CN103809591A - Automatic work system - Google Patents
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- CN103809591A CN103809591A CN201210444820.0A CN201210444820A CN103809591A CN 103809591 A CN103809591 A CN 103809591A CN 201210444820 A CN201210444820 A CN 201210444820A CN 103809591 A CN103809591 A CN 103809591A
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- 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
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The invention relates to an automatic work system. The system comprises a working area identification module which includes a plurality of RFID labels arranged at intervals; automatic walking equipment which includes an RFID reader that includes an antenna module and a reading module, the antenna module sending out radio frequency electric waves to activate the RFID labels to send out RFID signals and receiving the RFID signals; and a master control mechanism. The antenna module activates at least two RFID labels through at least two radiation modes and receives at least two RFID signals. The master control mechanism judges a position relation of the automatic walking equipment relative to partial boundaries formed by the at least two RFID labels according to the at least two radiation modes that are adopted and the at least two RFID signals received correspondingly. By using the RFID labels, and by using the RFID reader on the automatic walking equipment to identify characteristics of the RFID signals, setting of the boundaries is simple and reliable.
Description
Technical field
The present invention relates to a kind of automatic working system, relate in particular to the automatic working system that a kind of automatic running device is walked and worked in the perform region being limited by perform region identification module.
Background technology
Along with scientific and technical development, the automatic working system that comprises intelligent automatic running device is well known, because the program that automatic running device can set in advance is automatically carried out the inter-related task setting in advance, operation that need not be artificial and intervention, therefore the application on commercial Application and family product is very extensive.Industrial application is as carried out the robot of various functions, and the application on family product is as mower, suction cleaner etc., and these intelligent automatic running devices have greatly been saved people's time, all brings great convenience to commercial production and life staying idle at home.
For the perform region of planning automatic running device, the mode conventionally adopting is the boundary line that cable form is set, and carries border electric signal on boundary line, and the region that boundary line surrounds is the perform region of automatic running device.The U.S. Pat 6615108B1 of on May 11st, 1999 bulletin adopts the mode of burying boundary line on meadow underground that the perform region of robot is set.There are multiple deficiencies in which, as, burying boundary line underground needs professional instrument to slot on meadow, wastes time and energy, and can destroy the integrality on meadow.And for example, the extra continual current signal that provides of signal generation apparatus is provided in this kind of boundary line, and energy consumption is larger, and has certain danger.And for example, on boundary line, any one breaks down, and whole sideband signal all can disappear.In addition, once this boundary line is buried underground, again change and to repair line fault all very difficult.
Summary of the invention
The technical matters that the present invention solves is: a kind of automatic working system is provided, and its boundary line arranges and changes easily, and reliability is high.
For solving the problems of the technologies described above, technical scheme provided by the invention is:
A kind of automatic working system, comprise, limit the perform region identification module of the perform region of automatic working system, described perform region identification module comprises spaced multiple RFID label, each RFID label has unique identifying information, and described multiple RFID labels are connected to form the border of perform region; The automatic running device of automatically walking and working in described perform region, described automatic running device comprises: RFID reader, comprise Anneta module and read module, described Anneta module sends rf wave and sends described RFID signal and collect described RFID signal to activate described RFID label; Described read module reads the identifying information in described RFID signal; Main control mechanism, is connected with RFID reader, and described Anneta module, by Dynamic radiation pattern, activates respectively at least two RFID labels and collects at least two RFID signals with at least two kinds of radiation modes; Described main control mechanism, according to adopted at least two kinds of radiation modes and corresponding at least two RFID signals collecting, judges the position relationship of automatic running device with respect to the segment boundary of described at least two RFID labels formation.
Preferably, described Anneta module comprises reconfigurable antenna, and described reconfigurable antenna adopts Dynamic radiation pattern to change the radiation mode of rf wave, and at least one in radio frequency electrical wave line of propagation, shape and polarity changed.
Preferably, described reconfigurable antenna, under Dynamic radiation pattern, is dynamically adjusted the radio frequency electrical wave line of propagation of wave beam shape by wave beam control mode.
Preferably, described position relationship comprises internal and external relation.
