WO2013177919A1 - Working area definition and guidance method for controlling automatic device and system thereof - Google Patents

Abstract

A working area definition and guidance method for controlling an automatic device (2) and a system thereof. The system comprises a signal generation system (8) arranged on the automatic device (2), and a signal receiving system (3). The signal generation system (8) generates a magnetic field signal with the movement of the automatic device (2), and propagates same through the air; the signal receiving system (3) is connected to a cable (1), and the signal receiving system (3) detects at least one static or alternating magnetic field generated by the signal generation system (8) within a specific time; and the signal receiving system (3) transmits a processing signal to the automatic device (2) according to the magnetic field signal. The system has the advantages that the magnetic field signal generated by the signal generation system (8) does not need a specific frequency and phase relationship; the signal receiving system (3) can be conveniently extended to connect a plurality of closed cable loops, thereby subdividing a working area, so as to provide guidance information for the movement of the automatic device (2) among different areas; and a plurality of closed loops formed by the cable (1) can mutually cover and cross.

Description

Method and system for controlling work area definition and guidance of automatic equipment  Technical field

The present invention relates to a method and system for defining and guiding a work area for controlling an automatic device, and more particularly to a method and system for controlling the definition and guidance of a work area of an automatic lawn mower.

 Background technique

At present, the machines used for cleaning the floor and lawns in homes, public green spaces, etc. are generally powered by gasoline engines or civilian electricity, and work on the ground or grassland cleaning and nursing trimming with manual participation. However, gasoline engines emit exhaust gas to cause air pollution. Machines that require manual participation are labor intensive, and noise generated by the machine adversely affects both the operator and the environment. With the rapid development of information technology and mechatronics technology, it is possible to make robots enter daily applications.

At present, there are already floor cleaning robots and automatic lawn mowers on the market. The automatic lawn mowers used for lawn maintenance have the characteristics of low labor consumption, high safety and high automation. Some large foreign companies have already carried out automatic mowing robots. Preliminary research and the introduction of some self-powered mowing robot products, such as Robomow of Friendly Machines, Ambrigio Robo-Lawnmower of Zucchetti and Husqvarna Auto Mower from Electrolux Wait. These automated robots clean the ground or mow the lawn by moving it autonomously relative to the area in a work area that needs to be cleaned or trimmed. The electronic zone definition and guidance system is an integral part of ensuring that the robot is in the designated work area and is able to return correctly to the designated location when needed.

At present, there are already floor cleaning robots and automatic lawn mowers on the market. The automatic lawn mowers used for lawn maintenance have the characteristics of low labor consumption, high safety and high automation. Some large foreign companies have already carried out automatic mowing robots. Preliminary research and the introduction of some self-powered mowing robot products, such as Robomow of Friendly Machines, Ambrigio Robo-Lawnmower of Zucchetti and Husqvarna Auto Mower from Electrolux Wait. These automated robots clean the ground or mow the lawn by moving it autonomously relative to the area in a work area that needs to be cleaned or trimmed. The electronic zone definition and guidance system is an integral part of ensuring that the robot is in the designated work area and is able to return correctly to the designated location when needed.

According to the above mentioned prior documents, the cable of the determined range is connected to the signal generator, which is usually located at a fixed location (such as a base station), generates a magnetic field by applying a current to the cable, and is then mounted on the robot. The magnetic field detecting means detects the change of the magnetic field and thereby makes a manipulation command. In the above method, in order to be able to determine the position of the robot, it is necessary to apply two kinds of currents of different frequencies to the cable. If there are multiple cables, it is necessary to specify a strict phase relationship when applying current to different cables, so in the signal generator The design on the sensing device requires consideration of changes in the magnetic field in different frequency and phase relationships. In particular, when there are multiple cables, it is difficult to arbitrarily expand the number of cables and to subdivide the working area because of the strict phase relationship. Therefore, it is not easy to guide the robot in a clear direction.

 Summary of the invention

The present invention provides a work area defining method and guiding system for controlling an automatic device, particularly an automatic lawn mower. The signal generating system of the invention is installed on an automatic device, and can generate a static or alternating electromagnetic field during the movement, and the cable connected to the signal receiving system is defined as a working area range, and the plurality of cables can divide the working area into a plurality of sub-machines. The area guides the motion of the automatic device according to the magnetic field signals detected by the signal receiving system in different regions.

