponding cutting according to the specific signal transmission of the wire loop, and firstly, the cutting device 130 is first located at the designated position. To better control the cutting order. At the same time, when controlling the wire loop on the same working area unit 111 to transmit different electrical signals for switching, it is also necessary to ensure that the cutting device 130 is located at the designated position.
  • a multi-region cutting control method includes the following steps:
  • S410 preset a designated position that the cutting device 130 returns after cutting or cutting the working area unit 111.
  • the designated position should be set at a position where all the wire loops 121 can pass.
  • the charging station is disposed at the charging station of the cutting device 130 such that the cutting is started from the same position before the cutting device 130 is cut open, so that the cutting device 130 completes the cutting of the working area unit 111 more orderly.
  • the cutting device 130 can automatically return to the charging station for charging to meet the power demand during cutting.
  • the working area 110 to be cut is divided into a plurality of working area units 111, and wires 112 are disposed along the boundary line of each working area unit 111, and a wire loop 121 is formed.
  • the work area 110 is the lawn of the user's courtyard, and includes three work area units 111a, 111b, and 111c, respectively. Wires 112 are disposed on the boundary of each of the work area units 111, and the wires 112 of each of the individual work area units 111 form a wire loop 121.
  • the number of working area units 111 included in the working area 110 is not limited, at least two, and may be set according to different situations in the working area 110, for example, for example.
  • the front of the house 600 is better. The lawn is long and needs to be cut frequently. The sunlight behind the house 600 is not enough. The lawn is slow and does not need to be cut frequently. The lawn on the side of the house 600 needs to be cut. Between the front and the back, it is possible to set three working area units 111 for the lawn of the courtyard in the future.
  • S430 Control the wire loop 121 in the working area 110 to have only one wire loop 121 transmitting an electrical signal at the same time.
  • the control module 120 for controlling the wire loop 121 of the working area unit 111 is preferably disposed on the charging station of the cutting device 130 , and the control module 120 can be implemented by an integrated circuit, a single chip microcomputer, or the like.
  • the skilled person should be able to recognize that the specific implementation of the control module 120 is not limited as long as the function of the control module 120 is satisfied.
  • the control module 120 controls the wire loop 121 according to user requirements. The user can select an external signal to transmit an electrical signal to the wire loop 121 of the work area unit 111 that needs to be cut, or can be directly disposed in the control module 120. Software implementation in .
  • the electrical signals transmitted by the different wire loops 121 may be different or the same. As shown in Figures 9-1 and 9-2, the electrical signals transmitted by the wire loop 121 are different. Specifically, the waveform, amplitude, and frequency of the electrical signals are at least different.
  • the determination can be made by the control module 120 when the cutting device 130 starts cutting one of the work area units 111. This judgment is convenient for controlling the cutting of the work area unit 111 in order to ensure the order of cutting of the cutting device 130.
  • the cutting device 130 searches for the wire according to the magnetic field strength generated by the sensor 131 collecting the electrical signal transmitted in the wire loop 121, and returns to the designated position along the wire 112, and repeats step S440.
  • the specific position of the cutting device relative to the work area to be cut 111 is determined based on the electromagnetic field generated by the electric signal transmitted in the wire loop 121 collected by the sensor 131 on the left and right sides of the cutting device 130. Specifically, it depends on the direction of the magnetic flux in the sensor 131. For example, if the magnetic flux collected by the sensor 131 on the left and right sides of the cutting device 130 is directed downward, it is inside the working area unit 111; if both faces upward, it is outside the working area unit 111; if one is facing up, then On the boundary line of the work area unit 111.
  • the specific direction is based on the direction of the current passing through the wire and satisfies the law of electromagnetic induction.
  • an abnormality occurs in the position of the cutting device 130, such as an artificial or other factor, the cutting device 130 is moved, and the like.
  • the cutting device 130 finds the wire of the wire loop according to the position judgment result, returns to the designated position along the wire, and repeats step S440.
  • the lawn of the user courtyard is divided into three working area units 111, where the cutting device 130 is a smart lawn mower, the lawn mower is provided with a sensor 131, and the sensor 131 collects the working area unit.
  • the electrical signal in the wire loop 121 on 111 When the wire loops on the three working area units 111a, 111b, and 111c transmit the same electrical signal, the sensor 131 on the cutting device 130 collects the wire loop for transmitting the electrical signal, and then cuts the working area unit corresponding to the wire loop. .
  • the electrical signals transmitted by the wire loops on the three working area units 111a, 111b, and 111c are different, as shown in FIGS.
  • the electrical signals transmitted by the wire loop 121 are different, specifically, the electrical signals.
  • the waveform, amplitude, and frequency are at least different.
  • the sensor 131 on the cutting device 130 collects the electrical signal information transmitted in the wire loop, and compares with the cutting mode corresponding to the preset different electrical signals to obtain a cutting mode corresponding to the working area unit, and the cutting device 130 performs corresponding The cutting mode cuts the lawn.
  • the sensor 131 has a function of sensing an electromagnetic field generated by an electrical signal. Pass The information of the electromagnetic field strength and the magnetic flux direction sensed by the sensor 131 is different, and the intelligent lawn mower performs the corresponding mowing mode to cut the lawn.
  • the electromagnetic field generated by the electric signal transmitted in the wire loop 121 collected by the sensor 131 on the left and right sides is determined to determine the relative working area unit 111 of the cutting device to be cut.
  • Specific location Specifically, it depends on the direction of the magnetic flux in the sensor 131. For example, if the magnetic flux collected by the sensor 131 on the left and right sides of the cutting device 130 is directed downward, it is inside the working area unit 111; if both faces upward, it is outside the working area unit 111; if one is facing up, then On the boundary line of the work area unit 111.
  • the specific direction is based on the direction of the current passing through the wire and satisfies the law of electromagnetic induction.
  • an abnormality occurs in the position of the cutting device 130, such as an artificial or other factor, the cutting device 130 is moved, and the like.
  • the cutting device 130 finds the wire of the wire loop according to the position judgment result, and returns to the designated position along the wire.
