CN103197672A - Boundary signal identification method and boundary system thereof - Google Patents
Boundary signal identification method and boundary system thereof Download PDFInfo
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Abstract
The invention relates to a boundary signal identification method which is used for identifying whether a boundary signal received by an automatic walking device is a preset boundary signal which is sent to a boundary line by a signal generation unit. The boundary signal identification method includes the following steps: controlling the automatic walking device to start the work; detecting a magnetic filed signal in a range of the boundary line and generating a detection signal; processing the detection signal, and generating a processing signal; comparing the processing signal and a preset storage signal; and when the processing signal and the preset storage signal are the same, confirming the detected magnetic field signal as a preset magnetic filed signal. The preset boundary signal comprises an encode group which occurs intermittently, and the encode group is combined by at least a first state unit and a second state unit according to a preset encode regulation. The invention further relates to a boundary system which carries out the boundary signal identification method. The boundary signal identification method and the boundary system can effectively avoid interference of signals in surrounding environment.
Description
Technical field
The present invention relates to a kind of sideband signal recognition methods, particularly whether a kind of sideband signal of identifying is the sideband signal recognition methods of the sideband signal of native system.
The present invention relates to a kind of boundary system, particularly whether a kind of sideband signal of identifying is the boundary system of the sideband signal of native system.
Background technology
Along with science and technology development, the automatic walking arrangement of intelligence is known by people, because the program that automatic walking arrangement can set in advance is automatically carried out the inter-related task that sets 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 carrying out the robot of various functions, the application on the family product such as mower, suction cleaner etc., and the automatic walking arrangement of these intelligence has greatly been saved people's time, all brings great convenience to commercial production and life staying idle at home.
For guarantee that above-mentioned automatic walking arrangement works in the preset working scope, adopt boundary system that the walking path of automatic walking arrangement is controlled usually.Described boundary system comprises: signal generating unit produces default sideband signal; The boundary line electrically connects with signal generating unit, and default sideband signal conducts along the boundary line, and generates default field signal; Detecting signal unit is arranged in the described automatic walking arrangement, for detection of the field signal in the environment, and generates detection signal; Signal processing unit electrically connects with detecting signal unit, receives described detection signal, and described detection signal is handled, and generates processing signals; Control module receives described processing signals, and according to the information of described processing signals representative, confirm the position in automatic walking arrangement relative edge boundary line, control the automatic walking arrangement direction of travel of timely conversion when the crossing the boundary line of automatic walking arrangement, prevent that automatic walking arrangement from running to outside the boundary line, thereby automatic walking arrangement is worked in the boundary line all the time.The default sideband signal that early stage boundary system sends is pulse signal, the advantage of this kind sideband signal is that identification easily, but the problem that exists is that boundary system can't be distinguished from the pulse signal of sideband signal and the pulse signal of interference, make boundary system when receiving the pulse signal of interference, takeing for is sideband signal and the walking path of automatic walking arrangement being controlled according to its information of carrying, make that boundary system is easy to be interfered, and make false judgment, reduced the antijamming capability of boundary system.
The boundary system that the US Patent No. 6300737B1 that announces October 9 calendar year 2001 discloses has solved the weak technical matters of above-mentioned antijamming capability.Its mode of dealing with problems has been to provide a kind of sideband signal that comprises at least two sine wave signals, two sine wave signals are respectively that frequency is the primary sinusoid signal of 8K and second sine wave signal that frequency is 16K, for guaranteeing the relativeness of two signal stabilizations, two signals are carried out synchronously phase phasic difference 90 degree of two signals in starting point place from the starting point place.Detecting signal unit correspondingly detects first detection signal corresponding with primary sinusoid signal and second detection signal corresponding with second sine wave signal, because primary sinusoid signal and the second string ripple signal have fixing corresponding relation when primary sinusoid signal zero crossing, therefore first detection signal and second detection signal also have corresponding corresponding relation, control module during according to the first detection signal zero crossing second detection signal for just or bear to judge that automatic walking arrangement is in the boundary line still outside the boundary line, thereby control the walking path of automatic walking arrangement effectively, make it remain at work in the boundary line.Because sine wave signal has the strong advantage of antijamming capability compared to pulse signal, makes this boundary system can effectively overcome interference from outside signals, but in actual use, still has interference problem.Because in actual use, on two adjacent zones, there is the possibility of using this boundary system simultaneously, namely have first boundary system and second boundary system respectively on two adjacent zones, the formation of two boundary systems is above-mentioned with the boundary system of sine wave as sideband signal.In the case when the automatic walking arrangement of first boundary system runs to the close position in first boundary line and second boundary line, the automatic walking arrangement of first boundary system both can detect the signal of first boundary line, can detect the signal of second boundary line again.If when the automatic walking arrangement of first boundary system was in first boundary line at this moment, its relative second boundary line then was in the outside of second boundary line.At this