Preferably, described main control mechanism is according to radio frequency electrical wave line of propagation and the corresponding RFID signal of collecting, the order of arranging of at least two relative automatic running devices of RFID label described in calculating, and by the standard arrangement order contrast of the RFID label of storing in this arrange order and main control mechanism, judge that according to comparing result automatic running device is positioned in or beyond described at least part of border.
Preferably, described automatic running device is walked one week along described border, by detecting successively described RFID label, to obtain the standard arrangement order of RFID label, and is stored in main control mechanism.
Preferably, described position relationship comprises angular relationship, and described main control mechanism, according to described radio frequency electrical wave line of propagation and the corresponding RFID signal of collecting, judges the angular relationship of automatic running device with respect to described segment boundary.
Preferably, described position relationship comprises distance relation.
Preferably, described main control mechanism, according to the mistiming between the time of origin of the rf wave of specific radiation mode and the time of return of the corresponding RFID signal of collecting, calculates the distance of automatic running device with respect to described segment boundary.
Preferably, after described main control mechanism sends according to the rf wave of specific radiation mode, the intensity of the RFID signal that correspondence is collected, calculates the distance of automatic running device with respect to described segment boundary.
Preferably, described main control mechanism is the position relationship with respect to described segment boundary according to automatic running device, the walking of instruction automatic running device.
Preferably, described automatic running device is mower.
Beneficial effect of the present invention is: by using RFID label, and utilize the feature of RFID reader on automatic running device identification RFID signal, user only need to be inserted into lawn edge by certain spacing by several RFID labels in the time that border is set, without burying and put boundary line along the special fluting of lawn edge as prior art, minority RFID label lost efficacy or skew also can not cause too large impact to border entirety, simultaneously, automatic running device can judge the position of self retive boundary, thereby in perform region, normally work, can out-of-bounds.
Accompanying drawing explanation
Technical matters, technical scheme and the beneficial effect that above-described the present invention solves can, by the detailed description that can realize preferably specific embodiment of the present invention below, be described and clearly acquisition simultaneously by reference to the accompanying drawings.
Identical label in accompanying drawing and instructions and symbol are for representing element identical or that be equal to.
Fig. 1 is the automatic working system schematic diagram of the embodiment of the invention.
Fig. 2 is the Boundary Recognition schematic diagram of the automatic working system shown in Fig. 1.
Fig. 3 is the module map of the automatic working system shown in Fig. 1.
Fig. 4 is the Anneta module scanning schematic diagram of the automatic working system shown in Fig. 1.
Fig. 5 is the schematic diagram that the automatic operation equipment of the automatic working system shown in Fig. 1 is positioned at border.
Fig. 6 is that the automatic operation equipment of the automatic working system shown in Fig. 1 is positioned at the schematic diagram outside border.
1 perform region 9 automatic running devices
2 area of isolation 11 RFID readers
3 border 13 Anneta modules
5 RFID label 15 read modules
51 the one RFID label 17 main control mechanisms
52 the 2nd RFID label 19 rf waves
7 bus stops
Embodiment
About detailed description of the present invention and technology contents, coordinate accompanying drawing to be described as follows, but appended accompanying drawing only provide reference and explanation, is not used for the present invention to be limited.
As Fig. 1, in a kind of embodiment of the present invention, automatic working system comprises automatic running device 9 and perform region identification module.Perform region identification module comprises spaced multiple RFID label 5, and each RFID label 5 has unique identifying information, to make a distinction with other RFID labels 5.RFID label 5 is arranged in user to be needed around perform region 1 that automatic running device 9 walks and work, and the line that the point at multiple like this RFID labels 5 places connects into has formed the border 3 of perform region 1.In order to save the energy and to reduce border cost of layout, RFID label 5 be passive type, there is no internal power supply, and the energy of the outside rf wave of needs sends a RFID signal that carries self identifying information.Certainly, RFID label 5 can be also semi-passive or active, and its technical characterstic is known in those skilled in the art institute, does not repeat them here.
Automatic working system can also comprise bus stop 7, for stopping in the time not working for automatic running device 9, or in the time of energy depletion makeup energy.Bus stop 7 is preferably positioned on border 3, so that automatic running device 9 location return.
