CN103809591B - Automatic working system - Google Patents
Automatic working system Download PDFInfo
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- CN103809591B CN103809591B CN201210444820.0A CN201210444820A CN103809591B CN 103809591 B CN103809591 B CN 103809591B CN 201210444820 A CN201210444820 A CN 201210444820A CN 103809591 B CN103809591 B CN 103809591B
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- rfid
- rfid label
- running device
- automatic
- label tag
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The present invention relates to a kind of automatic working system, including, working region mark module, including spaced multiple RFID label tags；Automatic running device, including RFID reader, including Anneta module and read module, Anneta module send rf wave and send the RFID signal and collect the RFID signal to activate the RFID label tag；Main control mechanism；The Anneta module activates at least two RFID label tags and collects at least two RFID signals respectively with least two radiation modes；At least two RFID signals that the main control mechanism is collected according at least two radiation modes and correspondence that are used, judge position relationship of the automatic running device relative to the segment boundary that at least two RFID label tag is constituted.By using RFID label tag, and using the feature of the RFID reader identification RFID signal on automatic running device, it is simple and reliable that border is set.
Description
Technical field
Mould is being identified by working region the present invention relates to a kind of automatic working system, more particularly to a kind of automatic running device
The automatic working system of walking and work in the working region that block is limited.
Background technology
With the development of science and technology, including intelligence automatic running device automatic working system it is well known,
The program that can be pre-set automatically due to automatic running device performs the inter-related task for pre-setting, without artificial operation with
Intervene, therefore application in commercial Application and family product is widely.Industrial application such as the machine of execution various functions
Device people, application such as hay mover, dust catcher etc. on family product, these intelligent automatic running devices dramatically saves on people
Time, all brought great convenience to industrial production and life staying idle at home.
Generally it is the boundary line that cable form is set, side by the way of to plan the working region of automatic running device
Border electric signal, the working region of the region that boundary line surrounds as automatic running device are carried in boundary line.May 11 in 1999
The United States Patent (USP) US6615108B1 that day is announced sets the working region of robot by the way of boundary line is buried on meadow.
There are multiple deficiencies in which, e.g., embedded boundary line needs the instrument of specialty to be slotted on meadow, wastes time and energy, and can destroy
The integrality on meadow.And for example, this kind of boundary line needs the extra continual offer current signal of signal generation apparatus, energy consumption compared with
Greatly, and with certain danger.And for example, any one breaks down on boundary line, then whole sideband signal can all disappear.This
Outward, this boundary line then changes and reparation line fault is all extremely difficult again once burying.
The content of the invention
Present invention solves the technical problem that being：A kind of automatic working system is provided, its boundary line is set and change is easier, can
It is high by property.
In order to solve the above technical problems, the technical scheme that the present invention is provided is：
A kind of automatic working system, including, limit the working region mark module of the working region of automatic working system, institute
Stating working region mark module includes spaced multiple RFID label tags, and each RFID label tag has unique identification information,
The multiple RFID label tag connects the border to form working region；Automatically walk and the automatic row of work in the working region
Equipment is walked, the automatic running device includes：RFID reader, including Anneta module and read module, the Anneta module hair
Go out rf wave and send the RFID signal and collect the RFID signal to activate the RFID label tag；The read module is read
Take the identification information in the RFID signal；Main control mechanism, and RFID reader connection, the Anneta module pass through Dynamic radiation
Pattern, activates at least two RFID label tags and collects at least two RFID signals respectively with least two radiation modes；The master
At least two RFID signals that control mechanism collects according at least two radiation modes and correspondence that are used, judge automatically walk
Position relationship of the equipment relative to the segment boundary that at least two RFID label tag is constituted.
Preferably, the Anneta module includes reconfigurable antenna, and the reconfigurable antenna is changed using Dynamic radiation pattern
The radiation mode of rf wave, makes at least one of direction, shape and polarity of rf wave change.
Preferably, the reconfigurable antenna dynamically adjusts wave beam shape under Dynamic radiation pattern by wave beam control mode
Rf wave direction.
Preferably, the position relationship includes internal and external relation.
Preferably, the RFID signal that the main control mechanism is collected according to the direction of rf wave and correspondence, calculates described
At least two RFID label tags with respect to automatic running device arrangement order, and by the arrangement order and main control mechanism memory storage
The standard arrangement order contrast of RFID label tag, judges that automatic running device is located at least part of border according to comparing result
Or it is outer.
Preferably, the automatic running device is walked one week along the border, by detecting the RFID label tag successively, with
Obtain the standard arrangement order of RFID label tag, and store it in main control mechanism.