moment, automatically walking arrangement had both detected first detection signal and second detection signal from first boundary line, and when the first detection signal zero crossing second detection signal for just; Detect simultaneously first detection signal and second detection signal from second boundary line again, and second detection signal is negative when the first detection signal zero crossing.Because first boundary system is identical with the formation of second boundary system, therefore can't distinguish a detection signal when control module detects first detection signal and second detection signal and second detection signal still is second boundary line from first boundary line, control module during according to the first detection signal zero crossing second detection signal for just or bear to judge that automatic walking arrangement is in the boundary line when still outer, judged result is that automatic walking arrangement not only is in outside the boundary line but also be in the boundary line, cause automatic walking arrangement to cause confusion, even quit work.In addition, in environment, there is sine wave signal A and the sine wave signal B that frequency is 32K that frequency is 16K, and from the starting point place two signals are carried out synchronously, when the phase phasic difference 90 of two signals in starting point place is spent, detecting signal unit correspondingly detects A ' and B ', and when signal A ' zero crossing, signal B ' is plus or minus.Control module judges that according to the corresponding relation of signal A ' and B ' automatic walking arrangement 2 is in outside the 3 interior still boundary lines 3, boundary line.Control module can according to its signal A ' that receives and B ' distinguish signal A and whether B is sideband signal, even causing signal A and B is not sideband signal, control module still can be controlled the walking path of automatic walking arrangement according to its information of carrying, thereby causes occurring false judgment.
Based on above-mentioned analysis as can be known, though US6300737B1 bulletin patent can the exclusive segment external interference from the signal form, can't thoroughly solve signal in the external environment to the interference of boundary system.
Summary of the invention
The technical matters that the present invention solves is: provide whether a kind of sideband signal of identifying is the sideband signal recognition methods of the sideband signal of native system.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of sideband signal recognition methods, whether described sideband signal recognition methods is the default sideband signal that signal generating unit sends to the boundary line for the sideband signal that the automatic walking arrangement of identification receives, default sideband signal generates default field signal along the boundary line conduction, and described sideband signal recognition methods comprises the steps: to control automatic walking arrangement startup work; Field signal in the detection boundaries line scope, and generate detection signal; Handle described detection signal, generate processing signals; Described processing signals and the storage signal of presetting are compared; When described processing signals is identical with the storage signal of presetting, confirm that detected field signal is default field signal; Described default sideband signal comprises the intermittent code set that occurs, described code set by at least the first state cell and second state cell according to the preset coding principle combinations, the signal of described default storage signal for being complementary with the preset coding rule.
Preferably, first state cell is the baseband signal that occurs according to first sequential rule, and second state cell is the baseband signal that occurs according to second sequential rule.
Preferably, first state cell is the baseband signal with first frequency, and second state cell is the baseband signal with second frequency.
Preferably, first state cell is the baseband signal with first amplitude, and second state cell is the baseband signal with second amplitude.
Preferably, described baseband signal is a kind of in monocyclic pulse signal, sine wave signal, triangular signal or the sawtooth signal.
Preferably, first state cell is high level signal, and second state cell is low level signal.
Preferably, described processing signals is the pulse sequence signal corresponding with the sequential of first state cell and the appearance of second state cell.
Preferably, described processing signals comprises first pulse sequence signal corresponding with the direction of described detection signal and second pulse sequence signal.
Preferably, first pulse sequence signal is opposite with the second pulse sequence signal direction.
Preferably, according to the sequential of first pulse sequence signal and the appearance of second pulse sequence signal, select first pulse sequence signal or second pulse sequence signal as the reference signal, described reference signal and the storage signal of presetting are compared.
The technical matters that the present invention also solves is: provide whether a kind of sideband signal of identifying is the boundary system of the sideband signal of native system.
For solving the problems of the technologies described above, technical scheme provided by the invention is: a kind of boundary system, whether the sideband signal that receives for the automatic walking arrangement of identification is the default sideband signal that signal generating unit sends to the boundary line, default sideband signal generates default field signal along the boundary line conduction, described boundary system comprises: detecting signal unit, be arranged in the described automatic walking arrangement, for detection of the field signal in the scope of boundary line, and generate detection signal; Signal processing unit electrically connects with detecting signal unit, receives described detection signal, and described detection signal is handled, and generates processing signals; Control module stores default storage signal, comprising: receiving trap, electrically connect with signal processing unit, and receive described processing signals; The signal comparison means electrically connects with receiving trap, and the receiving trap processing signals that receives and the storage signal of presetting are compared; Master control set electrically connects with the signal comparison means, when described processing signals is identical with the storage signal of presetting, confirms that detected field signal is default field signal; Described default sideband signal comprises the intermittent code set that occurs, described code set by at least the first state cell and second state cell according to the preset coding principle combinations, the signal of described default storage signal for being complementary with the preset coding rule.