 In order to achieve the above object, the present invention is solved by the following technical solutions:

A method for controlling work area definition and guidance of an automatic device, comprising at least one signal generation system mounted on an automatic device, and at least one signal receiving system; the signal generation system moves with the automatic device to generate a magnetic field signal and pass through the air Propagating; the signal receiving system is connected with at least one cable, and the signal receiving system detects the magnetic field signal generated by the signal generating system during the moving or stationary process and transmitted through the air; the signal receiving system transmits a processing signal according to the detected magnetic field signal to An automatic device that directs the automatic device to move within the work area by at least one drive device; the signal generation system is mounted on the automatic device to generate at least one stationary or alternating magnetic field signal for a specified time.

 Preferably, the signal receiving system detects the magnetic field strength of the magnetic field generated by the signal generating system, and determines the distance of the automatic device from the cable based on the change in the magnetic field strength.

 Preferably, the signal receiving system is connected to the cable and forms a closed loop with the cable.

Preferably, the signal receiving system is connected to the second cable and the third cable, and the signal receiving system forms a second closed loop and a third closed loop respectively with the second cable and the third cable, and the closed loop, the second closed loop and the third closed loop divide the working area Multiple child work areas.

 Preferably, the closed loop, the second closed loop and the third closed loop are mono- or multi-turn.

 Preferably, the change in the magnetic field strength of the magnetic field generated by the signal generating system detected by the signal receiving system determines whether the automatic device is located inside or outside the closed loop.

Preferably, the signal receiving system transmits the detected magnetic field signal to the automatic device, and the control system of the automatic device drives the automatic device to move relative to the cable according to whether the automatic device is located inside or outside the closed loop.

Preferably, the signal receiving system processes the detected plurality of closed-loop acquired magnetic field information and transmits the information to the automatic device through the wireless communication module, and the control system of the automatic device drives the automatic device to move between the plurality of sub-working areas according to the detected magnetic field signal. .

 Preferably, the automated device is an automatically moving machine.

 Preferably, the automatic device is an automatic mowing device.

An automatic device work area defining and guiding system comprising at least one signal generating system mounted on an automatic device, and at least one signal receiving system, the automatic device comprising a driving device; the signal generating system moving with the automatic device to generate a magnetic field signal and passing Air transmission; the signal receiving system is connected with at least one cable, and the signal receiving system detects the magnetic field signal generated by the signal generating system during the moving or stationary process and propagates through the air; the signal receiving system transmits the detected magnetic field signal through the wireless communication module The wireless signal is transmitted to the automatic device; the signal generating system is installed on the automatic device to generate at least one static or alternating magnetic field in a specific time, and the signal receiving system detects the magnetic field signal transmitted through the air.

Preferably, the signal receiving system comprises at least one signal detecting unit, a signal processing unit and a wireless communication module, and the signal detecting unit is connected to the cable and forms a closed loop with the cable.

Preferably, the signal receiving system is connected to the second cable and the third cable, and the signal receiving system forms a second closed loop and a third closed loop respectively with the second cable and the third cable, and the closed loop, the second closed loop and the third closed loop divide the working area Multiple child work areas.

 Preferably, the automated device comprises a wheel and a drive, and a control unit with wireless communication.

 Preferably, the automated device is an automatically moving machine.

 Preferably, the automated device is an automatic mowing machine and the automatic mowing machine comprises a mowing blade.

 Preferably, the automated device is a surface cleaning machine.

The invention has the advantages that the magnetic field signal generated by the signal generating system does not need a specific frequency and phase relationship; the signal receiving system can be easily extended to connect multiple cable closed loops, thereby subdividing the working area, and the automatic device is between different working areas. The movement provides guidance information; the closed loops of the plurality of cables can overlap or intersect each other.

 DRAWINGS

Figure 1 shows an electronic zone definition and guidance system in accordance with the present invention.

2 is an electronic area defining and guiding system of Embodiment 2.