  • the cutting device 130 when controlling the switching of the electrical signals transmitted between the wire loops corresponding to the different working area units 111, the cutting device 130 needs to perform the corresponding cutting according to the specific signal transmission of the wire loop, and firstly, the cutting device 130 is first located at the designated position. To better control the cutting order. At the same time, when controlling the wire loop on the same working area unit 111 to transmit different electrical signals for switching, it is also necessary to ensure that the cutting device 130 is located at the designated position.
  • the multi-zone cutting control system 100 collects electrical signal information of the wires 112 on the working area unit 111 to be cut by the sensor 131 on the cutting device 130, and performs different cutting modes according to different electrical signal information. Therefore, according to the specific situation of grass growth on the grass, the grass cutting is performed in a sub-regional and sub-model manner. To meet the diverse needs of users, it is more convenient and worry-free for users to handle the grass in the courtyard.
  • the multi-region cutting control method of the invention can cut the grass to be cut in a sub-area and a sub-mode, and meet the diversified needs of the user, so that the user can process the grass of the courtyard more conveniently and worry-free.

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Abstract

一种多区域工作控制***（100），包括导线回路（121）、控制模块（120）及自移动工作装置（130）。工作区域（110）包括多个工作区域单元（111），沿每个工作区域单元（111）的边界设置有导线（112）；控制模块（120）用于控制工作区域（110）中工作区域单元（111）对应的导线回路（121）***号的传输。自移动工作装置（130）用于对工作区域（110）进行切割。该***（100）通过分区，自移动工作装置（130）先回到一预设点再根据导线回路（121）中的电信号传输进入相应区域进行工作，避免始终在某一区域重复工作或者漏掉某一区域。该***（100）能够实现根据各个区域的具体情况，分区域地选用合适的工作模式。满足用户的多样化需求，使用户处理庭院更加方便、省心。

Description

多区域工作控制***及其控制方法 技术领域
本发明涉及智能设备多区域工作的技术领域，尤其涉及一种多区域工作控制***及其控制方法。
背景技术
自移动工作装置，如智能割草机、智能扫雪机、智能施肥机等，因具有自主的完成修剪草坪、扫除积雪、施肥等的工作，无须人为直接控制和操作，且功率低、噪音小、外形精巧美观，大幅度降低人工操作等优点，而被广泛使用。自移动工作装盒子具有自动行走功能，能够自动返回充电，并进行安全检测和电池电量检测，具备一定爬坡能力，尤其是一种适合家庭庭院、公共绿地等场所进行草坪修剪维护、积雪清除、肥料施加等工作。
然而，目前自移动工作装置在工作区域中工作时，工作区域没有分区，只是在一个由边界线围成的一个区域内随机工作。以智能割草机应用场景为例，用户的草地往往分成前院后院等很多块区域，当仅有一条边界线将所有区域都限定为一个范围时，会出现智能割草机经常性地在某个区域内割草或者漏掉某个区域，而且不同区域由于光照等等因素，草得生长状况不同，对草地切割频率，割草深度要求也不同，如果仅仅采用一种割草模式、割草频率、割草深度来应对所有的区域会降低割草的效率，割草效果也难以达到用户的要求。
发明内容
基于此，有必要针对上述智能割草机无法区分用户花园中不同区域草地进行切割的问题，提供一种多区域工作控制***及其控制方法。
本发明提供一种多区域工作控制***，用于自移动工作装置的多区域切割控制，包括：导线回路，所述导线回路将被切割的工作区域划分为多个工作区域单元；每个所述导线回路与一个工作区域单元对应，所述导线回路的导线沿所述工作区域单元的边界设置；所述导线回路与控制模块连接；控制模块，所述控制模块与所述导线回路连接，用于控制上述工作区域中的导线回路，在同一时间内仅有一个导线回路传输电信号或在同一时间内至少两个不同的导线回路同时传输不同类型的电信号；自移动工作装置，所述自移动工作装置在所述 工作区域内执行工作；所述自移动工作装置设置有传感器及工作模块；所述传感器用于采集所述导线回路传输电信号情况，所述工作模块用于根据所述传感器采集所述导线回路传输电信号情况，控制所述自移动工作装置对具有电信号传输的导线回路所对应的工作区域单元或者对具有预设类型的电信号传输的导线回路所对应的工作区域单元执行工作。