Preferably, first state cell is the baseband signal that occurs according to first sequential rule, and second state cell is the baseband signal that occurs according to second sequential rule.
Preferably, first state cell is the baseband signal with first frequency, and second state cell is the baseband signal with second frequency.
Preferably, first state cell is the baseband signal with first amplitude, and second state cell is the baseband signal with second amplitude.
Preferably, described baseband signal is a kind of in monocyclic pulse signal, sine wave signal, triangular signal or the sawtooth signal.
Preferably, first state cell is high level signal, and second state cell is low level signal.
Preferably, described processing signals is the pulse sequence signal corresponding with the sequential of first state cell and the appearance of second state cell.
Preferably, described processing signals is first pulse sequence signal and second pulse sequence signal corresponding with the direction of described default sideband signal.
Preferably, first pulse sequence signal is opposite with the second pulse sequence signal direction.
Preferably, described control module also comprises signal selecting, described signal selecting receives the signal that described receiving trap transmits, and the sequential that occurs according to first pulse sequence signal and second pulse sequence signal, select the first train pulse signal or second pulse sequence signal as and the reference signal that compares of default storage signal, and selection result passed to the signal comparison means.
Beneficial effect of the present invention is: sideband signal recognition methods provided by the invention and boundary system thereof, by judging whether the magnetic field that automatic walking arrangement receives is the field signal of presetting, confirm whether the sideband signal that automatic walking arrangement receives is the sideband signal of presetting, thereby the sideband signal of non-native system is got rid of, improved the antijamming capability of system.
Description of drawings
Technical matters, technical scheme and the beneficial effect that above-described the present invention solves can be by the following detailed description that can realize preferable specific embodiment of the present invention, describes by reference to the accompanying drawings simultaneously and clearly obtains.
Identical label in accompanying drawing and the instructions is used for representative element identical or that be equal to symbol.
Fig. 1 is the synoptic diagram of the boundary system of preferred embodiments of the present invention;
Fig. 2 is the circuit module figure of boundary system shown in Figure 1;
Fig. 3 is the circuit module figure of the further refinement of boundary system shown in Figure 2;
Fig. 4 is first state cell of a kind of default sideband signal of boundary system shown in Figure 1 and the synoptic diagram of second state cell;
Fig. 5 is first state cell of the default sideband signal of the another kind of boundary system shown in Figure 1 and the synoptic diagram of second state cell;
Fig. 6 is the synoptic diagram of the boundary system signal that detection and Identification are arrived outside the boundary line of preferred embodiments of the present invention;
Fig. 7 is the synoptic diagram of the boundary system signal that detection and Identification are arrived in the boundary line of preferred embodiments of the present invention;
Fig. 8 is the process flow diagram of control module shown in Figure 1.
2 automatic walking arrangements, 5 inoperative zones
3 boundary lines, 6 signal generating units
The magnetic field that preset 4 perform regions 7
8 detecting signal units, 113 signal comparison means
9 signal processing units, 115 master control sets
11 control modules, 12 amplifiers
111 receiving traps, 14 first comparers
112 signal selectings, 16 second comparers
Embodiment
About detailed description of the present invention and technology contents, conjunction with figs. is described as follows, yet appended accompanying drawing only provides reference and explanation, and the present invention is limited.
Boundary system shown in Figure 1 comprises signal generating unit 6, automatic walking arrangement 2, boundary line 3.Boundary line 3 is used to form the perform region 4 that is positioned at boundary line 3 and the inoperative zone 5 that is positioned at outside the boundary line 3.Signal generating unit 6 electrically connects with boundary line 3, and signal generating unit 6 produces default sideband signal SC and sends to boundary line 3, produces default magnetic field 7 when default sideband signal SC flows through boundary line 3.Automatically walking arrangement 2 comprises detecting signal unit 8, signal processing unit 9 and control module 11.Detecting signal unit 8 is for detection of the magnetic field in the surrounding environment, and generation detection signal SC '.Signal processing unit 9 electrically connects with detecting signal unit 8, receives described detection signal SC ', and described detection signal SC ' is handled, and generates processing signals.Store default storage signal in the control module 11, this default storage signal and preset coding rule is complementary.
