CN106168484A - The pulse signal identification system of boundary line, method and intelligence mowing system - Google Patents
The pulse signal identification system of boundary line, method and intelligence mowing system Download PDFInfo
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- CN106168484A CN106168484A CN201610334140.1A CN201610334140A CN106168484A CN 106168484 A CN106168484 A CN 106168484A CN 201610334140 A CN201610334140 A CN 201610334140A CN 106168484 A CN106168484 A CN 106168484A
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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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
-
- 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
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- Life Sciences & Earth Sciences (AREA)
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- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The present invention relates to the pulse signal identification system of a kind of boundary line, including pulse circuit module and testing circuit module, pulse circuit module is for generating the pulse signal of transmission on boundary line, and the pulse signal that pulse circuit module generates includes: at least one high pulse signal of generating in cycle T and with some low pulse signals of high pulse signal continuous distribution；Or the some low pulse signals generated in cycle T and the one or more high pulse signals being distributed between some low pulse signals；Testing circuit module receives the pulse signal that pulse circuit module generates, and by detecting high pulse signal or the low pulse signal identification boundary line of pulse signal.The present invention can make Distance Shortened between two boundary lines within 1 meter, effectively improves the experience of client.
Description
Technical field
The present invention relates to sideband signal field, particularly relate to the pulse letter of a kind of boundary line being applied to intelligent grass-removing
Number identify system and method.The invention still further relates to a kind of intelligence mowing system.
Background technology
Along with the development of science and technology, the automatic running device of intelligence is well known, owing to automatic running device can
Perform the inter-related task pre-set, operation that need not be artificial and intervention with the program automatically pre-set, therefore answer in industry
With and family product on application widely.Industrial application such as performs the robot of various function, on family product
Applying such as hay mover, vacuum cleaner etc., the automatic running device of these intelligence dramatically saves on the time of people, to commercial production
And life staying idle at home all brings great convenience.
For ensureing that above-mentioned automatic running device works in default working range, generally use boundary system to automatic row
The walking path walking equipment is controlled.Described boundary system includes: signal generating unit, produces the sideband signal preset；Limit
Boundary line, is electrically connected with signal generating unit, and the sideband signal preset conducts along boundary line, and generates the field signal preset；
Detecting signal unit, is arranged in described automatic running device, for detecting the field signal in environment, generates detection signal；
Number processing unit, is electrically connected with detecting signal unit, receives described detection signal, and described detection signal processes, and one-tenth processes
Signal；Control unit receives described process signal, and the information represented according to described process signal, confirms automatic running device phase
Position to boundary line, control automatic running device changes automatic running device direction of travel in time when crossing the boundary line,
Prevent automatic running device from running to outside boundary line, so that automatic running device works all the time in boundary line.Limit in early days
The sideband signal preset that boundary's system sends is pulse signal, and the advantage of this kind of sideband signal is to identify easily, but exist
Problem is the pulse signal that boundary system cannot be distinguished by the pulse signal from sideband signal and interference so that boundary system is connecing
When receiving the pulse signal of interference, it is mistaken for sideband signal and according to its information carried walking road to automatic running device
Footpath is controlled so that boundary system is highly susceptible to interference, and makes false judgment, reduces the anti-interference energy of boundary system
Power.
The situation of the poor anti jamming capability of the above boundary system is more is embodied in intelligent grass-removing field.Cut in intelligence
Grass machine field, the automatic boundary line sensor that conventional art is mainly arranged on intelligent grass-removing by adjustment reduces detection
Sensitivity, i.e. when being found to have interference, reduces the sensitivity of sensor detection, to filter out interference source.But in this case, one
As two adjacent edge boundary lines at least need to be spaced the distance of 1～2 meter, the distance between adjacent edge boundary line still cannot be made to contract
Short.The generally interval general only one of which fence between the lawn of neighboring user, if the distance in adjacent edge boundary line is more than 1 meter very
To the most farther, may result in when arranging boundary line the more meadow between two boundary lines cut less than, and these cut less than
Meadow must user the most manually be cut, hence it is evident that reduces the experience of client.