在其中一个实施例中，所述自移动工作装置还设有返回模块；所述返回模块用于使所述自移动工作装置对所述工作区域单元开启工作前或工作完毕后，返回指定位置。
在其中一个实施例中，所述指定位置处设有停靠站或者充电站，所述控制模块位于所述停靠站或所述充电站上。
在其中一个实施例中，所述工作模块包括预设模块、比较模块、执行模块；所述预设模块用于预先设置所述工作区域单元对应的工作模式；所述比较模块用于将所述传感器采集到的电信号对应的工作区域单元与所述预设模块中预设的信息进行比较，得出该工作区域单元所对应的工作模式；所述执行模块用于执行所述比较模块得出的工作模式进行工作。
在其中一个实施例中，所述自移动工作装置为智能割草机，所述工作模式包括切割高度，和/或切割频率，和/或切割时间，和/或切割速度。
在其中一个实施例中，所述自移动工作装置设有位置判断模块，所述位置判断模块用于根据所述传感器采集到的电信号，判断自移动工作装置位于待切割工作区域单元内、外或者边界上。
在其中一个实施例中，当所述控制模块控制所述导线在同一时间内至少两个不同的导线回路同时传输不同类型的电信号时，所述***包括多个自移动工作装置，各个自移动工作装置根据电信号的类型，在传输相应类型电信号的导线回路所形成的工作区域单元内工作。
本发明还提供一种多区域工作控制方法，包括如下步骤：导线回路将待工作的工作区域划分为多个工作区域单元，每个导线回路与一个工作区域单元对应，所述导线回路的导线沿所述工作区域单元的边界设置；控制上述工作区域中的导线回路，在同一时间内仅有一个导线回路传输电信号或在同一时间内至 少两个不同的导线回路同时传输不同类型的电信号；自移动工作装置的传感器采集工作区域单元导线回路中传输电信号的情况，自移动工作装置对具有电信号传输的导线回路所对应的工作区域单元或者对具有预设类型的电信号传输的导线回路所对应的工作区域单元进行切割。
在其中一个实施例中，还包括预设所述自移动工作装置在对所述工作区域单元开启工作前所处的或者工作完毕后返回的指定位置。
在其中一个实施例中，在所述自移动工作装置切割工作区域单元完毕后，通过所述传感器采集传输电信号的导线产生的磁场强度大小或磁力线方向寻找导线，在区域内沿导线回路，或跨导线返回至所述指定位置。
在其中一个实施例中，在控制不同工作区域单元对应的导线回路之间传输电信号的切换，及同一工作区域单元上的导线回路传输不同电信号的切换时，所述自移动工作装置位于所述指定位置。
在其中一个实施例中，所述自移动工作装置根据所述传感器采集的所述导线回路中传输的电信号所产生电磁场的磁通量方向，判断所述切割装置位于待切割工作区域单元内部、外部或者边界上。
在其中一个实施例中，在所述自移动工作装置的传感器采集工作区域单元导线回路中传输电信号的情况，自移动工作装置对具有电信号传输的导线回路所对应的工作区域单元进行工作的步骤中，包括如下步骤：预先设置所述工作区域单元对应的工作模式；将所述传感器采集到的电信号对应的工作区域单元与预设的信息进行比较，得出该工作区域单元所对应的工作模式；执行所述比较模块得出的工作模式进行工作。
在其中一个实施例中，所述控制模块控制每个导线回路传输电信号的时间或者顺序，从而控制所述切割装置在所述导线回路相应的工作区域单元内的工作时间或工作顺序。
上述多区域工作控制***，通过自移动工作装置上的传感器采集工作区域单元上导线的电信号信息，根据导线回路上传输电信号的情况，对具有电信号传输的导线回路所在的工作区域单元执行工作或者对具有预设类型的电信号传输的导线回路所对应的工作区域单元执行工作。有效地避免了自移动工作装置 始终处于同一区域进行工作或者漏掉某一区域未工作。而且所述自移动工作装置在其所处不同的工作区域单元时可选择不同的工作模式，从而更适应各个工作区域单元的需求，满足用户的多样化要求。
附图说明
图1为多区域切割控制***一实施例的原理框图；
图2为多区域切割控制***又一实施例的原理框图；
图3为多区域切割控制方法一实施例的流程图；
图4为多区域切割控制方法又一实施例的流程图；
图5为图3和图4的多区域切割控制方法中，其中一步骤的具体流程图；
图6为多区域切割控制方法又一实施例的流程图；
图7为多区域切割控制方法又一实施例的流程图；
图8为多区域切割控制***一实施例的结构示意图；
图9-1为***号一实施例的波形图；
图9-2为***号又一实施例的波形图。
具体实施方式
为更进一步阐述本发明所采取的技术手段及取得的效果，下面结合附图及较佳实施例，对本发明的技术方案，进行清楚和完整的描述。
本发明所说的自移动工作装置包括能够自动移动且自动执行工作的机器，工作的类型具体如割草、扫雪、扫地、施肥等，即自移动工作装置具体如智能割草机、智能扫雪机、智能扫地机、智能施肥机等机器。相应地，本发明所指的多区域工作控制***包括多区域切割***、多区域清扫***、多区域施肥***等。
自移动工作装置具体的工作类型不同，不会影响本发明的多区域控制，因此，本发明的实施例仅以工作类型为割草的机器作为示例。其他工作类型可以将割草工作部件替换即可。
如图1所示，本发明的多区域切割控制***100，用于割草机的多区域切割控制，包括设置在工作区域110上的多个导线回路121、控制模块120、切割装置130。在本实施例中，切割装置130具体为智能割草机。
工作区域110为待切割区域，多个导线回路121将被切割的工作区域110划分为多个工作区域单元111；每个导线回路121与一个工作区域单元111对应。沿每个工作区域单元111的边界设置有导线112，每个工作区域单元111的导线112与控制模块120连接形成导线回路121。结合图8所示，工作区域110为用户庭院的草坪，包括三个工作区域单元分别为111a、111b和111c。每个工作区域单元111的边界上都设置有导线112，并且每个独立的工作区域单元111的导线112与下述控制模块120形成一个导线回路121。在此值得指出的是，本领域的技术人员应当能够认识到，工作区域110包括的工作区域单元111的数量是不限定的，至少两个，具体可根据工作区域110中不同情况进行设置，例如图8中，房子600前面阳光比较好，草坪长的快，需要经常切割，而房子600后面阳光不充足，草坪长的慢，就不需要经常切割，房子600侧面的草坪需要切割的程度介于前面和后面之间，故用户可以将自己庭院的草坪设置三个工作区域单元111。