Concrete, automatic running device 9 can be mower, suction cleaner, industrial robot etc.When automatic running device 9 is mower, perform region 1 is the lawn that user safeguards, border 3 is usually located at the edge on lawn.RFID label preferably forms spike, in the time arranging border 3, user only need to be inserted into lawn edge by certain spacing by several RFID labels 5, without burying and put boundary line along the special fluting of lawn edge as prior art, minority RFID label 5 lost efficacy or was offset also and can not cause too large impact to border 3 entirety, it is meanwhile, follow-up that if desired to adjust border also more convenient.
Continue with reference to Fig. 1, the inside of perform region 1 is also provided with some area of isolation 2, if area of isolation 2 equally by individual RFID label 5 around to form border.Concrete, in the time that automatic running device 9 is mower, area of isolation 2 can be flower platform, pools etc. do not need the region of mowing.
See figures.1.and.2, on automatic running device 9, be provided with RFID reader 11 and the main control mechanism 17 being connected with RFID reader 11, the RFID signal that RFID reader 11 sends for receiving RFID label 5, and obtaining the identifying information of the RFID label 5 carrying in RFID signal, RFID reader 11 also can record the information such as intensity, time of reception of RFID signal simultaneously.With reference to Fig. 3, concrete, RFID reader 11 comprises Anneta module 13 and read module 15, and Anneta module 13 is collected the RFID signal that RFID label 5 sends, and read module 15 is to send to main control mechanism 17 after identifying information by signal decoding.The temporal information of RFID signal sends to main control mechanism 17 after can being identified by read module 15, but because decoding and the passing time of RFID signal are extremely short, also can in the time receiving the information that RFID reader 11 sends, directly be recorded by main control mechanism 17 this time of reception point.The signal strength information of RFID signal sends to main control mechanism 17 after can being identified by read module 15 equally, but also can be identified by an independent signal strength detector that connects Anneta module 13, sends to subsequently main control mechanism 17.
Except aforesaid RFID reader 11 and main control mechanism 17, automatic running device 9 also comprises the energy module that complete machine operation energy is provided, set the operational module of automatic running device 9 functions for user, drive walking module, the operational module of execution work task and other supplementary modules of complete machine walking.
In the time that automatic running device 9 is mower, energy module is generally built-in power brick and the charging pole piece that is connected power brick; Walking module generally includes the wheels that are arranged on fuselage and drives the running motor of wheels, and the version that walking module can also have other as crawler type etc., does not repeat them here.Operational module is generally cutting mechanism, comprises cutting motor and cutting blade; Other supplementary modules comprise that induction barrier obtains rainwater/humidity inductive module of obstacle induction module, induction weather condition etc.
By the cooperation of above modules, mower the border 3 being formed by RFID label 5 around perform region 7 in cruise and carry out mowing work, under normal condition, mower straight line moving, until bump against border 3.If mower runs into border 3, it will turn to turn back gets back to the interior continuation straight line moving in perform region 1, until again run into border 3.By the above-mentioned interior mode of constantly turning back on border 3, cover whole perform regions 1 and carry out work.Mower also can have other path planning pattern, for example, according to the RFID label 5 of its process, determines follow-up path.
Below introduce in detail boundary marking module and automatic running device 9 and identify corresponding construction and the recognition method of boundary marking module.
Attempting RFID label 5 when identifying the border 3 of perform region 1, a technical difficulty is, if it is less that the density of arranging by RFID label 5 on border 3 arranges, Anneta module is difficult to search out RFID label 5, easily loses the definition to self-position; And if the density of arranging of RFID label 5 is arranged larger, exist again and arrange boundary line time and effort consuming, and the problem such as border Material Cost height, meanwhile, excessive density also can cause Anneta module 13 easily to miss some RFID labels 5.
In order to solve problem above, the Anneta module 13 of RFID reader 11 comprises reconfigurable antenna, the circuit characteristic of reconfigurable antenna can change, and then corresponding change can occur the characteristic of the rf wave sending of reconfigurable antenna, aforesaid characteristic includes but not limited to polarity, direction, shape etc.
Concrete, reconfigurable antenna adopts Dynamic radiation pattern to send rf wave, and under Dynamic radiation pattern, reconfigurable antenna is adjusted at least one in radio frequency electrical wave line of propagation, polarity and shape dynamically, to form multiple rf wave radiation mode.Like this, activate the method for RFID label 5 by the radiation mode with different, improve activation efficiency, success ratio and the overlay area of Anneta module 13 to RFID label 5.