As shown in Figure 2, control module 11 further comprises receiving trap 111, comparison means 113, master control set 115.Receiving trap 111 is used for receiving the processing signals from signal processing unit 9 outputs.Comparison means 113 is used for processing signals and the storage signal of presetting are compared, and comparative result is exported to master control set 115.When the comparative result of comparison means 113 outputs was identical, master control set 115 confirmed that detected field signal is default field signal, and namely the sideband signal in the environment is the default sideband signal that signal generating unit 6 sends; When the comparative result of comparison means 113 outputs is inequality, master control set 115 confirms that detected field signal is not default field signal, be that sideband signal in the environment is not the default sideband signal that signal generating unit 6 sends, and processing signals is abandoned, it is not done any processing.
Default sideband signal SC comprises the intermittent code set that occurs, the time interval between code set and the code set can be the time value that changes, also can be for regular time be worth, as long as greater than single encoded group width and satisfy the calculation process speed of control module 11.The time value that changes realizes comparatively complicated, and regular time value realization is relatively easy, thereby the time interval is preferably the regular time value.A code set comprises the first state cell A and the second state cell B, and the first state cell A is different from the second state cell B, and these two status signals form a code set according to the preset coding principle combinations of storage in the signal generating unit 6.The preset coding regular expression be the first state cell A that comprises of a code set and the sum of the second state cell B, and the syntagmatic of the first state cell A and the second state cell B.For example, when preset coding rule be AAB, its expression be the first state cell A that comprises of a code set with the second state cell B add up to 3, and its syntagmatic is two first state cell A of first appearance, occurs second a state cell B then.Certainly the preset coding rule also can be ABBA, its expression this moment be the first state cell A that comprises of a code set and the second state cell B add up to 4, and its syntagmatic is to occur first a state cell A earlier, occur two second state cell B then, occur first a state cell A again.The preset coding rule can be set according to actual needs, and the cardinal rule of setting is to take into account the complexity of identification and avoid repeating with the sideband signal of on every side adjacent system.Preferably, the first state cell A that code set comprises in the present embodiment and the second state cell B add up to 2, and the preset coding rule that is stored in the signal generating unit can be among AA, AB, BA, the BB.
The first state cell A and the second state cell B form by baseband signal, and difference each other can be distinguished by sequential rule, frequency, amplitude.Wherein, the sequential rule referred in a period of time, the time point that baseband signal occurs.Baseband signal can be in the signal forms such as monocyclic pulse signal, sine wave signal, triangular signal or sawtooth signal a kind of.
When the first state cell A and the second state cell B distinguish mutually by sequential, the first state cell A is the baseband signal that occurs according to first sequential rule, the second state cell B is the baseband signal that occurs according to second sequential rule, the first sequential rule is different from the second sequential rule, and namely the first state cell A is different with the time point that the baseband signal of the second state cell B occurs.Below be example with the square-wave signal, the different of first sequential rule and the second sequential rule exemplarily are described, that is the first state cell A and the second state cell B's is different.As shown in Figure 4, in default time period T, comprise 3 time period t 1.The square-wave signal of the first state cell A occurs according to following first sequential rule: in the very first time section t1, high level signal occurs, in second time period t 1 and the 3rd time period t 1, low voltage signal all occurs.The square-wave signal of the second state cell B occurs according to following second sequential rule: in the very first time section t1, low level signal occurs, in second time period t 1, high level signal occurs, in the 3rd time period t 1, low level signal occurs.Under this state, the first state cell A is identical with the dutycycle of the second state cell B in Preset Time section T, only the time point difference of high level signal appearance.It is different that the first state cell A and the second state cell B also can dutycycles, as shown in Figure 5, comprises 3 time period t 1 in default time period T.The square-wave signal of the first state cell A occurs according to following first sequential rule: in very first time section t1 and second time period t 1, high level signal all occurs, in the 3rd time period t 1, low level signal occurs.The square-wave signal of the second state cell B occurs according to following second sequential rule: in the very first time section t1, high level signal occurs, in second time period t 1 and the 3rd time period t 1, low level signal all occurs.In Fig. 4 and Fig. 5, only exemplarily illustrated, the different first state cell A that cause of first sequential rule and the second sequential rule are different with the second state cell B's, and the regular and second sequential rule of the first different sequential that other modes of texturing obtain also belongs to scope of the present invention.
When the first state cell A and the second state cell B distinguish mutually by frequency, the first state cell A is the baseband signal with first frequency, the second state cell B is the baseband signal with second frequency, first frequency is different from second frequency, can become the arbitrary proportion relation each other, be preferably both frequency value difference more than 1 times.