控制模块120用于控制工作区域110中不同工作区域单元111(即子单元)对应的导线回路121***号的传输。在同一时间内控制模块120控制所有的导线回路121中仅有一个导线回路121传输电信号，或者在同一时间内控制模块120控制至少两个不同的导线回路同时传输不同的电信号。结合图8所示，控制模块120优选设置在切割装置130的充电站或停靠站上。切割装置130在完成一个工作区域单元111内的工作后，返回充电站或停靠站。控制模块120可通过集成电路、单片机等实现，本领域的技术人员应当能够认识到，控制模块120的具体实现方式不做限制，只要满足控制模块120功能就可以。控制模块120对导线回路121的控制根据用户需求来设置，用户可通过设置的外部按钮，来选择向需要切割的工作区域单元111的导线回路121传输电信号，也可通过直接设置在控制模块120中的软件实现。在一个实施例中，在同一时间内控制模块120控制所有的导线回路121中仅有一个导线回路121传输电信号。切割装置130在不同的时间段内，只能检测到一个工作区域单元111的导线回路121上传输的电信号。因此，切割装置130可以在不同的时间段进入不同的工作区域单元111，且通过所处时间段的不同而判断出其所处的工作区域单元 111，从而执行与该工作区域单元111相应的切割模式。如本领域技术人员所知，不同的导线回路121传输的电信号可以不同，也可以相同。
如图9-1、9-2所示，导线回路121传输的不同类型的电信号，具体地，电信号的波形、幅度、频率至少其一不同。
在一实施例中，在同一时间内控制模块120控制至少两个不同的导线回路同时传输不同的电信号。切割装置130在不同的工作区域单元111中时，其所检测到不同导线回路121上传输的电信号是不同的。因此，切割装置130可以通过电信号的不同而判断出其所处的工作区域单元111，从而执行与该工作区域单元111相应的切割模式。如本领域技术人员所知，该实施例中，也可以是多台切割装置130同时在不同的工作区域单元111进行工作，不同的切割装置130执行其相应工作区域单元111所对应的切割模式。如本领域技术人员所知，该实施例中，也可以进一台切割装置130在不同的工作区域单元111分时工作，而控制模块120可以分时在不同的导线回路中传输不同的电信号。切割装置130用于对工作区域110进行切割；切割装置130设置有传感器131及切割模块132。传感器131用于采集工作区域单元111导线回路121的电信号；切割模块132用于根据传感器131采集导线回路121传输电信号情况，控制切割装置130对具有电信号传输的导线回路121所对应的工作区域单元111进行切割。结合图8所示，用户庭院的草坪分为三个工作区域单元111，此处的切割装置130为智能割草机，割草机上设置有传感器131，传感器131来采集工作区域单元111上的导线回路121的电信号，优选地，传感器131具有可感知电磁场强度或电信号波形的功能。由于控制模块120控制不同的导线回路121不能同时传输电信号，故智能割草机上的传感器131感应到传输电信号的导线回路121，便对该导线回路121对应的工作区域单元111进行切割。
用户可以根据不同导线回路121所对应的工作区域单元111的具体情况设置控制模块120中的相关参数。如用户将自己庭院的草坪设置三个工作区域单元111，用户根据每个工作区域单元111的大小、草的茂盛程度、或草的长势而设置每个导线回路121所传输电信号的时长或者时段。在同一时间内控制模块120控制所有导线回路中仅有一个导线回路121传输电信号的实施例中，控制模 块120控制不同导线回路121中所传输电信号时间的长短，从而控制切割装置130在不同的工作区域单元111中的工作时间长短；控制模块120控制不同导线回路121中所传输电信号的时段或者时间顺序，从而控制切割装置130在不同的工作区域单元111的工作时段或者进入不同工作区域单元111的工作顺序。在同一时间内控制模块120控制所有导线回路中至少两个导线回路121传输不同类型电信号的实施例中，控制模块120通过控制不同类型电信号的传输时间长短或传输时段或者时间顺序，从而控制切割装置130在不同工作区域单元111的工作时长或时段或工作顺序。
如图1所示，在其中一个实施例中，切割模块132包括预设模块132a、比较模块132b、执行模块132c。预设模块132a用于预先设置工作区域单元111对应的切割模式。比较模块132b用于将传感器131采集到的电信号对应的工作区域单元111与预设模块132a中预设的信息进行比较，得出该工作区域单元111所对应的切割模式。执行模块132c用于依据比较模块132b得出的切割模式进行切割。
在该实施例中，也可将工作区域单元111进行编号，传感器131采集电信号信息，获得电信号对应的工作区域单元111的编号，预设模块132a预先设置每个编号对应的切割模式，比较模块132b将传感器131采集的需要切割的工作区域单元111编号，对应至预设模块132a中，获得切割装置130的切割模式，切割装置130的执行模块132c便在该切割模式下进行切割。
在该实施例中，每个工作区域单元111对应的导线回路121中传输的电信号不同，并分时段传输。不同的电信号对应不同的导线回路121也对应不同的工作区域单元111需要的切割模式。具体地，切割模式包括切割频率(即单位时间周期内的切割次数)、切割高度、切割速度、切割时间(即每一次切割所持续的时长)参数至少其一。例如，土质、阳光好的草坪所在的工作区域单元111，需要一定时期内更多次的切割，切割深度也相对较深，在固定时间内的切割速度也会相对较慢，切割时间较长等等。在控制模块120在同一时间内，控制至少两个不同的导线回路同时传输不同的电信号时，也可以多台智能割草机同时工作。不同的电信号对应不同的工作区域单元，也可代表对应于该工作区域单 元的不同的切割模式。
如图2所示，在其中一个实施例中，切割装置130的左右两侧分别设置传感器131，切割装置130还设置有位置判断模块134。位置判断模块134用于根据切割装置130左右两侧的传感器131采集到的导线回路121中传输的电信号所产生电磁场的情况，来判断切割装置130位于工作区域单元111内、外或者边界上。具体地，根据传感器131中磁通量的方向。例如，若切割装置左右两侧的传感器131采集到的磁通量均朝下，则在工作区域单元111内部；若均朝上，则在工作区域单元111外部；若一个朝上一个朝下，则在工作区域单元111的边界线上。具体方向以导线中所通过的电流方向为准，并满足电磁感应定律。在该实施例中，用于切割装置130位置出现异常，例如人为或其它因素，切割装置130被移动等情况。