It may be noted that, because the conversion speed of rf wave 19 paces of change of reconfigurable antenna under Dynamic radiation pattern and response speed, RFID reader 11 and the main control mechanism 17 of RFID label 5 is all far longer than the travel speed of automatic running device 9, what can be similar to thinks, when RFID reader 11 receives several RFID signals continuous in the regular hour, the position of automatic running device 9 does not change, and this time can be 0.1 second or less.
As shown in Figure 4, under Dynamic radiation pattern, reconfigurable antenna is dynamically adjusted the direction of rf wave 19 by wave beam control mode.The shape of rf wave 19 is remained on wave beam shape by reconfigurable antenna, narrow and grow, and dynamically change the radiation direction of rf wave 19, like this, rf wave 19 has stronger energy density and clear and definite directive property, under any radiation mode, all can only be activated to minority and even there is no RFID label 5, but changing fast under the condition of radiation direction, can effectively activate successively multiple RFID labels 5 and receive the RFID signal that it sends, judging the position of automatic running device 9 for main control mechanism 17.
The Dynamic radiation pattern in Fig. 4 that be also to be understood that is simplified for convenience of description, is only exemplary.In actual application, except this kind of Dynamic radiation pattern, reconfigurable antenna can also adopt the shape and the direction that change rf wave 19 simultaneously, change polarity and the direction of rf wave 19 simultaneously, periodically change successively shape and the direction of rf wave 19, the mode such as shape that only changes rf wave 19 improves activation efficiency, success ratio and the scope of RFID label 5., reconfigurable antenna in wave beam control, can also superpose other radiation mode change.
As a scheme of the present invention, RFID reader 11, under Dynamic radiation pattern, sends rf wave 19 by least two kinds of radiation modes, obtains at least two RFID labels 5 and collects at least two RFID signals with corresponding activation.By the characteristic of analyzing radiation mode, and the various features of the corresponding RFID signal of collecting, as the time of the intensity of identifying information, signal, reception etc., the position of the judgement automatic running device 9 of accurate stable.
Below introduce in automatic working system the mode of the position relationship between automatic running device 9 identification itself and border 3.
As previously mentioned, RFID reader 11 sends at least two rf waves 19 by least two kinds of radiation modes, obtains at least two RFID labels 5 and collects at least two RFID signals with corresponding activation.Main control mechanism 17 is according at least two kinds of adopted radiation modes, and corresponding at least two RFID signals collecting, judges the position relationship of the segment boundary that automatic running device 9 forms with respect to described at least two RFID labels 5.Be appreciated that in real work, RFID reader 11, by more radiation mode, scans more RFID labels 5, and this is improved the scope and the precision that make aforesaid segment boundary, and the judgement of position relationship is also more accurate.
As previously mentioned, the main control mechanism 17 of automatic running device 9 is according to the radiation mode of rf wave 19, and the corresponding RFID signal 5 obtaining, and judges the position relationship of automatic running device 9 with respect to segment boundary.This position relationship comprises angular relationship, distance relation, internal and external relation etc.Conventionally, angular relationship relies on RFID signal returned and determine by rf wave 19 activation in which direction, and this direction is the direction of corresponding RFID label.Distance relation relies on the difference between the time of origin of rf wave 19 and the time of return of corresponding RFID signal of particular radiation pattern, or and the intensity of the RFID signal of rf wave 19 correspondences of particular radiation pattern determine.The RFID that internal and external relation detects by automatic running device 9 the arrange similarities and differences of order of order and self built-in RFID of arranging are determined.Above position relationship determines that mode is only for schematic, and other modes are also feasible, below describe in detail.
The judgment mode of the angular relationship of the segment boundary that automatic running device 9 forms with respect at least two RFID labels 5 that monitored by it is as described below.
Itself carried after the feature such as direction or shape, scope at rf wave 19, the corresponding signal strength information returning can also reflect angular relationship or other position relationships of this RFID label 5 and automatic running device 9.Still, as Fig. 4, under Dynamic radiation pattern, reconfigurable antenna adopts wave beam control mode to change the rf wave 19 giving off.Rf wave 19 narrow range that reconfigurable antenna gives off, and direction constantly changes, if under a certain radiation mode, do not find a particular RFID tag 5, and on adjacent other direction, found this specific RFID label 5 on a certain correspondence direction.