Summary of the invention
Based on this, it is necessary to for the problem that customer experience is relatively low, it is provided that a kind of boundary line being applied to intelligent grass-removing
Pulse signal identification system and method.
The pulse signal identification system of a kind of boundary line, including pulse circuit module and testing circuit module, described pulse
Circuit module is for generating the pulse signal of transmission on boundary line, and the pulse signal that described pulse circuit module generates includes:
At least one high pulse signal of generating in cycle T and some low with described high pulse signal continuous distribution
Pulse signal；Or
In cycle T generate some low pulse signals and between described some low pulse signals distribution one or
Multiple high pulse signals；
Described testing circuit module receives the pulse signal that described pulse circuit module generates, and by detecting described pulse
Boundary line described in the high pulse signal of signal or low pulse signal identification.
Wherein in an embodiment, the described testing circuit module detection sensitivity benchmark when detecting high pulse signal
Value is higher than the detection sensitivity reference value when detecting low pulse signal.
Wherein in an embodiment, the form of described high pulse signal is different with the form of described low pulse signal.
Wherein in an embodiment: described high pulse signal is per second at least to be occurred once.
Wherein in an embodiment, in the time period including multiple cycle T, the width of the high pulse signal of described generation
Angle value is not more than, not less than the lowest amplitude value set, the range value of the low pulse signal of described generation, the high-amplitude set
Value.
Wherein in an embodiment, the described described high pulse signal generated in cycle T is believed less than described low pulse
Number.
Wherein in an embodiment, described testing circuit module includes:
Detector unit, is used for receiving ambient signal and described ambient signal carrying out multiple amplification, described external signal bag
Include described pulse signal；And
The control unit being connected with described detector unit, detects the ambient signal after amplifying from described detector unit
The high pulse signal of described pulse signal is to identify described boundary line.
Wherein in an embodiment, when described detector unit carries out multiple amplification to described ambient signal, described multiple
For fixing multiple, the size of described control unit range value with predetermined value by contrasting described ambient signal identifies with detection
The accuracy of described boundary line, and when the accuracy identified reaches desired value, the size of fixing described predetermined value.
Wherein in an embodiment, described control unit is by contrasting range value and the predetermined value of described ambient signal
During the accuracy of described boundary line that size identifies with detection, the described predetermined value of the most ascending adjustment of described control unit
Size, and when the range value receiving described ambient signal is same or like, the size of fixing described predetermined value.
Wherein in an embodiment, when described detector unit carries out multiple amplification to described ambient signal, described multiple
For floating multiple, described control unit dynamically adjusts the multiple that described detector unit is amplified, and by contrasting described ambient signal
The accuracy of described boundary line that identifies with detection of the size of range value and predetermined value.
Wherein in an embodiment, while described control unit dynamically adjusts the multiple that described detector unit is amplified,
Adjust the size of described predetermined value, and when the range value of the described ambient signal received is same or like, fixing described times
Number and the size of predetermined value.
A kind of intelligence mowing system, including intelligent grass-removing and boundary line, also includes in previous embodiment arbitrary described
Pulse signal identification system, wherein said testing circuit module is positioned on described intelligent grass-removing, and described pulse circuit module is even
Connect described boundary line.
A kind of pulse signal recognition methods of boundary line, including:
Receive ambient signal；
Described ambient signal is carried out multiple amplification；
Receive the range value ambient signal more than or equal to predetermined value；
The range value of the described ambient signal that detection receives is the most same or like；
If the range value of the described ambient signal detected is not same or like, then adjust the big of described predetermined value
Little, and enter the described reception range value step more than or equal to the ambient signal of predetermined value, until the described environment detected
The range value of signal is same or like.
Wherein in an embodiment, the ascending size being sequentially adjusted in described predetermined value.