如图2所示，在其中一个实施例中，切割装置130还设置有返回模块133。返回模块133用于使切割装置130开启工作前或者完成对工作区域单元111的切割后，进行返回。在该实施例中，当切割装置130在对其中一个工作区域单元111进行切割前或者切割完毕后，都应处于一个指定位置。如果没有处于该指定位置，切割装置130就要通过传感器131采集导线回路121中传输的电信号所产生的磁场强度寻找导线112，然后沿着导线112返回指定位置，所以指定位置应当设置在所有导线回路121都会经过的位置，优选控制模块120所处的充电站。另外，在控制模块120控制不同工作区域单元111对应的导线回路之间传输电信号的切换，及同一工作区域单元111上的导线回路传输不同电信号的切换时，要确保切割装置130位于指定位置。
如图3所示，作为一个实施例，一种多区域切割控制方法包括如下步骤：
S210：导线回路121将待切割的工作区域110划分为多个工作区域单元111，每个导线回路121与一个工作区域单元111对应，导线回路121的导线112沿工作区域单元111的边界设置。
结合图8所示，在该步骤中，工作区域110为用户庭院的草坪，包括三个工作区域单元分别为111a、111b和111c。每个工作区域单元111的边界上都设置有导线112，并且每个独立的工作区域单元111的导线112形成一个导线回路 121。工作区域中的工作区域单元的划分，根据实际情况、需要进行划分，例如图8中，房子600前面阳光比较好，草坪长的快，需要经常切割，而房子600后面阳光不充足，草坪长的慢，就不需要经常切割，房子600侧面的草坪需要切割的程度介于前面和后面之间，故以后可以将自己庭院的草坪设置三个工作区域单元111。
结合图8所示，多区域切割控制***100中的切割装置130，在未开始工作时，停靠在充电站处。切割装置130开始工作时，根据工作区域单元111a、111b、111c边界上各自的导线回路121上的电信号情况进入不同的工作区域单元进行工作。第一种情况，控制模块120控制三个工作区域单元相应的导线回路121中仅有一个导线回路121传输电信号。切割装置130进入有电信号的工作区域单元进行切割工作，并且根据所处时间段选用适应的切割模式对该工作区域单元进行切割。在该工作区域单元切割完成后，切割装置130再回归至充电站处。第二种情况，控制模块120控制三个工作区域单元相应的导线回路121中至少两个不同的导线回路中传输不同的电信号。切割装置130根据电信号类型进入其相应的工作区域单元，并且根据电信号类型选用适应的切割模式对该工作区域单元进行切割。在该工作区域单元切割完成后，切割装置130再回归至充电站处。
S220：控制上述工作区域110中的导线回路121，在同一时间内仅有一个导线回路传输电信号。
结合图8所示，在该步骤中，控制上述工作区域单元111的导线回路121的控制模块120优选设置在切割装置130的充电站上，控制模块120可通过集成电路、单片机等实现，本领域的技术人员应当能够认识到，控制模块120的具体实现方式不做限制，只要满足控制模块120功能就可以。控制模块120对导线回路121的控制根据用户需求来设置，用户可通过设置的外部按钮，来选择向需要切割的工作区域单元111的导线回路121传输电信号，也可通过直接设置在控制模块120中的软件实现。在该实施例中，不同的导线回路121传输的电信号可以不同，也可以相同。如图9-1、9-2所示，导线回路121传输的电信号是不同的，具体地，电信号的波形、幅度、频率至少其一不同。
S230：切割装置130的传感器131采集工作区域单元111导线回路121中传输电信号的情况，切割装置130对具有电信号传输的导线回路121所对应的工作区域单元111进行切割。
结合图8所示，在该步骤中，用户庭院的草坪分为三个工作区域单元111，此处的切割装置130为智能割草机，割草机上设置有传感器131，传感器131来采集工作区域单元111上的导线回路121的电信号，优选地，传感器131具有可感知电磁场强度或电信号波形的功能。由于控制模块120控制不同的导线回路121不能同时传输电信号，故智能割草机上的传感器131感应到传输电信号的导线回路121，便对该导线回路121对应的工作区域单元111进行切割。
由于同一时间段内，控制模块120只对其中一个导线回路121传输电信号，因此，切割装置130根据所处时间段不同而判断出其所处的工作区域单元111，从而执行与该工作区域单元111相应的切割模式。
如图5所示，在该实施例中，当不同的导线回路121传输不同的电信号时，步骤S230进一步包括：
S231：预先设置工作区域单元111对应的切割模式。
S232：将传感器131采集到的电信号对应的工作区域单元111与预设的信息进行比较，得出该工作区域单元111所对应的切割模式。
S233：执行比较模块132b得出的切割模式进行切割。
在该实施例中，也可将工作区域单元111进行编号，传感器131采集电信号信息，获得电信号对应的工作区域单元111的编号，预设模块132a预先设置每个编号对应的切割模式，比较模块132b将传感器131采集的需要切割的工作区域单元111编号，对应至预设模块132a中，获得切割装置130的切割模式，切割装置130的执行模块132c便在该切割模式下进行切割。
在该实施例中，每个工作区域单元111对应的导线回路121中传输的电信号不同，并分时段传输。不同的电信号对应不同的导线回路121也对应不同的工作区域单元111需要的切割模式。具体地，切割模式包括切割次数、切割深度、切割速度、切割时间参数至少其一。例如，土质、阳光好的草坪所在的工作区域单元111，需要一定时期内更多次的切割，切割深度也相对较深，在固定 时间内的切割速度也会相对较慢，切割时间较长等等。
如图4所示，作为一个实施例，一种多区域切割控制方法包括如下步骤：
S510：导线回路121将待切割的工作区域110划分为多个工作区域单元111，每个导线回路121与一个工作区域单元111对应，导线回路121的导线112沿工作区域单元111的边界设置。