Based on above-mentioned principle, at least in direction, change by least two kinds of radiation modes that make radiation electric wave 19, at least on both direction, rf wave 19 can activate respectively the RFID label 5 being positioned in its radiation direction, and RFID reader 11 can be corresponding collects the RFID signal that the RFID label 5 that is activated returns; Main control mechanism 17 and then the RFID signal of collecting by direction and the correspondence of rf wave 19, judge the angle of automatic running device 9 with respect to each RFID label 5 of correspondence, also just obtained the angular relationship of the segment boundary that automatic running device 9 forms with respect to each RFID label 5.
In the time changing the direction of rf wave 19, can also change other characteristic simultaneously.
The judgment mode of the internal and external relation of the segment boundary that automatic running device 9 forms with respect at least two RFID labels 5 that monitored by it is as described below.
Foregoing, main control mechanism 17 can judge the angular relationship of the segment boundary that RFID label 5 that automatic running device 9 monitors with respect to it forms, based on same mode, with reference to figure 5 and Fig. 6, main control mechanism 17 can be identified take automatic running device 9 as observation point, the order of arranging of its at least two RFID labels 5 that monitor.And in inner side and the outside on border 3, this order of arranging is just in time contrary, based on this feature, while storing from the interior observation in border 3 in main control mechanism 17, the order of arranging of each RFID label 5 on border 3, and use this arrange order and its RFID label 5 observing in motion order of arranging to contrast, and judge that if identical automatic running device is positioned at border 3, if judge on the contrary, automatic running device is positioned at outside border 3.Certainly, as the simple replacement under same thinking, also can be built-in in main control mechanism 17 when boundary appearance is surveyed the order of arranging of each RFID label 5 border 3, repeat no more.
Concrete, as Fig. 5, automatic running device 9 is positioned at border 3, is placed with two RFID labels on border 3, is respectively RFID label 51 and RFID label 52.Automatic running device 9 is with two kinds of radiation modes, send rf wave 19 to both direction successively, activate respectively RFID label 51 and RFID label 52, RFID label 51 and RFID label 52 return to respectively a RFID signal, main control mechanism 17 is the corresponding relation with the RFID signal returning according to the direction of the rf wave 19 sending, judge that RFID label 51 is positioned at the left side of RFID label 52, main control mechanism 17 is compared this arrange order and its built-in RFID label order of arranging, result is identical, and then main control mechanism 17 can judge that automatic running device is positioned at border 3.Contrary, as Fig. 6, border 3 is constant and automatic running device 9 is positioned at outside border 3, easily learn, now main control mechanism 17 judges that RFID51 is positioned at the right side of RFID label 52, this arrange order and its built-in RFID label 5 order of arranging is contrary, and then main control mechanism 17 can judge that automatic running device 9 is positioned at outside border 3.
To sum up, rf wave 19 by making at least two kinds of radiation modes at least direction changes, described main control mechanism 15 can be according to the direction of rf wave 19 and the corresponding RFID signal of collecting, the order of arranging of at least two RFID label 5 relative automatic running devices 9 described in calculating, and this arrange order and arranging of main control mechanism 17 interior storages are washed out to contrast, according to contrast mechanism judge automatic running device 9 be positioned at least part of border that at least two RFID labels 5 form in or beyond.
Certainly, inside and outside judgement also can have other mode, for example, when automatic running device 9 can be started shooting take it, the position at place is in border 3, and detect while self having moved by side to opposite side from one of border 3 when it, judge that it is outside border 3, the mode that border 3 is crossed in judgement can be similar to above, the detection order of arranging reverses, also can there be other modes, as, detect that self is ascending to the distance of at least two RFID labels 5 of annex from descending simultaneous mutation, detect the mode of distance in rear description.
The judgment mode of the distance relation of the segment boundary that automatic running device 9 forms with respect at least two RFID labels 5 that monitored by it is as described below.