When the first state cell A and the second state cell B distinguish mutually by amplitude, the first state cell A is the baseband signal with first amplitude, the second state cell B is the baseband signal with second amplitude, first amplitude is different from second amplitude, can become the arbitrary proportion relation each other, the amplitude that is preferably both differs more than 1 times.
More than illustrated how to distinguish the first state cell A and the second state cell B from different three angles of sequential difference, frequency difference, amplitude, final purpose is in order to make the state cell A that wins different with the second state cell B.In order to reach this purpose, can be high level signal as the first state cell A by some other simple mode also, the second state cell B is low level signal; For another example, the first state cell A is monocyclic baseband signal, and the second state cell B is that amplitude is zero signal etc.
Signal processing unit 9 is processed into processing signals with the detection signal SC ' that receives, preferably, processing signals is the pulse sequence signal corresponding with the sequential of the first state cell A and second state cell B appearance, is convenient to identification and the processing of 11 pairs of processing signals of control module.When the first state cell A and the second state cell B are inequality on the sequential rule, signal processing unit 9 is set to identify the sequential of the baseband signal that comprises of the first state cell A ' and the second state cell B ', thereby identify the sequential that the first state cell A ' and the second state cell B ' occur, and then identify the sequential that the first state cell A and the second state cell B occur, generate the pulse sequence signal corresponding with the sequential of the first state cell A and second state cell B appearance.When the first state cell A and the second state cell B are inequality on frequency, signal processing unit 9 is set to identify the frequency of the baseband signal that comprises of the first state cell A ' and the second state cell B ', thereby identify the sequential that the first state cell A ' and the second state cell B ' occur, and then identify the sequential that the first state cell A and the second state cell B occur, generate the pulse sequence signal corresponding with the sequential of the first state cell A and second state cell B appearance.When the first state cell A and the second state cell B are inequality on amplitude, signal processing unit 9 is set to identify the amplitude of the baseband signal that comprises of the first state cell A ' and the second state cell B ', thereby identify the sequential that the first state cell A ' and the second state cell B ' occur, and then identify the sequential that the first state cell A and the second state cell B occur, generate the pulse sequence signal corresponding with the sequential of the first state cell A and second state cell B appearance.When the first state cell A and the second state cell B are different on other parameters, signal processing unit 9 relative set have the sequential of the baseband signal appearance of this parameter for identification, thereby identify the sequential that the first state cell A ' and the second state cell B ' occur, and then identify the sequential that the first state cell A and the second state cell B occur, generate the pulse sequence signal corresponding with the sequential of the first state cell A and second state cell B appearance.Concrete recognition method can be mimic channel, or digital circuit, or the combination of digital circuit and mimic channel etc.
Below in conjunction with Fig. 6 and Fig. 7, be the square-wave signal with first sequential rule with the first state cell A, the second state cell B is that the square-wave signal with second sequential rule is example, and the embodiment of signal processing unit 9 is illustrated.
As the default sideband signal SC of Figure 6 and Figure 7, it comprises a plurality of code set that cyclical intermission occurs, and the time interval between code set and the code set is 13ms.The first state cell A that each code set comprises and the second state cell B add up to 4, and wherein the number of the first state cell A and the second state cell B is respectively two, and the syntagmatic of the first state cell A and two second state cell B is ABBA.The first state cell A and the second state cell B all have the width that the time period is T, and T exemplarily value is 300us, and time period T comprises 3 time period t, and the value of time period t is 100us.The first state cell A high level signal occurs in first time period t, the second state cell B high level signal occurs in second time period t.3 inside and outside generation has rightabout default magnetic field to default sideband signal SC in the boundary line behind boundary line 3.Magnetic field in the environment generates behind detecting signal unit 8 has rightabout detection signal SC '.Signal SC ' shown in Figure 6 shows automatic walking arrangement 2 beyond boundary line 3, signal SC ' shown in Figure 7 show automatic walking arrangement 2 in the boundary line 3 with interior detection signal SC '.