A kind of pulse signal recognition methods of boundary line, including:
Receive ambient signal；
Described ambient signal is carried out multiple amplification；
Receive the range value ambient signal more than or equal to predetermined value；
The range value of the described ambient signal that detection receives is the most same or like；
If the range value of the described ambient signal detected is not same or like, then adjust described amplification multiple and
The size of predetermined value, and enter the described step that described ambient signal is carried out multiple amplification, until the described environment detected
The range value of signal is same or like.
Wherein in an embodiment, during the size of the multiple of the described amplification of described adjustment and predetermined value, if current pre-
Ambient signal, the described multiple of the most ascending adjustment is not received, if receiving described environment under current predetermined value under definite value
Signal, the size of the described predetermined value of the most ascending adjustment.
The pulse signal identification system and method for the above boundary line, pulse signal is the pulse that height pulse is alternate
Ripple, just the distance of two boundary lines can be effectively shortened in the combination of pulse, specifically can make the Distance Shortened between two boundary lines
Within 1 meter, effectively improve the experience of client.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of traditional boundary line signal；
Fig. 2 is the schematic diagram of distance between adjacent edge boundary line；
Fig. 3 is the schematic diagram of pulse signal in an embodiment；
Fig. 4 is the schematic diagram of pulse signal in another embodiment；
Fig. 5 be the boundary line of an embodiment pulse signal identification system in the structure chart of testing circuit module；
Fig. 6 is the flow chart of the pulse signal recognition methods of the boundary line of an embodiment；
Fig. 7 is the flow chart of the pulse signal recognition methods of the boundary line of another embodiment.
121 detector unit 122 control units
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, not
For limiting the present invention.
Intelligent grass-removing generally has to work in certain boundary line.The most adjacent lawn is respectively provided with boundary line,
When laying boundary line, it is necessary to consider that the signal disturbing between boundary line and boundary line, it is contemplated that other signal disturbing,
The intelligent grass-removing boundary line signal of such as alternating current wires signal, other companies, the fence etc. of pet dog.If these
The interference of signal causes intelligent grass-removing None-identified to go out boundary line, and intelligent grass-removing then cannot be normally carried out cutting operation.?
During normal laying boundary line, if wanting intelligent grass-removing can identify sideband signal accurately, it is necessary to transmission letter on boundary line
Number sideband signal that intensity is stronger, as it is shown in figure 1, general way is to continuously transmit high pulse signal on boundary line, mows
Sensitivity during machine testing is constantly in High sensitivity state, although boundary line can be detected in real time, but owing to boundary line is believed
Number too strong, adjacent edge boundary line must keep enough distance guarantee signals to interfere with each other when laying, conventional skill
Art is when laying boundary line, as in figure 2 it is shown, need the distance of 2 meters, the biggest distance between adjacent edge boundary line.
To this end, the pulse signal identification system of boundary line of an embodiment that the present invention provides include pulse circuit module and
Testing circuit module, pulse circuit module is for generating the pulse signal of transmission on boundary line, and pulse circuit module generates
Pulse signal includes:
At least one high pulse signal of generating in cycle T and with the some low pulse of high pulse signal continuous distribution
Signal；Or
In cycle T generate some low pulse signals and between some low pulse signals distribution one or more
High pulse signal；
Testing circuit module receives the pulse signal that pulse circuit module generates, and by detecting the high impulse of pulse signal
Signal or low pulse recognition boundary line.I.e. testing circuit module can detect that high pulse signal or low pulse signal, and can root
According to any of which or both identify boundary line.
Concrete as it is shown on figure 3, pulse signal can be the continuous signal by a high pulse signal, or such as Fig. 4
Shown in, pulse signal can also be the continuous signal by a low pulse signal.In order to ensure to detect border
While line, the most fully reducing the interference between boundary line, the high pulse signal generated in cycle T is less than low pulse signal.