结合图8所示，在该步骤中，工作区域110为用户庭院的草坪，包括三个工作区域单元分别为111a、111b和111c。每个工作区域单元111的边界上都设置有导线112，并且每个独立的工作区域单元111的导线112形成一个导线回路121。工作区域中的工作区域单元的划分，根据实际情况、需要进行划分，例如图8中，房子600前面阳光比较好，草坪长的快，需要经常切割，而房子600后面阳光不充足，草坪长的慢，就不需要经常切割，房子600侧面的草坪需要切割的程度介于前面和后面之间，故以后可以将自己庭院的草坪设置三个工作区域单元111。
S520：控制上述工作区域110中的导线回路121，在同一时间内至少两个不同的导线回路同时传输不同的电信号。
结合图8所示，在该步骤中，控制上述工作区域单元111的导线回路121的控制模块120优选设置在切割装置130的充电站上，控制模块120可通过集成电路、单片机等实现，本领域的技术人员应当能够认识到，控制模块120的具体实现方式不做限制，只要满足控制模块120功能就可以。控制模块120对导线回路121的控制根据用户需求来设置，用户可通过设置的外部按钮，来选择向需要切割的工作区域单元111的导线回路121传输电信号，也可通过直接设置在控制模块120中的软件实现。
在该实施例中，两个以上的导线回路121同时传输不同的电信号。如图9-1、9-2所示，导线回路121传输的电信号是不同的，具体地，电信号的波形、幅度、频率至少其一不同。此时，多个切割装置根据所采集的不同的电信号，同时对工作区域中对应的工作区域单元进行切割。
S530：切割装置130的传感器131采集工作区域单元111导线回路121中传输电信号的情况，切割装置130对具有电信号传输的导线回路121所对应的 工作区域单元111进行切割。
结合图8所示，在该步骤中，用户庭院的草坪分为三个工作区域单元111，此处的切割装置130为智能割草机，割草机上设置有传感器131，传感器131来采集工作区域单元111上的导线回路121的电信号，优选地，传感器131具有可感知电磁场强度或电信号波形的功能。由于控制模块120在同一时间内，控制至少两个不同的导线回路同时传输不同的电信号。此时，可以多台智能割草机同时在不同的工作区域单元111进行工作，也可以一套智能割草机分时在不同的工作区域单元进行工作。
如图5所示，当至少两个导线回路121同时传输不同的电信号，不同的电信号代表不同的切割模式时，步骤S530进一步包括：
S231：预先设置工作区域单元111对应的切割模式。
S232：将传感器131采集到的电信号对应的工作区域单元111与预设的信息进行比较，得出该工作区域单元111所对应的切割模式。
S233：执行比较模块132b得出的切割模式进行切割。
在该实施例中，也可将工作区域单元111进行编号，传感器131采集电信号信息，获得电信号对应的工作区域单元111的编号，预设模块132a预先设置每个编号对应的切割模式，比较模块132b将传感器131采集的需要切割的工作区域单元111编号，对应至预设模块132a中，获得切割装置130的切割模式，切割装置130的执行模块132c便在该切割模式下进行切割。
在该实施例中，每个工作区域单元111对应的导线回路121中传输的电信号不同，并同时传输。切割装置中预设不同电信号对应的具体切割模式，同时不同的电信号对应不同的导线回路121，也即不同的工作区域单元111对应于需要的切割模式。如此，便可实现多台切割装置同时对工作区域中的不同的工作区域单元，执行对应的切割模式进行切割。具体地，切割模式包括切割频率、切割高度、切割速度、切割时间参数至少其一。例如，土质、阳光好的草坪所在的工作区域单元111，需要一定时期内更多次的切割，切割深度也相对较深，在固定时间内的切割速度也会相对较慢，切割时间较长等等。
如图6所示，作为一个实施例，一种多区域切割控制方法包括如下步骤：
S310：预设切割装置130在对工作区域单元111切割完毕后返回的指定位置。
在该步骤中，指定位置应当设置在所有导线回路121都能够经过的位置，优选设置在切割装置130的充电站，这样在切割装置130完成一个工作区域单元111的切割工作后返回指定位置，便于控制执行下次切割任务时统一从该指定位置出发，使切割装置130的切割更加有序。当切割装置130切割完毕后就可以自动返回充电站进行充电，以满足切割时的电能需求。
S320：导线回路121将待切割的工作区域110划分为多个工作区域单元111，每个导线回路121与一个工作区域单元111对应，导线回路121的导线112沿工作区域单元111的边界设置。
结合图8所示，在该步骤中，工作区域110为用户庭院的草坪，包括三个工作区域单元分别为111a、111b和111c。每个工作区域单元111的边界上都设置有导线112，并且每个独立的工作区域单元111的导线112形成一个导线回路121。在此值得指出的是，本领域的技术人员应当能够认识到，工作区域110包括的工作区域单元111的数量是不限定的，至少两个，具体可根据工作区域110中不同情况进行设置，例如图8中，房子600前面阳光比较好，草坪长的快，需要经常切割，而房子600后面阳光不充足，草坪长的慢，就不需要经常切割，房子600侧面的草坪需要切割的程度介于前面和后面之间，故以后可以将自己庭院的草坪设置三个工作区域单元111。
S330：控制上述工作区域110中的导线回路121，在同一时间内仅有一个导线回路121传输电信号。
结合图8所示，在该步骤中，控制上述工作区域单元111的导线回路121的控制模块120优选设置在切割装置130的充电站上，控制模块120可通过集成电路、单片机等实现，本领域的技术人员应当能够认识到，控制模块120的具体实现方式不做限制，只要满足控制模块120功能就可以。控制模块120对导线回路121的控制根据用户需求来设置，用户可通过设置的外部按钮，来选择向需要切割的工作区域单元111的导线回路121传输电信号，也可通过直接设置在控制模块120中的软件实现。
在该实施例中，不同的导线回路121传输的电信号可以不同，也可以相同。如图9-1、9-2所示，导线回路121传输的电信号是不同的，具体地，电信号的波形、幅度、频率至少其一不同。
S340：切割装置130的传感器131采集工作区域单元111导线回路121中传输电信号的情况，切割装置130对具有电信号传输的导线回路121所对应的工作区域单元111进行切割。