As shown in Figure 3, signal processing unit 9 further comprise the amplifier 12 that electrically connects with detecting signal unit 8, with first comparer 14 and second comparer 16 that amplifier 12 electrically connects, wherein the output electric property of first comparer 14 and second comparer 16 is connected to control module 11.Amplifier 12 is used for the detection signal SC ' that detecting signal unit 8 transmits is amplified, and generates the signal SA as shown in Fig. 6 and Fig. 7.Signal SA is with respect to the whole upwards translation of detection signal SC '.Signal SA after the amplification further passes to first comparer 14 and second comparer 16.First comparer 14 is set to high level comparator, and second comparer 16 is set to low-level comparator.First comparer 14 has the first reference voltage RH, and second comparer 16 has the second reference voltage RL, and the first reference voltage RH is higher than the second reference voltage RL.For first comparer 14, when the amplitude of signal SA is higher than the first reference voltage RH, first comparer, 14 output high level signals, otherwise, when the amplitude of signal SA is lower than the first reference voltage RH, first comparer, 14 output low level signals.For second comparer 16, when the amplitude of signal SA is higher than the second reference voltage RL, second comparer, 16 output high level signals, otherwise, when the amplitude of signal SA is lower than the second reference voltage RL, second comparer, 16 output low level signals.It will be understood by those skilled in the art that, relatively the sequential of the high level signal of first comparer 14 and 16 outputs of second comparer and low level signal can learn that the amplitude on the signal SA is that RH and amplitude are the sequential that two unique points of RL occur, and this shows that first comparer 14 and second comparer 16 monitored the sequential that two unique points on the signal SA occur.Signal SA generates signal SH and passes to control module 11 behind first comparer 14, signal SA generates signal SL and passes to control module 11 behind second comparer 16, signal SH and the SL of the signal of SH and SL as shown in Fig. 6 and Fig. 7.SH signal shown in the comparison diagram 6 and SL signal as can be known, the time point that high level appears in signal SH low level time point occurs prior to signal SL.Correspondingly, the unique point that amplitude is RH appears earlier in the signal SA among Fig. 6, after the unique point that amplitude is RL appears, namely the direction of signal SA is earlier to go up afterwards.SH signal shown in the comparison diagram 7 and SL signal as can be known, the time point that low level time point occurs prior to signal SH high level appears in signal SL.Correspondingly, the unique point that amplitude is RL appears earlier in the signal SA among Fig. 7, after the unique point that amplitude is RH appears, namely the direction of signal SA is for getting on, get off.
This shows that can learn the direction of detection signal SC ' by the sequential of comparison signal SH and signal SL, namely the direction of processing signals SH and SL and detection signal SC ' has corresponding relation.It will be understood by those skilled in the art that, when the comparer in the signal processing unit 9 arranges abundantly, processing signals can be the signal corresponding with the every bit of detection signal SC ', thereby makes processing signals corresponding with the waveform of detection signal SC '.But for for simplicity, selected to arrange in the signal processing unit 9 mode of two comparers in the present embodiment.
As shown in Figure 3, control module 11 receives from the output signal SH of first comparer 14 with from the output signal SL of second comparer 16 by receiving trap 111.Comparison means 113 compares signal SH and signal SL with the storage signal of presetting, and comparative result is exported to master control set 115 with the form of signal.When the comparative result of comparison means 113 outputs was identical, master control set 115 confirmed that detected field signal is default field signal, confirmed that namely the sideband signal in the environment is the default sideband signal that signal generating unit 6 sends; When the comparative result of comparison means 113 outputs is inequality, master control set 115 confirms that detected field signal is not default field signal, confirm that namely the sideband signal in the environment is not the default sideband signal that sends for signal generating unit 6, and processing signals abandoned, it is not done any processing.Be to simplify the structure of signal comparison means 113 and the form of default storage signal, control module 11 can be between receiving trap 111 and signal comparison means 113 signalization selecting arrangement 112.Signal selecting 112 is used for receiving the signal from receiving trap 111, sequential according to signal SH and signal SL appearance, select signal SH or signal SL as and the signal that compares of default storage signal, and selection result passed to signal comparison means 113.Accordingly, Yu She sideband signal also is the set of pulses sequence signal corresponding with selecteed signal.Thus, signal comparison means 113 only needs one group of signal is compared, and has saved the resource of control module 11.
Below, in conjunction with Fig. 8, the process that the control module 11 of automatic walking arrangement 2 is identified default sideband signal SC is elaborated.