Generally in cycle T, the number of high pulse signal is far fewer than the number of low pulse signal.In order to significantly distinguish high impulse letter
Number and low pulse signal, the range value of high pulse signal with low pulse signal can be configured, it is stipulated that high pulse signal
Lowest amplitude value and the high amplitude value of low pulse signal, and the lowest amplitude value of high pulse signal is more than low pulse signal
High amplitude value.So, in the time period including multiple cycle T, the range value of the high pulse signal of generation is all not less than setting
Lowest amplitude value, the range value of the low pulse signal of generation no more than set high amplitude value, can significantly distinguish
Go out high impulse or low pulse, boundary line is recognized accurately.As shown in Figure 3 and Figure 4, boundary line signal mode include one high
Pulse adds several low pulses, and it is low that corresponding boundary line detection sensitivity includes that a high sensitivity adds the some time the most accordingly
Sensitivity.The corresponding highly sensitive combination of high impulse can be told that intelligent grass-removing there is currently boundary line, so will not contract
The detecting distance in minor face boundary line.Low pulse then can filter out most interference signal with the combination of low detection sensitivity,
Improve capacity of resisting disturbance.But owing to the transmitting signal bulk strength of boundary line reduces, therefore, boundary line interference from each other
Ability also correspondingly reduces.
It is to say, in most of the time in a period of time T, pulse circuit module launches low pulse, detection
The sensitivity of circuit module is set to low, and environment noise is difficult to detected circuit module and recognizes, thus in the most of the time,
Testing circuit module has preferable interference free performance.In this most of the time, if intelligent grass-removing distance border is relatively near,
Low pulse signal then can be detected；If distance boundary line is farther out, then will can't detect low pulse signal, it is impossible to based on low arteries and veins
Rush signal to judge whether self is positioned in working region.But, as supplementing, during fraction in a period of time T
In between, pulse circuit module launches high impulse, the sensitivity of testing circuit module is set to height, and this can ensure that intelligent grass-removing
Even if distance boundary line is farther out, testing circuit module also can regularly detect high pulse signal, it is judged that whether self is positioned at work
Make in region.In order to maintain the stability of necessity, in one second, high pulse signal at least occurs once.
Generally, the sensitivity when detecting low pulse of the testing circuit module is less than sensitivity during detection high impulse.But,
In one embodiment, the sensitivity of testing circuit module can adjust in real time according to environment interference situation, such as, at detection height
During pulse signal, if noise is relatively strong, then can turn down sensitivity, thus cause in extreme circumstances, during detection high pulse signal
Sensitivity particular moment less than detection low pulse signal time sensitivity.But now, detection low pulse signal time sensitive
Degree reference value, upper and lower bound are still respectively lower than sensitivity reference value when detecting high impulse, upper and lower bound.
In period of time T, the combination of low frequency high impulse and the low pulse of altofrequency is in the situation not increasing out-of-bounds risk
Under, reduce interfering of boundary line, and reduce the overall energy consumption of boundary line.Specifically, in intelligent grass-removing distance
Border farther out when, it is impossible to quickly go out border, the most only detect that the high pulse signal of lower frequency there will not be greatly
Out-of-bounds risk；And when intelligent grass-removing distance border is nearer when, it is possible to high pulse signal and low pulse signal detected,
The most now based on sideband signal be confirmed whether to be positioned at the frequency within boundary line compare distance border farther out when improve
A lot, can turn back back in boundary immediately after finding fuselage sections out-of-bounds, will not significantly out-of-bounds.Simultaneously as the master of sideband signal
Body is low pulse signal, and intensity is low, and coverage is little, less easily produces and interfere between multiple boundary systems；And detection
Circuit module mainly detects sideband signal under muting sensitivity state, the most less easily by noise jamming, thus the biggest
Width reduces boundary line and interferes.Also due to the main body of sideband signal is the low pulse signal that energy consumption is low, impulse circuit mould
The overall energy consumption of block is low；Further, owing to the area of effective coverage of high pulse signal therein is big, this programme also ensures that in big face
Availability in long-pending working region, it is especially desirable to pointing out, if not using this programme, but passing through in large area working region
The mode of the intensity increasing whole signal ensures to cover whole working region, and its energy consumption and adjacent boundary interference may be arrived greatly
It is difficult to accept.