Preferably, the position relationship includes angular relationship, the main control mechanism according to the direction of the rf wave and
The RFID signal that correspondence is collected, judges angular relationship of the automatic running device relative to the segment boundary.
Preferably, the position relationship includes distance relation.
Preferably, the main control mechanism is collected according to the time of origin and correspondence of the rf wave of specific radiation mode
RFID signal time of return between time difference, calculate automatic running device relative to the segment boundary distance.
Preferably, after the main control mechanism sends according to the rf wave of specific radiation mode, what correspondence was collected
The intensity of RFID signal, calculates distance of the automatic running device relative to the segment boundary.
Preferably, position relationship of the main control mechanism according to automatic running device relative to the segment boundary, instruction
Automatic running device is walked.
Preferably, the automatic running device is hay mover.
Beneficial effects of the present invention are：By using RFID label tag, and using the RFID reader on automatic running device
The feature of RFID signal is recognized, user only needs to for several RFID label tags to be inserted into grass by certain spacing when border is set
Level ground edge, boundary line is put without specially slotting to bury along lawn edge as in the prior art, the failure of a small number of RFID label tags or
Skew also will not integrally be influenced too much to border, meanwhile, automatic running device can interpolate that the position of itself retive boundary,
So as to the normal work in working region, will not out-of-bounds.
Brief description of the drawings
Technical problem that invention described above is solved, technical scheme and beneficial effect can by following
The detailed description of preferably specific embodiment of the invention is realized, is clearly obtained in combination with Description of Drawings.
Identical label and symbol in accompanying drawing and specification are used to represent identical or equivalent element.
Fig. 1 is the automatic working system schematic diagram of the embodiment of the invention.
Fig. 2 is the Boundary Recognition schematic diagram of the automatic working system shown in Fig. 1.
Fig. 3 is the module map of the automatic working system shown in Fig. 1.
Fig. 4 is the Anneta module scanning schematic diagram of the automatic working system shown in Fig. 1.
Fig. 5 is schematic diagram of the automatic working equipment of the automatic working system shown in Fig. 1 in border.
Fig. 6 is schematic diagram of the automatic working equipment of the automatic working system shown in Fig. 1 outside border.
The automatic running device of 1 working region 9
The RFID reader of 2 area of isolation 11
The Anneta module of 3 border 13
The read module of 5 RFID label tag 15
The main control mechanism of 51 first RFID label tag 17
The rf wave of 52 second RFID label tag 19
7 bus stops
Specific embodiment
Detailed description for the present invention and technology contents, coordinate brief description of the drawings as follows, but appended accompanying drawing only provides ginseng
Examine with explanation, not for being any limitation as to the present invention.
Such as Fig. 1, in a kind of specific embodiment of the invention, automatic working system includes automatic running device 9 and work
Make area identification module.Working region mark module includes spaced multiple RFID label tags 5, and each RFID label tag 5 has
Unique identification information, makes a distinction with other RFID label tags 5.RFID label tag 5 is arranged in user needs automatic running device 9
Around the working region 1 walked and worked, the line that the point where so multiple RFID label tags 5 is connected into constitutes workspace
The border 3 in domain 1.For energy saving and reduction border cost of layout, RFID label tag 5 is passive type, does not have internal power supply,
And the energy of the rf wave outside needing sends a RFID signal for carrying its own identification information.Certainly, RFID label tag 5
Can be semi-passive or active, its technical characterstic will not be repeated here well known to those skilled in the art.
Automatic working system can also include bus stop 7, for being stopped when not working for automatic running device 9, or
Energy is supplemented in energy depletion.Bus stop 7 is preferably located on border 3, is positioned in order to automatic running device 9 and returned.
Specifically, automatic running device 9 can be hay mover, dust catcher, industrial robot etc..Automatic running device 9 is
During hay mover, working region 1 is the lawn that user safeguards, border 3 is usually located at the edge on lawn.RFID label tag is preferred
Spike is formed, when border 3 is arranged, user only needs to for several RFID label tags 5 to be inserted into lawn edge by certain spacing
, boundary line is put without specially slotting to bury along lawn edge as in the prior art, a small number of RFID label tags 5 fail or offset
Overall to border 3 will not influence too much, meanwhile, subsequently if desired adjustment border is also more convenient.
With continued reference to Fig. 1, the inside of working region 1 is additionally provided with some area of isolation 2, if area of isolation 2 is same by individual
RFID label tag 5 is around forming border.Specifically, when automatic running device 9 is hay mover, area of isolation 2 can be flower stand,
The region that pool etc. need not mow.