结合图8所示，在该步骤中，用户庭院的草坪分为三个工作区域单元111，此处的切割装置130为智能割草机，割草机上设置有传感器131，传感器131来采集工作区域单元111上的导线回路121的电信号，优选地，传感器131具有可感知电磁场强度或电信号波形的功能。由于控制模块120控制不同的导线回路121不能同时传输电信号，故智能割草机上的传感器131感应到传输电信号的导线回路121，便对该导线回路121对应的工作区域单元111进行切割。
S350：切割完毕后，切割装置130根据传感器131采集导线回路121中传输的电信号所产生的磁场强度寻找导线112，并沿导线回路121返回指定位置。
在该步骤中，切割装置130切割完毕后，切割装置130通过传感器131采集传输电信号的导线112所产生的磁场情况寻找导线112，具体通过采集磁场的强度大小，也可以通过采集磁场的方向，寻找到导线112，并沿着导线112返回上述指定位置。指定位置优选设置在充电站上，切割装置130返回指定位置处后可直接进行充电，以备执行下次切割任务。
另外，在控制不同工作区域单元111对应的导线回路之间传输电信号的切换时，切割装置130需要根据具体导线回路传输信号情况执行相应的切割，此时需先确保切割装置130位于该指定位置，以更好的控制切割秩序。同时，在控制同一工作区域单元111上的导线回路传输不同电信号进行切换时，也要先确保切割装置130位于指定位置。
如图7所示，作为一个实施例，一种多区域切割控制方法包括如下步骤：
S410：预设所述切割装置130在对所述工作区域单元111切割前所处的或者切割完毕后返回的指定位置。
在该步骤中，指定位置应当设置在所有导线回路121都能够经过的位置， 优选设置在切割装置130的充电站，这样在切割装置130切割开启前从同一个位置出发，开始切割，使切割装置130完成该工作区域单元111的切割更加有序。当切割装置130切割完毕后就可以自动返回充电站进行充电，以满足切割时的电能需求。
S420：将待切割的工作区域110划分为多个工作区域单元111，沿每个工作区域单元111边界线上设置导线112，并形成导线回路121。
结合图8所示，在该步骤中，工作区域110为用户庭院的草坪，包括三个工作区域单元分别为111a、111b和111c。每个工作区域单元111的边界上都设置有导线112，并且每个独立的工作区域单元111的导线112形成一个导线回路121。在此值得指出的是，本领域的技术人员应当能够认识到，工作区域110包括的工作区域单元111的数量是不限定的，至少两个，具体可根据工作区域110中不同情况进行设置，例如图8中，房子600前面阳光比较好，草坪长的快，需要经常切割，而房子600后面阳光不充足，草坪长的慢，就不需要经常切割，房子600侧面的草坪需要切割的程度介于前面和后面之间，故以后可以将自己庭院的草坪设置三个工作区域单元111。
S430：控制上述工作区域110中的导线回路121在同一时间内仅有一个导线回路121传输电信号。
结合图8所示，在该步骤中，控制上述工作区域单元111的导线回路121的控制模块120优选设置在切割装置130的充电站上，控制模块120可通过集成电路、单片机等实现，本领域的技术人员应当能够认识到，控制模块120的具体实现方式不做限制，只要满足控制模块120功能就可以。控制模块120对导线回路121的控制根据用户需求来设置，用户可通过设置的外部按钮，来选择向需要切割的工作区域单元111的导线回路121传输电信号，也可通过直接设置在控制模块120中的软件实现。
在该实施例中，不同的导线回路121传输的电信号可以不同，也可以相同。如图9-1、9-2所示，导线回路121传输的电信号是不同的，具体地，电信号的波形、幅度、频率至少其一不同。
S440：判断切割装置130是否在指定位置。
在该步骤中，可通过控制模块120在切割装置130开始对其中一个工作区域单元111切割时，进行判断。该判断为了保证切割装置130切割的有序性，便于对工作区域单元111的切割进行控制。
S450：若否，切割装置130根据传感器131采集导线回路121中传输的电信号所产生的磁场强度寻找导线，并沿导线112返回至指定位置，并重复步骤S440。
在该步骤中，根据切割装置130左右两侧的传感器131采集到的导线回路121中传输的电信号所产生电磁场的情况，来判断切割装置的相对待切割工作区域单元111的具***置。具体地，根据传感器131中磁通量的方向。例如，若切割装置130左右两侧的传感器131采集到的磁通量均朝下，则在工作区域单元111内部；若均朝上，则在工作区域单元111外部；若一个朝上一个朝下，则在工作区域单元111的边界线上。具体方向以导线中所通过的电流方向为准，并满足电磁感应定律。在该实施例中，用于切割装置130位置出现异常，例如人为或其它因素，切割装置130被移动等情况。切割装置130根据位置判断结果，寻找导线回路的导线，沿着导线返回指定位置，并重复步骤S440。
S460：若是，切割装置130的传感器131采集工作区域单元111导线回路121的电信号，并根据采集到的电信号情况，执行相应的切割。
在该步骤中，结合图8所示，用户庭院的草坪分为三个工作区域单元111，此处的切割装置130为智能割草机，割草机上设置有传感器131，传感器131采集工作区域单元111上的导线回路121中的电信号。当三个工作区域单元111a、111b和111c上的导线回路传输相同的电信号时，切割装置130上的传感器131采集到传输电信号的导线回路，便对该导线回路对应的工作区域单元进行切割。当三个工作区域单元111a、111b和111c上的导线回路传输的电信号不同时，如图9-1、9-2所示，导线回路121传输的电信号是不同的，具体地，电信号的波形、幅度、频率至少其一不同。切割装置130上的传感器131采集到导线回路中传输的电信号信息，通过与预设的不同电信号所对应的切割模式相比较，得出该工作区域单元对应的切割模式，切割装置130执行相应的切割模式对草坪进行切割。具体地，传感器131具有可感知电信号产生的电磁场的功能。通过 传感器131感应到的电磁场强度、磁通量方向等信息的不同，智能割草机执行相应的割草模式对草坪进行切割。
S470：切割完毕返回指定位置。
在该步骤中，切割装置130切割完毕后，根据其左右两侧的传感器131采集到的导线回路121中传输的电信号所产生电磁场的情况，来判断切割装置的相对待切割工作区域单元111的具***置。具体地，根据传感器131中磁通量的方向。例如，若切割装置130左右两侧的传感器131采集到的磁通量均朝下，则在工作区域单元111内部；若均朝上，则在工作区域单元111外部；若一个朝上一个朝下，则在工作区域单元111的边界线上。具体方向以导线中所通过的电流方向为准，并满足电磁感应定律。在该实施例中，用于切割装置130位置出现异常，例如人为或其它因素，切割装置130被移动等情况。切割装置130根据位置判断结果，寻找导线回路的导线，沿着导线返回指定位置。