In another embodiment of the invention, aforementioned high pulse signal is different with the form of low pulse signal.Such as, two kinds
The waveform of signal is different, such as the difference two kinds in respectively square wave, triangular wave, sine wave etc.；And for example, the pulsewidth of two kinds of signals is not
With etc..It is high impulse or low pulse that testing circuit module can identify the signal received according to the form of signal, and this is real
That executes example one of the advantages is that the detection cycle need not be divided into muting sensitivity part and Gao Ling by testing circuit module in time
Sensitivity part, and carry out subsequent treatment after high impulse and low pulse separation can be opened.In various embodiments above, at detection electricity
When road module is able to detect that low pulse, represents intelligent grass-removing close to boundary line, it is impossible to when low pulse being detected, represent intelligence
Energy hay mover is from boundary line farther out.Intelligent grass-removing can change working method based on this judgement, such as, in distance boundary line
The speed of travel is reduced, it is to avoid go out out-of-bounds etc. time nearer.
With the pulse signal identification system of upper border line, pulse signal is the impulse wave that height pulse is alternate, just pulse
Combination can effectively shorten the distance of two boundary lines, Distance Shortened between two boundary lines specifically can be made within 1 meter, have
Improve to effect the experience of client.
As it is shown in figure 5, testing circuit module includes detector unit 121 in the pulse signal system of the boundary line of an embodiment
With control unit 122.Testing circuit module can be installed in intelligent grass-removing, by testing circuit module, intelligent grass-removing
Can the most quickly identify boundary line signal.
Detector unit 121 is used for receiving ambient signal and ambient signal being carried out multiple amplification.Outside ambient signal can be
The various signals on boundary, including the pulse signal of boundary line transmission.When ambient signal carries out multiple amplification, the multiple of amplification is permissible
It is fixing, it is also possible to be regulation of floating.
The control unit 122 being connected with detector unit detects arteries and veins the ambient signal after amplifying from detector unit 121
Rush the high pulse signal of signal to identify boundary line.If the multiple of the amplification in detector unit is fixing, then control unit
By the accuracy of the boundary line that the range value of contrast_environment signal identifies with detection with the size of predetermined value, and in the standard identified
When exactness reaches desired value, the size of fixing predetermined value.The size of predetermined value can change adjustment, and control unit 122 can depend on
The size of secondary ascending adjustment predetermined value, and when the range value receiving ambient signal is same or like, fixing predetermined value
Size.Control unit 122 can also the size of descending adjustment predetermined value, and identical at the range value receiving ambient signal
Or time close, the size of fixing predetermined value.If needing ascending adjustment predetermined value, then need the initial value of predetermined value
Arrange is the most a little bit smaller, and the end value after gradually tuning up can be the lowest amplitude value of the high pulse signal of regulation, or more
Big value；If needing descending adjustment predetermined value, it would be desirable to arranged by the initial value of predetermined value is slightly bigger, and in advance
The minima of the initial value of definite value needs the lowest amplitude value of the high pulse signal more than or equal to regulation.If in detector unit
The multiple of amplification can float adjustment, then control unit 122 can dynamically adjust the multiple that detector unit 121 is amplified,
And pass through the accuracy of the boundary line that the range value of contrast_environment signal identifies with detection with the size of predetermined value.Wherein, control
While unit 122 dynamically adjusts the multiple that detector unit 121 is amplified, adjust the size of predetermined value, and at the environment letter received
Number range value same or like time, fixing multiple and the size of predetermined value.When specifically arranging multiple and predetermined value, if working as
Do not receive ambient signal under front predetermined value, illustrate amplify after signal intensity the highest, can ascending adjustment multiple,
Further ambient signal is amplified, if receiving ambient signal under current predetermined value, illustrate that ambient signal amplifies times
Number is the most sufficiently large, if the range value of the ambient signal now received is unequal or close, illustrates that predetermined value is less, now
Can the size of ascending adjustment predetermined value.