Figure 3 shows a path for the movement of an automated device within the work area.

Figure 4 shows a schematic diagram for the guidance of the system in Figure 1 along the boundary.

Figure 5 shows another schematic for the system in Figure 1 to be guided along a sub-area.

Figure 6 shows a schematic of the motion with an inaccessible area.

 detailed description

 The present invention will be further described in detail below with reference to the accompanying drawings 1-6 and the embodiments.

 Example 1

A mower single work area defining and guiding system, see Fig. 1, comprising at least one signal generating system 8 mounted on the automatic device 2, and a signal receiving system 3, the automatic device 2 comprising a driving device 10; a signal receiving system 3 and the connected cable 1 are used for the definition and division of the working area 21. The signal generating system 8 is mounted on the automatic device 2, and as the automatic device 2 moves, the signal generating system 8 usually has an oscillating circuit and a signal transmitting coil capable of generating a certain frequency alternating current, and the signal generating system 8 is in a certain area during operation. An alternating magnetic field signal is generated to generate a magnetic field signal and propagated through the air; the signal receiving system 3 is connected to a cable 1, and the signal receiving system 3 detects that the signal generating system 8 is generated during the moving or stationary process and is transmitted through the air. Magnetic field signal; cable 1 is used to determine the boundary of working area 21, and signal receiving system 3 is typically mounted in a fixed position. The signal receiving system 3 wirelessly transmits the detected magnetic field signal to the automatic device 2 via the wireless communication module 13 according to the detected magnetic field signal; the signal generating system 8 generates at least one static or alternating magnetic field in a specific time, by the signal The receiving system 3 detects a magnetic field signal propagating through the air. The signal receiving system 3 includes at least one signal detecting unit 11, a signal processing unit 12, and a wireless communication module 13, which is connected to the cable 1 and forms a closed loop with the cable 1.

The magnetic field signal received by the signal receiving system 3 is generated by the signal generating system 8 mounted on the automatic device 2, so that the received magnetic field strength is related to the relative position of the automatic device 2 and the cable 1. When the automatic device 2 is inside the working area 21 of the cable 1, the strength of the magnetic field induced by the cable 1 is small due to the counteracting action. When the automatic device 2 approaches the cable 1, the intensity of the received magnetic field gradually increases, reaching a maximum when crossing the cable 1. When the automatic device 2 straddles the cable 1 and away from the working area 21 surrounded by the cable 1, the strength of the received magnetic field gradually decreases, but is still larger than a certain extent within the working area 21 surrounded by the cable 1. This means that the signal receiving system 3 can judge that the automatic device 2 is located inside, critical or external to the working area 21 surrounded by the cable 1 based on the magnitude and trend of the detected magnetic field strength.

The signal receiving system 3 generally includes a signal detecting unit 11, a signal processing 12, and a wireless communication module 13. The boundary cable 1 for definition is usually connected to the signal detecting unit 11, detects the magnetic field signal generated by the signal generating system 8, and is subjected to signal processing and transmitted to the automatic device 2. In order to reduce the influence of other interferences on the system, the signal generating system 8 generally generates an alternating magnetic field of a certain frequency, and the detecting unit filters out the interference components and detects the alternating magnetic field of a certain frequency, and has strong anti-interference ability.

 image 3 It is a schematic diagram of the automatic device 2 reciprocating in the working area 21 enclosed by the cable 1. The automatic device 2 advances in a certain manner in the work area 21 according to the task undertaken, and when it approaches and crosses the cable 1, the signal receiving system 3 detects a rapidly increasing magnetic field strength, thereby judging that the automatic device 2 is crossing the boundary, and signals After the processing, the automatic device 2 is transmitted to the automatic device 2 through the wireless communication module 13, and the automatic device 2 is turned into the working area 21 again. This reciprocating causes the automatic device 2 to reciprocate in the working area 21 at all times.

Figure 4 shows a guiding route and method when the automatic device 2 needs to return to a designated place, such as a base station. The automatic device 2 advances in a certain manner until it reaches the proximity and crosses the cable 1, at which time the signal detecting unit detects a strong magnetic field signal, and then enables the automatic device 2 to follow the boundary cable 1 according to a certain control algorithm. Advance in a zigzag manner. In general, zigzag movements are actually very limited. When the automated device 2 is advanced along the boundary cable, the zigzag behavior can be minimized using sensing elements and a good control algorithm.