另外，在控制不同工作区域单元111对应的导线回路之间传输电信号的切换时，切割装置130需要根据具体导线回路传输信号情况执行相应的切割，此时需先确保切割装置130位于该指定位置，以更好的控制切割秩序。同时，在控制同一工作区域单元111上的导线回路传输不同电信号进行切换时，也要先确保切割装置130位于指定位置。
上述多区域切割控制***100，通过切割装置130上的传感器131采集待切割工作区域单元111上导线112的电信号信息，根据不同的电信号信息对应执行不同的切割模式。从而实现根据草地上的草生长的具体情况，分区域、分模式地进行草地切割。满足用户的多样化需求，使用户处理庭院的草地更加方便、省心。本发明的多区域切割控制方法，可将待切割草地进行分区域、分模式地切割，满足用户的多样化需求，使用户处理庭院的草地更加方便、省心。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (14)

  1. 一种多区域工作控制***，用于自移动工作装置的多区域切割控制，其特征在于，包括：
    多个导线回路，所述导线回路将被切割的工作区域划分为多个工作区域单元；每个所述导线回路与一个工作区域单元对应，所述导线回路的导线沿所述工作区域单元的边界设置；所述导线回路与控制模块连接；
    控制模块，所述控制模块与所述导线回路连接，用于控制上述工作区域中的导线回路，在同一时间内仅有一个导线回路传输电信号或在同一时间内至少两个不同的导线回路同时传输不同类型的电信号；
    自移动工作装置，所述自移动工作装置在所述工作区域内执行工作；所述自移动工作装置设有传感器及工作模块；所述传感器用于采集所述导线回路传输电信号情况，所述工作模块用于根据所述传感器采集所述导线回路传输电信号情况，控制所述自移动工作装置对具有电信号传输的导线回路所对应的工作区域单元或者对具有预设类型的电信号传输的导线回路所对应的工作区域单元执行工作。
  2. 根据权利要求1所述的多区域工作控制***，其特征在于，所述自移动工作装置还设置有返回模块；
    所述返回模块用于使所述自移动工作装置对所述工作区域单元开启工作前或工作完毕后，返回指定位置。
  3. 根据权利要求2所述的多区域工作控制***，其特征在于，所述指定位置处设有停靠站或者充电站，所述控制模块位于所述停靠站或所述充电站上。
  4. 根据权利要求1所述的多区域工作控制***，其特征在于，所述工作模块包括预设模块、比较模块、执行模块；
    所述预设模块用于预先设置所述工作区域单元对应的工作模式；
    所述比较模块用于将所述传感器采集到的电信号对应的工作区域单元与所述预设模块中预设的信息进行比较，得出该工作区域单元所对应的工作模式；
    所述执行模块用于执行所述比较模块得出的工作模式进行工作。
  5. 根据权利要求4所述的多区域工作控制***，其特征在于，所述自移动 工作装置为智能割草机，所述工作模式包括切割高度，和/或切割频率，和/或切割时间，和/或切割速度。
  6. 根据权利要求1所述的多区域工作控制***，其特征在于，所述自移动工作装置设有位置判断模块，
    所述位置判断模块用于根据所述传感器采集到的电信号，判断自移动工作装置位于待切割工作区域单元内、外或者边界上。
  7. 根据权利要求1所述的多区域工作控制***，其特征在于，当所述控制模块控制所述导线在同一时间内至少两个不同的导线回路同时传输不同类型的电信号时，所述***包括多个自移动工作装置，各个自移动工作装置根据电信号的类型，在传输相应类型电信号的导线回路所形成的工作区域单元内工作。
  8. 一种多区域工作控制方法，其特征在于，包括如下步骤：
    导线回路将待工作的工作区域划分为多个工作区域单元，每个导线回路与一个工作区域单元对应，所述导线回路的导线沿所述工作区域单元的边界设置；
    控制上述工作区域中的导线回路，在同一时间内仅有一个导线回路传输电信号或在同一时间内至少两个不同的导线回路同时传输不同类型的电信号；
    自移动工作装置的传感器采集工作区域单元导线回路中传输电信号的情况，自移动工作装置对具有电信号传输的导线回路所对应的工作区域单元或者对具有预设类型的电信号传输的导线回路所对应的工作区域单元进行切割。
  9. 根据权利要求8所述的多区域工作控制方法，其特征在于，还包括预设所述自移动工作装置在对所述工作区域单元开启工作前所处的或者工作完毕后返回的指定位置。
  10. 根据权利要求9所述的多区域工作控制方法，其特征在于，在所述自移动工作装置切割工作区域单元完毕后，通过所述传感器采集传输电信号的导线产生的磁场强度大小或磁力线方向寻找导线，在区域内沿导线回路，或跨导线返回至所述指定位置。
  11. 根据权利要求9所述的多区域工作控制方法，其特征在于，在控制不同工作区域单元对应的导线回路之间传输电信号的切换，及同一工作区域单元上的导线回路传输不同电信号的切换时，所述自移动工作装置位于所述指定位 置。
  12. 根据权利要求8所述的多区域工作控制方法，其特征在于，所述自移动工作装置根据所述传感器采集的所述导线回路中传输的电信号所产生电磁场的磁通量方向，判断所述切割装置位于待切割工作区域单元内部、外部或者边界上。
  13. 根据权利要求8所述的多区域工作控制方法，其特征在于，在所述自移动工作装置的传感器采集工作区域单元导线回路中传输电信号的情况，自移动工作装置对具有电信号传输的导线回路所对应的工作区域单元进行工作的步骤中，包括如下步骤：
    预先设置所述工作区域单元对应的工作模式；
    将所述传感器采集到的电信号对应的工作区域单元与预设的信息进行比较，得出该工作区域单元所对应的工作模式；
    执行所述比较模块得出的工作模式进行工作。
  14. 根据权利要求8所述的多区域工作控制方法，其特征在于，所述控制模块控制每个导线回路传输电信号的时间或者顺序，从而控制所述切割装置在所述导线回路相应的工作区域单元内的工作时间或工作顺序。
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