The distance relation of automatic running device 9 and segment boundary can be determined by the difference between the time of origin of rf wave 9 and the time of return of corresponding RFID signal of monitoring particular radiation mode.Because the speed of rf wave 19 is constant, the distance of aforementioned time difference and automatic running device 9 and corresponding RFID label 5 is directly proportional.Concrete, the RFID reader 11 of automatic running device 9 sends the rear beginning timing of rf wave 19 of particular radiation mode, after a period of time that rf wave 19 experiences and automatic running device 9 is directly proportional to the distance between particular RFID tag 5, arrive this particular RFID tag 5, RFID label 5 is activated and returns to a RFID signal, this signal is got back to the RFID reader 11 of automatic running device 9 after experiencing same a period of time, RFID reader 11 or main control mechanism 17 are recorded this time of return, main control mechanism 17 calculates the aforesaid mistiming subsequently, can obtain the distance sum of rf wave 19 and the RFID signal process of returning according to formula d=v/t, because the velocity of propagation of rf wave 19 and RFID signal is the light velocity, this mistiming is extremely short, the travel distance of automatic running device 9 self is close to 0, therefore, the distance sum obtaining is to the distance of automatic running device to specific RFID label 5 divided by 2 again.RFID reader 11 sends the rf wave 19 of at least two kinds of radiation modes, can obtain corresponding RFID signal, thereby calculate the distance of automatic running device 9 and at least two RFID labels 5, thereby obtain the distance relation of the segment boundary that automatic running device 9 and aforementioned at least two RFID labels 5 form.
It may be noted that, in such scheme, RFID label 5 places and automatic running device 9 places to the processing time of each signal close to 0, negligible, certainly, in order further to improve the computational accuracy of distance, by after the approximate time of mistiming subtraction signal processing, it is also feasible carrying out distance calculating again, belongs to equally the Integral Thought of determining distance based on the mistiming.
The distance relation of automatic running device 9 and segment boundary can also be determined by the intensity of the RFID signal of rf wave 19 correspondences of monitoring and particular radiation mode.
Rely on scheme principle that the intensity of RFID signal determines distance for: rf wave 19 power that reconfigurable antenna is launched be known or probably to determine, and the signal intensity of the corresponding RFID signal returning can decay along with distance, so signal intensity has reflected the far and near distance of this RFID label 5 and automatic running device 9, signal represents that more by force distance is nearer, and signal is more weak represents that distance is far away.Known equally, in the driving process of automatic running device 9, the variation of the signal power of the RFID signal of specific RFID label 5 correspondences has represented the variation of distance accordingly.Signal represents that by dying down by force distance is far away by nearly change, automatic running device 9 is leaving corresponding RFID label 5; Signal changes from weak to strong and represents that distance is near by change far away, automatic running device is near corresponding RFID label 5.
According to above-mentioned principle, in this embodiment, the Anneta module 13 of RFID reader 11 sends rf wave 19, rf wave 19 is transmitted into a certain specific RFID label 5 and by its activation, this specific RFID label 5 sends RFID signal and is received by Anneta module 13, signal intensity when this RFID signal arrives Anneta module 13 goes on record, and main control mechanism 17 calculates the distance of the corresponding automatic running device 9 of signal intensity to this particular RFID tag 5 according to built-in algorithm.When Anneta module 13 sends while at least having the rf wave 19 of two kinds of radiation modes the distance of corresponding acquisition automatic running device 9 and at least two RFID labels 5, also just obtain accordingly the distance relation of the segment boundary that automatic running device 9 and aforementioned at least two RFID labels 5 form.
In this embodiment, main control mechanism 17 according to automatic running device 9 relatively described in the position relationship of at least two RFID labels 5, walking between described at least two RFID labels 5.Concrete, automatic running device 9 can judge that self whether crossing border 3 leaves perform region 1, and makes corresponding reaction, for example, and turning to and turn back in perform region 1 near border 3 or while crossing border 3.Automatic running device 9 can also determine the walking manner in perform region 1 according to aforesaid position relationship, as direction of travel, the speed of travel etc.
In this embodiment, main control mechanism 17 according to automatic running device 9 relatively described in the position relationship of at least two RFID labels 5, walking between described at least two RFID labels 5.
In other embodiments of the present invention, also can utilize RFID label 5 to set up the map of perform region 1, then use the map of perform region 1 to assist to determine operating path.