Referring to Figures 1 and 2, RFID reader 11 is provided with automatic running device 9 and is connected with RFID reader 11
Main control mechanism 17, RFID reader 11 is used to receive the RFID signal that RFID label tag 5 sends, and obtains what is carried in RFID signal
The identification information of RFID label tag 5, RFID reader 11 also can record the information such as intensity, the reception time of RFID signal simultaneously.Ginseng
According to Fig. 3, specifically, RFID reader 11 includes Anneta module 13 and read module 15, Anneta module 13 is collected RFID label tag 5 and is sent out
Be decoded as signal to be sent to main control mechanism 17 after identification information by the RFID signal for going out, read module 15.The time of RFID signal
Information is sent to main control mechanism 17, but the decoding due to RFID signal and passing time pole after being recognized by read module 15
It is short, it is also possible to directly to record the reception time point when the information that RFID reader 11 sends is received by main control mechanism 17.RFID
The signal strength information of signal is sent to main control mechanism 17 after equally being recognized by read module 15, but it is also possible to by a company
The single signal strength detector identification of Anneta module 13 is connect, main control mechanism 17 is subsequently sent to.
Except foregoing RFID reader 11 and main control mechanism 17, automatic running device 9 also includes providing whole machine operation energy
The energy module of amount, the operational module of the function of automatic running device 9 is set for user, drives the walking module of whole machine walking, is held
The operational module of row task and other supplementary modules.
When automatic running device 9 is hay mover, energy module is usually filling for built-in battery bag and connection battery bag
Electrode slice；Walking module generally includes to be arranged on the running motor of the wheel group and drive wheel group on fuselage, and walking module may be used also
To there is other versions such as crawler type etc., will not be repeated here.Operational module is usually cutting mechanism, including cutting motor
And cutting blade；Other supplementary modules include that sensing barrier obtains obstacle induction module, the rainwater/humidity sense of sensing weather condition
Answer module etc..
Main control mechanism 17 is used to control hay mover automatically to walk, work, supplement energy, according to set program, or root
Corresponding instruction is performed according to the environment for detecting, is the core component of hay mover.The function that it is performed includes control operational module
Start work or stopping, generating walking path and control walking module to be walked according to the path, judge the electricity of energy module simultaneously
Instruction hay mover returns to bus stop 7 and automatic butt charges, in the present embodiment, particularly important, main control mechanism in time
17 signals that can be returned according to RFID reader 11, judge position relationship of the hay mover relative to border 3.
Bus stop 7 is usually located on border 3, and civil power or other electric energy provide system connection, are returned for hay mover and charged,
Bus stop 7 is provided with charging electrode piece, for the corresponding electrode slice docking with hay mover.
By the cooperation of above modules, hay mover the border 3 being made up of RFID label tag 5 around working region 7
Interior cruise simultaneously carries out grass cutting action, at nominal conditions, hay mover straight line moving, until bumping against border 3.If hay mover runs into side
Boundary 3, steering is turned back to return to and continues straight line moving in working region 1 by it, until running into border 3 again.By above-mentioned on side
The mode constantly turned back in boundary 3, the whole working regions 1 of covering are operated.Hay mover can also have other path planning moulds
Formula, for example, the RFID label tag 5 passed through according to it, it is determined that follow-up path.
The corresponding construction and knowledge of boundary marking module described in detail below and the identification boundary marking module of automatic running device 9
Other mode.
RFID reader 11 sends rf wave to activate RFID label tag 5, RFID label tag 5 by Anneta module therein 13
A RFID signal for carrying self identification information is sent after being activated, Anneta module 13 receives the signal and passes it to
Read module 15.
When attempting being used to identify the border 3 of working region 1 by RFID label tag 5, a technical difficulty is, if by RFID
It is smaller that arrangement density of the label 5 on border 3 is set, then Anneta module is difficult to search out RFID label tag 5, easily loses to certainly
The definition of body position；And if by the larger of the arrangement density setting of RFID label tag 5, boundary line time and effort consuming is arranged in presence again,
And border Material Cost it is high the problems such as, meanwhile, excessive density also results in Anneta module 13 and easily misses some RFID mark
Sign 5.
In order to solve the problems, such as above, the Anneta module 13 of RFID reader 11 includes reconfigurable antenna, reconfigurable antenna
Circuit characteristic can change, and then the characteristic of the rf wave for sending of reconfigurable antenna can occur to change accordingly
Become, foregoing characteristic includes but is not limited to polarity, direction, shape etc..