The automatic device 2 is comprised of a wheel 7 and a drive unit 10, as well as a control unit 9 with wireless communication functionality. The control unit 9 receives the processing information transmitted from the signal receiving system 3 according to the detected magnetic field strength, and operates the wheel 7 to move the automatic device 2 by the driving device 10 according to the processed information. The control unit 9 can of course also have other tasks, such as control. Additional tools (if applicable lawn mowers) installed in the robot.

The automatic device 2 is an automatically moving machine having wheels 7 and corresponding drive means 10, as well as a control unit 9 with wireless communication.

The automatic device 2 of the present embodiment is an automatic mowing machine, and the automatic mowing machine includes a mowing blade.

Example 2

A mower multi-work area defining and guiding system, as shown in FIG. 2, the structure is different from the embodiment 1 in that some contents are added on the basis of the embodiment 1, as follows, the embodiment 1 adopts a cable. 1, a working area 21 is formed, and the embodiment 2 adds two cables, that is, the second cable 5 and the third cable 6, on the basis of the cable 1, and of course, a plurality of cables, such as the cable 4, that is, the signal receiving system 3 is connected to the cable 1, the second cable 5 and the third cable 6, the cable 1, the second cable 5, the cable 6 constitute a closed loop, a second closed loop and a third closed loop, and the closed loop, the second closed loop and the third closed loop will work the working area 21 Divided into multiple sub-work areas. The cable 1, the second cable 5 and the third cable 6 can be connected to the same signal detecting unit 11, or can be connected to the respective independent signal detecting units 11. Different cables may be included with each other or may cross each other, which is an advantage of the system implemented in accordance with the present invention.

Figure 5 shows another route and method of directing the automatic device 2 back to the base station. In this method, the work area 21 is divided into a plurality of sub-work areas by a plurality of cables, in particular a sub-work area therein, such as an area enclosed by the cable 4, indicating the location at which the automatic equipment 2 needs to be returned. When the automatic device 2 needs to return to the designated location, the automatic device 2 can be sequentially entered into a certain sub-working area according to a certain control algorithm, and finally returned to the vicinity of the base station without returning along the boundary. Therefore, the efficiency is better than the former method. .

 Example 3

A surface cleaning machine single work area defining and guiding system differs from Embodiment 2 in that the automatic apparatus of Embodiment 2 is a lawn mower, and the automatic apparatus 2 of the present embodiment is a surface cleaning machine.

Figure 6 shows a schematic diagram of avoiding the automatic device 2 entering a certain local area. The area enclosed by the second cable 5 is that the automatic device 2 is prohibited from entering for some reason. Therefore, the signal detection and signal processing unit can give a special mark to the magnetic field signal received by the cable to show the difference. According to a certain control algorithm, the automatic device 2 makes a U-turn back to the normal working area enclosed by the cable 1 when entering the area.

The above descriptions are only preferred embodiments of the present invention, and all changes and modifications made by the scope of the present invention should be covered by the present invention.

Claims (17)