As shown in Figure 6, the pulse signal recognition methods of the boundary line of an embodiment includes that step S110 is to step S150.
Step S110, receives ambient signal.Ambient signal includes receiving when intelligent grass-removing works in boundary line
Pulse signal on boundary line, also includes the various signals of outside, such as alternating current wires signal, the intelligent grass-removing limit of other companies
Boundary line signal, the fence etc. of pet dog.As it is shown on figure 3, the pulse signal on boundary line can be by a high impulse letter
Number continuous signal started, or as shown in Figure 4, pulse signal can also be the continuous letter by a low pulse signal
Number.In order to ensure while can detecting boundary line, the most fully reduce the interference between boundary line, generate in cycle T
High pulse signal less than low pulse signal.Generally in cycle T, the number of high pulse signal far fewer than low pulse signal
Number.In order to significantly distinguish high pulse signal and low pulse signal, can be to the amplitude of high pulse signal Yu low pulse signal
Value is configured, it is stipulated that the lowest amplitude value of high pulse signal and the high amplitude value of low pulse signal, and high pulse signal
Lowest amplitude value is more than the high amplitude value of low pulse signal.So, in the time period including multiple cycle T, the height of generation
The range value of pulse signal is all not less than the lowest amplitude value set, and the range value of the low pulse signal of generation is no more than setting
High amplitude value, can significantly distinguish high impulse or low pulse, boundary line is recognized accurately.Such as Fig. 3 Yu Fig. 4 institute
Showing, boundary line signal mode includes that a high impulse adds several low pulses, and corresponding boundary line detection sensitivity is the most corresponding
Some time muting sensitivity is added including a high sensitivity.The corresponding highly sensitive combination of high impulse can be given and be told intelligence mowing
Machine there is currently boundary line, so will not shorten the detecting distance of boundary line.The combination of low pulse and low detection sensitivity is then
Most interference signal can be filtered out, improve capacity of resisting disturbance.But owing to the transmitting signal bulk strength of boundary line reduces
, therefore, boundary line interference performance from each other also correspondingly reduces.
Step S120, carries out multiple amplification to ambient signal.The generally intensity of ambient signal is relatively low, is unfavorable for detecting border
Letter signal, accordingly, it would be desirable to be amplified boundary line signal.
Step S130, receives the range value ambient signal more than or equal to predetermined value.By the range value of ambient signal with pre-
Definite value contrasts, and can be filtered out by non-sideband signal.When hay mover works in boundary line, the signal that boundary line produces leads to
It is often that intensity is the strongest, therefore, sideband signal can be detected by arranging of predetermined value.
Step S140, the range value of the ambient signal that detection receives is the most same or like.The ring eventually received
The range value of border signal can be identical, it is also possible to is maintained at certain fluctuation area, if the amplitude of ambient signal on the whole
Value is all higher than the lowest amplitude value of the pulse signal arranged, then explanation interference signal is all filtered.
Step S150, if the range value of the ambient signal detected is not same or like, then adjusts the big of predetermined value
Little, and enter step S130, until the range value of the ambient signal detected is same or like.The size of predetermined value can become
Dynamic adjust, 2 can the size of the most ascending adjustment predetermined value, and same or like at the range value receiving ambient signal
Time, the size of fixing predetermined value.Can also the size of descending adjustment predetermined value, and receiving the range value phase of ambient signal
With or close time, the size of fixing predetermined value.If needing ascending adjustment predetermined value, then need predetermined value is initial
It is the most a little bit smaller that value is arranged, and the end value after gradually tuning up can be the lowest amplitude value of the high pulse signal of regulation, or
Bigger value；If needing descending adjustment predetermined value, it would be desirable to arranged by the initial value of predetermined value is slightly bigger, and
The minima of the initial value of predetermined value needs the lowest amplitude value of the high pulse signal more than or equal to regulation.
With the pulse signal recognition methods of upper border line, pulse signal is the impulse wave that height pulse is alternate, just pulse
Combination can effectively shorten the distance of two boundary lines, Distance Shortened between two boundary lines specifically can be made within 1 meter, have
Improve to effect the experience of client.
