Surrounding line signal detection method and circuit, self-walking device and mowing system

Abstract

The invention discloses a surrounding line signal detection method and circuit, a self-walking device and a mowing system. According to the method, after signals obtained by the signal receiving end of the self-walking device are subjected to multi-stage amplification and multi-stage anti-aliasing filtering, the signals within the set frequency range in the signals obtained by the last stage of anti-aliasing filtering are recognized, and the signals within the set frequency range are decoded, so that the surrounding line signals are obtained. According to the invention, by using multi-stage anti-aliasing filtering and multi-stage amplification and cooperatively using a digital phase-locked loop to analyze the frequency, the surrounding line signals can be amplified, and interference signals with different frequencies can be filtered. Compared with an existing mode of directly carrying out primary amplification and / or filtering, the anti-interference capability of the self-walking device with the brush motor is improved, particularly, the problem of signal interference generated when the self-walking device with the brush motor works can be effectively solved, and the identificationaccuracy of the surrounding line signal is improved.

Description

technical field [0001] The invention relates to the field of garden tools, in particular to a perimeter signal detection method, a circuit, a self-propelled device and a mowing system. Background technique [0002] Intelligent self-propelled equipment has been widely popularized. At present, the working area of ​​most intelligent self-propelled equipment is marked by a pre-set perimeter, and the self-propelled equipment performs operations such as mowing grass in the perimeter. Usually, self-propelled equipment judges whether it is in the perimeter line by detecting the pulse signal on the perimeter line. [0003] At present, the detection of the perimeter signal usually adopts the following two methods: 1. The charging station sends several periodic pulse signals through the perimeter, and the self-propelled device judges whether it is in or out by receiving these pulse signals. In the perimeter area; Second, the charging station sends a coded pulse signal through the peri...

AI Technical Summary

Problems solved by technology

However, for stronger interference, the existing second method will still appear to work abnormally and break out of the perimeter

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