1. A method for controlling work area definition and guidance of an automatic device, comprising at least one signal generation system (8) and at least one signal receiving system (3) mounted on an automatic device (2); a signal generation system (8) With the automatic device (2) moving, a magnetic field signal is generated and propagated through the air; the signal receiving system (3) is connected with at least one cable (1), and the signal receiving system (3) detects that the signal generating system (8) is moving or stationary. a magnetic field signal generated by the air during the process; the signal receiving system (3) wirelessly transmits a processing signal to the automatic device (2) according to the detected magnetic field signal through the wireless communication module (13); the automatic device (2) The automatic device (2) is guided to move within the working area (21) by at least one drive device (10); characterized in that the signal generating system (8) is mounted on the automatic device (2) to generate at least one stationary time within a certain time Or alternating magnetic field signals.
2. A method for controlling work area definition and guidance of an automatic device according to claim 1, characterized in that the signal receiving system (3) detects the magnetic field strength of the magnetic field generated by the signal generating system (8), according to The change in magnetic field strength is used to determine the distance of the automatic device (2) from the cable (1).
3. A method for controlling the definition and guidance of a working area of an automatic device according to claim 1, characterized in that the signal receiving system (3) is connected to the cable (1) and forms a closed loop with the cable (1).
4. A method for controlling the working area defining and guiding of an automatic device according to claim 3, characterized in that the signal receiving system (3) is connected to the second cable (5) and the third cable (6), the signal The receiving system (3) forms a second closed loop and a third closed loop respectively with the second cable (5) and the third cable (6), and the closed loop, the second closed loop and the third closed loop divide the working area (21) into a plurality of sub working areas. .
5. A method for controlling work area definition and guidance of an automatic device according to claim 4, wherein the closed loop, the second closed loop and the third closed loop are single or multi-turn.
6. A method for controlling the definition and guidance of a working area of an automatic device according to claim 1, characterized in that the magnetic field intensity of the magnetic field generated by the signal generating system (8) detected by the signal receiving system (3) To determine whether the automatic device (2) is located inside or outside the closed loop.
7. A method for controlling work area definition and guidance of an automatic device according to claim 6, wherein the signal receiving system (3) processes the detected magnetic field signal and transmits it to the automatic device (2). The control system of the automatic device (2) drives the automatic device (2) to move relative to the cable (1) depending on whether the automatic device (2) is located inside or outside the closed loop.
8. A method for controlling work area definition and guidance of an automatic device according to claim 4, wherein the signal receiving system (3) processes the detected plurality of closed-loop acquired magnetic field signals and transmits them to the automatic The device (2), the control system of the automatic device (2) drives the automatic device (2) to move between the plurality of sub-working areas.
9. A method for controlling the definition and guidance of a work area of an automatic device according to claim 1, characterized in that the automatic device (2) is an automatically moving machine.
10. A method for controlling the definition and guidance of a work area of an automatic device according to claim 1, characterized in that the automatic device (2) is an automatic mowing device.
11. An automatic equipment work area defining and guiding system comprising at least one signal generating system (8) mounted on an automatic device (2) and at least one signal receiving system (3), the automatic device (2) comprising a driving device (10) The signal generation system (8) moves with the automatic device (2), generates a magnetic field signal and propagates through the air; the signal receiving system (3) is connected with at least one cable (1), and the signal receiving system (3) detects the signal generating system (8) a magnetic field signal generated during the moving or stationary process and transmitted through the air; the signal receiving system (3) wirelessly transmits the detected magnetic field signal to the automatic device (2) through the wireless communication module (13), The signal is that the signal generating system (8) is mounted on the automatic device (2) to generate at least one stationary or alternating magnetic field for a specific time, and the signal receiving system (3) detects the magnetic field signal transmitted through the air.
12. An automatic device work area defining and guiding system according to claim 11, characterized in that the signal receiving system (3) comprises at least one signal detecting unit (11), a signal processing unit (12) and a wireless communication module (13). The signal detecting unit (11) is connected to the cable (1) and forms a closed loop with the cable (1).
13. The automatic equipment work area defining and guiding system according to claim 12, characterized in that the signal receiving system (3) is connected to the second cable (5) and the third cable (6), and the signal receiving system (3) The second cable (5) and the third cable (6) respectively form a second closed loop and a third closed loop, and the closed loop, the second closed loop and the third closed loop divide the working area (21) into a plurality of sub working areas.
14. An automatic equipment work area defining and guiding system according to claim 11, characterized in that the automatic device (2) comprises a wheel (7) and a driving device (10), and a control unit with wireless communication function (9) ).
15. An automatic equipment work area defining and guiding system according to claim 14, characterized in that the automatic device (2) is an automatically moving machine.
16. An automatic equipment work area defining and guiding system according to claim 14, wherein the automatic equipment (2) is an automatic mowing machine and the automatic mowing machine comprises a mowing blade.
17. An automatic equipment work area defining and guiding system according to claim 14, characterized in that the automatic device (2) is a surface cleaning machine.

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