As it is shown in fig. 7, the pulse signal recognition methods of the boundary line of another embodiment includes that step S120 is to step S1110
To step S1150.
Step S1110, receives ambient signal.Ambient signal includes receiving when intelligent grass-removing works in boundary line
Pulse signal on boundary line, also includes the various signals of outside, such as alternating current wires signal, the intelligent grass-removing limit of other companies
Boundary line signal, the fence etc. of pet dog.As it is shown on figure 3, the pulse signal on boundary line can be by a high impulse letter
Number continuous signal started, or as shown in Figure 4, pulse signal can also be the continuous letter by a low pulse signal
Number.
Step S1120, carries out multiple amplification to ambient signal.The generally intensity of ambient signal is relatively low, is unfavorable for detecting limit
Boundary's letter signal, accordingly, it would be desirable to be amplified boundary line signal.
Step S1130, receives the range value ambient signal more than or equal to predetermined value.By the range value of ambient signal with pre-
Definite value contrasts, and can be filtered out by non-sideband signal.When hay mover works in boundary line, the signal that boundary line produces leads to
It is often that intensity is the strongest, therefore, sideband signal can be detected by arranging of predetermined value.
Step S1140, the range value of the ambient signal that detection receives is the most same or like.The ring eventually received
The range value of border signal can be identical, it is also possible to is maintained at certain fluctuation area, if the amplitude of ambient signal on the whole
Value is all higher than the lowest amplitude value of the pulse signal arranged, then explanation interference signal is all filtered.
Step S1150, if the range value of the ambient signal detected is not same or like, then adjusts the multiple of amplification
With the size of predetermined value, and enter step S1120, until the range value of the ambient signal detected is same or like.Specifically
When arranging multiple and predetermined value, if not receiving ambient signal under current predetermined value, the signal intensity after amplifying is described the most not
Enough height, can ascending adjustment multiple, further ambient signal is amplified, if receiving environment under current predetermined value
Signal, illustrates that the multiple that ambient signal amplifies is the most sufficiently large, if the range value of ambient signal now received is unequal or
Person is close, illustrates that predetermined value is less, now can the size of ascending adjustment predetermined value.
With the pulse signal recognition methods of upper border line, pulse signal is the impulse wave that height pulse is alternate, just pulse
Combination can effectively shorten the distance of two boundary lines, Distance Shortened between two boundary lines specifically can be made within 1 meter, have
Improve to effect the experience of client.
Each technical characteristic of above example can combine arbitrarily, for making description succinct, not to above-described embodiment
In all possible combination of each technical characteristic be all described, but, as long as there is not lance in the combination of these technical characteristics
Shield, is all considered to be the scope that this specification is recorded.
Above example only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that, for the person of ordinary skill of the art,
On the premise of present inventive concept, it is also possible to make some deformation and improvement, these broadly fall into protection scope of the present invention.
Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (15)
1. a pulse signal identification system for boundary line, including pulse circuit module and testing circuit module, described pulse electricity
Road module is for generating the pulse signal of transmission on boundary line, it is characterised in that the pulse that described pulse circuit module generates
Signal includes:
At least one high pulse signal of generating in cycle T and with the some low pulse of described high pulse signal continuous distribution
Signal；Or
In cycle T generate some low pulse signals and between described some low pulse signals distribution one or more
High pulse signal；
Described testing circuit module receives the pulse signal that described pulse circuit module generates, and by detecting described pulse signal
High pulse signal or low pulse signal identification described in boundary line.
Pulse signal identification system the most according to claim 1, it is characterised in that: the form of described high pulse signal and institute
The form stating low pulse signal is different.
Pulse signal identification system the most according to claim 1, it is characterised in that: described high pulse signal is per second at least to be gone out
The most once.