The present invention relates to a kind of automatic working system, comprise, perform region identification module, comprises spaced multiple RFID label; Automatic running device, comprises RFID reader, comprises Anneta module and read module, and Anneta module sends rf wave and sends described RFID signal and collect described RFID signal to activate described RFID label; Main control mechanism; Described Anneta module activates respectively at least two RFID labels and collects at least two RFID signals with at least two kinds of radiation modes; Described main control mechanism, according to adopted at least two kinds of radiation modes and corresponding at least two RFID signals collecting, judges the position relationship of automatic running device with respect to the segment boundary of described at least two RFID labels formation.By using RFID label, and utilize the feature of the RFID reader identification RFID signal on automatic running device, border is set simple and reliable.
Claims (12)
1. an automatic working system, comprising:
Limit the perform region identification module of the perform region of automatic working system, described perform region identification module comprises spaced multiple RFID label, each RFID label has unique identifying information, and described multiple RFID labels are connected to form the border of perform region;
The automatic running device of automatically walking and working in described perform region, described automatic running device comprises:
RFID reader, comprises Anneta module and read module, and described Anneta module sends rf wave and sends described RFID signal and collect described RFID signal to activate described RFID label; Described read module reads the identifying information in described RFID signal;
Main control mechanism, is connected with RFID reader, it is characterized in that:
Described Anneta module, by Dynamic radiation pattern, activates respectively at least two RFID labels and collects at least two RFID signals with at least two kinds of radiation modes;
Described main control mechanism, according to adopted at least two kinds of radiation modes and corresponding at least two RFID signals collecting, judges the position relationship of automatic running device with respect to the segment boundary of described at least two RFID labels formation.
2. automatic working system according to claim 1, it is characterized in that: described Anneta module comprises reconfigurable antenna, described reconfigurable antenna adopts Dynamic radiation pattern to change the radiation mode of rf wave, and at least one in radio frequency electrical wave line of propagation, shape and polarity changed.
3. automatic working system according to claim 2, is characterized in that: described reconfigurable antenna, under Dynamic radiation pattern, is dynamically adjusted the radio frequency electrical wave line of propagation of wave beam shape by wave beam control mode.
4. automatic working system according to claim 3, is characterized in that: described position relationship comprises internal and external relation.
5. automatic working system according to claim 4, it is characterized in that: described main control mechanism is according to radio frequency electrical wave line of propagation and the corresponding RFID signal of collecting, the order of arranging of at least two relative automatic running devices of RFID label described in calculating, and by the standard arrangement order contrast of the RFID label of storing in this arrange order and main control mechanism, judge that according to comparing result automatic running device is positioned in or beyond described at least part of border.
6. automatic working system according to claim 5, is characterized in that: described automatic running device is walked one week along described border, by detecting successively described RFID label, to obtain the standard arrangement order of RFID label, and is stored in main control mechanism.
7. automatic working system according to claim 3, it is characterized in that: described position relationship comprises angular relationship, described main control mechanism, according to described radio frequency electrical wave line of propagation and the corresponding RFID signal of collecting, judges the angular relationship of automatic running device with respect to described segment boundary.
8. automatic working system according to claim 3, is characterized in that: described position relationship comprises distance relation.
9. automatic working system according to claim 8, it is characterized in that: described main control mechanism, according to the mistiming between the time of origin of the rf wave of specific radiation mode and the time of return of the corresponding RFID signal of collecting, calculates the distance of automatic running device with respect to described segment boundary.
10. automatic working system according to claim 8, it is characterized in that: after described main control mechanism sends according to the rf wave of specific radiation mode, the intensity of the RFID signal that correspondence is collected, calculates the distance of automatic running device with respect to described segment boundary.
11. according to arbitrary described automatic working system in claim 1-10, it is characterized in that: described main control mechanism is the position relationship with respect to described segment boundary according to automatic running device the walking of instruction automatic running device.
12. automatic working systems according to claim 1, is characterized in that: described automatic running device is mower.
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| CN201210444820.0A CN103809591B (en) | 2012-11-09 | 2012-11-09 | Automatic working system |
| PCT/CN2013/086715 WO2014071860A1 (en) | 2012-11-09 | 2013-11-07 | Automatic work system |
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| CN201210444820.0A CN103809591B (en) | 2012-11-09 | 2012-11-09 | Automatic working system |
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| Publication number | Publication date |
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| CN103809591B (en) | 2017-06-27 |
| WO2014071860A1 (en) | 2014-05-15 |
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