Step S0 is, and control module 11 carries out initialization.Enter step S2, receive the processing signals that signal processing unit 9 transmits.Enter step S4, judge whether to receive a pair of processing signals, namely receive pulse signal and the downward pulse signal of signal SL that signal SH makes progress.Among the step S4, when judged result when being, enter step S6, otherwise, when judged result for not the time, return step S2.Among the step S6, the sequential that control module 11 occurs according to processing signals SH and SL is identified automatic walking arrangement 2 relative edge boundary lines 3 and is in the boundary line still outside the boundary line.When the time point of signal SH appearance pulse signal upwards the time point of downward pulse signal occurs prior to signal SL, judge that automatic walking arrangement 2 is in outside the boundary line 3; When the time point of the downward pulse signal of signal SL appearance the time point of pulse signal upwards occurs prior to signal SH, judge that automatic walking arrangement 2 is in the boundary line 3.Enter step S7, the record recognition result.Enter step S8, wait for a pair of processing signals down, namely wait for receiving pulse signal and the downward pulse signal of signal SL that signal SH makes progress next time.Enter step S10, judge to receive a pair of processing signals again and last time whether received the mistiming of a pair of processing signals less than Preset Time value T1.Preset Time value T1 carries out relative set according to the form of default sideband signal.In the present embodiment, T1 is set to 1ms.Among the step S10, if judged result, illustrate that afterwards a pair of processing signals belongs to last to the specific coding group under the processing signals for being, that is belong to the interior signal of a code set and all do not receive as yet, need to continue to receive, therefore return step S8 and continue to wait for a pair of processing signals down; Otherwise, if the judged result among the step S10 is for denying, illustrate that a pair of processing signals in back does not belong to last to the specific coding group under the processing signals, but belong to a new code set, that is the signal that belongs in the code set all receives, next need the processing signals that has received is further processed, therefore enter step S12.Among the step S12, judge whether the logarithm of the processing signals received reaches preset value n, judge that namely signal SH the number of times that downward pulse signal appears in pulse signal upwards and signal SL occurs and whether reaches preset value n.Preset value n carries out relative set according to the preset coding rule, and in the present embodiment, the preset coding rule is: the first state cell A that code set comprises and the second state cell B add up to 4, so preset value n is set to 4.Among the step S12, if judged result illustrates that for not the processing signals that receives can not be identical with default storage signal, therefore all processing signals that will receive all abandon, and therefore return step S2, restart to receive processing signals; Otherwise, if judged result is for being to enter step S14.Among the step S14, according to the recognition result of record in a pair of processing signals SH that receives and SL, select one of them as and the reference signal that compares of default storage signal.The foundation of selecting is: in step S7, if the recognition result of record is automatic walking arrangement 2 when being in the boundary line 3, select signal SH as the reference signal; In step S7, if being automatic walking arrangement 2, the recognition result of record is in boundary line 3 when outer, selection signal SL is as the reference signal.The result of the sequential identification that the recognition result that records among the step S7 a pair of pulse sequence signal SH that to be control module 11 comprise according to processing signals and SL occur, therefore, according to the recognition result of record select signal SH or SL as the reference signal be the sequential that occurs according to pulse sequence signal SH and SL select one of them as and the reference signal that compares of default storage signal.Subsequently, enter step S16, reference signal and the storage signal of presetting are compared.Enter step S18, judge whether reference signal is consistent with default storage signal, if judged result for being, enters step S20, if judged result enters step S22 for not.Among the step S20, control module 11 confirmation signal detecting units 8 detected field signals are default field signal, that is the sideband signal in the environment is the default sideband signal that signal generating unit 6 sends.Among the step S22, control module 11 confirmation signal detecting units 8 detected field signals are not default field signal, that is the sideband signal in the environment is not default sideband signal.
Description by said process as can be known, when the sideband signal in the environment was the sideband signal of presetting, the information that control module 11 further carries according to processing signals was controlled automatic walking arrangement 2 and is carried out corresponding work; When the sideband signal in the environment is not the sideband signal of presetting, control module 11 is ignored processing signals, can not change any work that automatic walking arrangement 2 is being carried out according to the information that processing signals is carried, but continue to wait for the appearance of next processing signals.By processing signals and the storage signal of presetting are compared, judge that whether sideband signal in the environment is the step of the sideband signal SC that presets, making automatic walking arrangement 2 can identify which signal is the sideband signal of presetting, which signal is not the sideband signal of presetting, thereby the undesired signal that will not be the sideband signal preset is got rid of, prevent undesired signal to the interference of system, improve the antijamming capability of system.
In the present invention, automatic walking arrangement 2 can be various ways such as mower, suction cleaner, industrial robot.When walking arrangement 2 is mower automatically, also further comprise cutting mechanism, cutting mechanism comprises cutting motor and cutting blade, and when mower was worked in the perform region 4 of boundary line 3 planning, cutting motor drove cutting blade rotation, cutting lawns.
Claims (20)
1. sideband signal recognition methods, whether described sideband signal recognition methods is the default sideband signal that signal generating unit sends to the boundary line for the sideband signal that the automatic walking arrangement of identification receives, default sideband signal generates default field signal along the boundary line conduction, it is characterized in that described sideband signal recognition methods comprises the steps:
Control automatic walking arrangement startup work;
Field signal in the detection boundaries line scope, and generate detection signal;
Handle described detection signal, generate processing signals;
Described processing signals and the storage signal of presetting are compared;
When described processing signals is identical with the storage signal of presetting, confirm that detected field signal is default field signal;
Described default sideband signal comprises the intermittent code set that occurs, described code set by at least the first state cell and second state cell according to the preset coding principle combinations, the signal of described default storage signal for being complementary with the preset coding rule.