Pulse signal identification system the most according to claim 1, it is characterised in that in the time period including multiple cycle T
In, the range value of the high pulse signal of described generation is not less than the lowest amplitude value set, the low pulse signal of described generation
Range value is not more than the high amplitude value set.
Pulse signal identification system the most according to claim 1, it is characterised in that described in cycle T generate described in
High pulse signal is less than described low pulse signal.
6. according to the arbitrary described pulse signal identification system of claim 1 to 5, it is characterised in that described testing circuit module
Including:
Detector unit, is used for receiving ambient signal and described ambient signal carrying out multiple amplification, and described external signal includes institute
State pulse signal；And
The control unit being connected with described detector unit, the ambient signal after amplifying from described detector unit, detection is described
The high pulse signal of pulse signal is to identify described boundary line.
Pulse signal identification system the most according to claim 6, it is characterised in that described environment is believed by described detector unit
Number carrying out multiple when amplifying, described multiple is fixing multiple, and described control unit is by contrasting the range value of described ambient signal
With the size of predetermined value to detect the accuracy of the described boundary line identified, and when the accuracy identified reaches desired value, Gu
The size of fixed described predetermined value.
Pulse signal identification system the most according to claim 7, it is characterised in that described control unit is described by contrast
During the accuracy of the described boundary line that the range value of ambient signal and the size of predetermined value identify with detection, described control unit depends on
The size of the secondary described predetermined value of ascending adjustment, and when the range value receiving described ambient signal is same or like, Gu
The size of fixed described predetermined value.
Pulse signal identification system the most according to claim 8, it is characterised in that described environment is believed by described detector unit
Number carrying out multiple when amplifying, described multiple is floating multiple, described control unit dynamically adjust that described detector unit amplifies times
Number, and by contrasting accurate with the described boundary line of detection identification of range value and the size of predetermined value of described ambient signal
Degree.
Pulse signal identification system the most according to claim 9, it is characterised in that described control unit dynamically adjusts institute
While stating the multiple that detector unit is amplified, adjust the size of described predetermined value, and in the amplitude of the described ambient signal received
When being worth same or like, fixing described multiple and the size of predetermined value.
11. 1 kinds of intelligent mowing systems, including intelligent grass-removing and boundary line, it is characterised in that also include claim 1-10
In arbitrary described pulse signal identification system, wherein said testing circuit module is positioned on described intelligent grass-removing, described arteries and veins
Rush circuit module and connect described boundary line.
The pulse signal recognition methods of 12. 1 kinds of boundary lines, it is characterised in that including:
Receive ambient signal；
Described ambient signal is carried out multiple amplification；
Receive the range value ambient signal more than or equal to predetermined value；
The range value of the described ambient signal that detection receives is the most same or like；
If the range value of the described ambient signal detected is not same or like, then adjust the size of described predetermined value, and
Enter the described reception range value step more than or equal to the ambient signal of predetermined value, until the described ambient signal detected
Range value is same or like.
13. pulse signal recognition methodss according to claim 12, it is characterised in that ascending be sequentially adjusted in described pre-
The size of definite value.
The pulse signal recognition methods of 14. 1 kinds of boundary lines, it is characterised in that including:
Receive ambient signal；
Described ambient signal is carried out multiple amplification；
Receive the range value ambient signal more than or equal to predetermined value；
The range value of the described ambient signal that detection receives is the most same or like；
If the range value of the described ambient signal detected is not same or like, then adjusts the multiple of described amplification and make a reservation for
The size of value, and enter described to described ambient signal being carried out the step of multiple amplification, until the described environment letter detected
Number range value same or like.
15. pulse signal recognition methodss according to claim 14, it is characterised in that the multiple of the described amplification of described adjustment
During with the size of predetermined value, if not receiving ambient signal under current predetermined value, the described multiple of the most ascending adjustment, if
Described ambient signal, the size of the described predetermined value of the most ascending adjustment is received under current predetermined value.
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| CN201510256205 | 2015-05-19 | ||
| CN2015102562050 | 2015-05-19 |
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| CN106168484B (en) | 2020-12-11 |
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