2. sideband signal recognition methods according to claim 1 is characterized in that: the baseband signal of first state cell for occurring according to first sequential rule, second state cell are the baseband signal that occurs according to second sequential rule.
3. sideband signal recognition methods according to claim 1 is characterized in that: first state cell is the baseband signal with first frequency, and second state cell is the baseband signal with second frequency.
4. sideband signal recognition methods according to claim 1 is characterized in that: first state cell is the baseband signal with first amplitude, and second state cell is the baseband signal with second amplitude.
5. according to the described sideband signal recognition methods of arbitrary claim in the claim 2 to 4, it is characterized in that: described baseband signal is a kind of in monocyclic pulse signal, sine wave signal, triangular signal or the sawtooth signal.
6. sideband signal recognition methods according to claim 1 is characterized in that: first state cell is high level signal, and second state cell is low level signal.
7. sideband signal recognition methods according to claim 1 is characterized in that: described processing signals is the pulse sequence signal corresponding with the sequential of first state cell and the appearance of second state cell.
8. sideband signal recognition methods according to claim 7 is characterized in that: described processing signals comprises first pulse sequence signal corresponding with the direction of described detection signal and second pulse sequence signal.
9. sideband signal recognition methods according to claim 8 is characterized in that: first pulse sequence signal is opposite with the second pulse sequence signal direction.
10. sideband signal recognition methods according to claim 9, it is characterized in that: according to the sequential of first pulse sequence signal and the appearance of second pulse sequence signal, select first pulse sequence signal or second pulse sequence signal as the reference signal, described reference signal and the storage signal of presetting are compared.
11. boundary system, whether the sideband signal that receives for the automatic walking arrangement of identification is the default sideband signal that signal generating unit sends to the boundary line, default sideband signal generates default field signal along the boundary line conduction, and described boundary system comprises:
Detecting signal unit is arranged in the described automatic walking arrangement, for detection of the field signal in the scope of boundary line, and generates detection signal;
Signal processing unit electrically connects with detecting signal unit, receives described detection signal, and described detection signal is handled, and generates processing signals;
Control module stores default storage signal, comprising:
Receiving trap electrically connects with signal processing unit, receives described processing signals;
The signal comparison means electrically connects with receiving trap, and the receiving trap processing signals that receives and the storage signal of presetting are compared;
Master control set electrically connects with the signal comparison means, when described processing signals is identical with the storage signal of presetting, confirms that detected field signal is default field signal;
It is characterized in that: described default sideband signal comprises the intermittent code set that occurs, described code set by at least the first state cell and second state cell according to the preset coding principle combinations, the signal of described default storage signal for being complementary with the preset coding rule.
12. boundary system according to claim 11 is characterized in that: the baseband signal of first state cell for occurring according to first sequential rule, second state cell are the baseband signal that occurs according to second sequential rule.
13. boundary system according to claim 11 is characterized in that: first state cell is the baseband signal with first frequency, and second state cell is the baseband signal with second frequency.
14. boundary system according to claim 11 is characterized in that: first state cell is the baseband signal with first amplitude, and second state cell is the baseband signal with second amplitude.
15. according to arbitrary described boundary system in the claim 12 to 14, it is characterized in that: described baseband signal is a kind of in monocyclic pulse signal, sine wave signal, triangular signal or the sawtooth signal.
16. boundary system according to claim 11 is characterized in that: first state cell is high level signal, and second state cell is low level signal.
17. boundary system according to claim 11 is characterized in that: described processing signals is the pulse sequence signal corresponding with the sequential of first state cell and the appearance of second state cell.
18. boundary system according to claim 17 is characterized in that: described processing signals is first pulse sequence signal and second pulse sequence signal corresponding with the direction of described default sideband signal.
19. boundary system according to claim 18 is characterized in that: first pulse sequence signal is opposite with the second pulse sequence signal direction.
20. boundary system according to claim 19, it is characterized in that: described control module also comprises signal selecting, described signal selecting receives the signal that described receiving trap transmits, and the sequential that occurs according to first pulse sequence signal and second pulse sequence signal, select the first train pulse signal or second pulse sequence signal as and the reference signal that compares of default storage signal, and selection result passed to the signal comparison means.
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| PCT/CN2012/087724 WO2013102417A1 (en) | 2012-01-05 | 2012-12-27 | Method for identifying boundary signal and boundary system thereof |
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Application publication date: 20130710 |