Specifically, reconfigurable antenna sends rf wave using Dynamic radiation pattern, and under Dynamic radiation pattern, restructural
Antenna dynamically adjusts at least one of direction, polarity and shape of rf wave, to form various rf wave radiation sides
Formula.So, the method by activating RFID label tag 5 with different radiation modes, improves the swashing to RFID label tag 5 of Anneta module 13
Active rate, success rate and overlay area.
It may be noted that due to the pace of change of rf wave 19 and RFID label tag 5 of reconfigurable antenna under Dynamic radiation pattern
The conversion speed of response speed, RFID reader 11 and main control mechanism 17 be far longer than the row of automatic running device 9
Sail speed, can be approximate think, when RFID reader 11 receives continuous several RFID signals in the regular hour, from
The position of dynamic walking arrangement 9 does not change, and the time can be 0.1 second or smaller.
As shown in figure 4, under Dynamic radiation pattern, reconfigurable antenna dynamically adjusts rf wave by wave beam control mode
19 direction.The shape of rf wave 19 is maintained at wave beam shape by reconfigurable antenna, narrow and grow, and dynamic changes rf wave 19
Radiation direction, so, rf wave 19 have stronger energy density and clear and definite directive property, under any one radiation mode
Minority can only be activated to even without RFID label tag 5, but under conditions of quickly radiation direction is changed, then can be had successively
The multiple RFID label tags 5 of effect activation simultaneously receive its RFID signal for sending, and the position of automatic running device 9 is judged for main control mechanism 17
Put.
It should also be understood that the Dynamic radiation pattern in Fig. 4 simplifies for convenience of description, it is merely exemplary.
In actual application, except this kind of Dynamic radiation pattern, reconfigurable antenna can also be using the shape for changing rf wave 19 simultaneously
Shape and direction, while changing polarity and the direction of rf wave 19, periodically change shape and the side of rf wave 19 successively
To only changing the mode such as shape of rf wave 19 to improve activation efficiency, success rate and the scope of RFID label tag 5.That is, can be again
Structure antenna can also be superimposed other radiation mode changes while wave beam is controlled.
As a scheme of the invention, RFID reader 11 under Dynamic radiation pattern, by least two radiation sides
Formula sends rf wave 19, obtains at least two RFID label tags 5 with corresponding activation and collects at least two RFID signals.Pass through
The characteristic of analyzing radiation mode, and the various features of RFID signal that correspondence is collected, such as identification information, the intensity of signal,
Time of reception etc., the position for judging automatic running device 9 of accurate stable.
RFID reader 11 can obtain the identification information and signal intensity of RFID label tag 5 by a kind of radiation mode
Information, then the RFID signal of another RFID label tag 5 is obtained by another radiation mode；Certainly, RFID reader 11 also may be used
Two RFID signals of RFID label tag 5 are obtained with by a kind of radiation mode, then this two are obtained by another radiation mode
The RFID signal of RFID label tag 5.It is belonged under the present general inventive concept.
In automatic working system introduced below, automatic running device 9 recognizes its side with the position relationship between border 3
Formula.
Position relationship of the main control mechanism 17 according to automatic running device 9 relative to the border 3, instructs automatic running device
9 walkings.For example, when automatic running device 9 crosses the border 3, instruction automatic running device 9 is turned to and returns to working region 1
It is interior.When automatic running device 9 is located at 3 inner side of border, instruction automatic running device 9 is walked by set path.
As it was previously stated, RFID reader 11 sends at least two rf waves 19 by least two radiation modes, with right
The activation answered obtains at least two RFID label tags 5 and collects at least two RFID signals.Main control mechanism 17 according to used to
Few two kinds of radiation modes, and at least two RFID signals that correspondence is collected, judge automatic running device 9 relative to it is described extremely
The position relationship of the segment boundary that few two RFID label tags 5 are constituted.It is appreciated that in real work, RFID reader 11 is led to
More radiation modes are crossed, more RFID label tags 5 are scanned, this will cause that the scope and precision of foregoing segment boundary are carried
Height, the judgement of position relationship is also more accurate.
As it was previously stated, radiation mode of the main control mechanism 17 of automatic running device 9 according to rf wave 19, and correspondence is obtained
The RFID signal 5 for obtaining, judges position relationship of the automatic running device 9 relative to segment boundary.The position relationship is closed including angle
System, distance relation, internal and external relation etc..Generally, angular relationship is activated by RFID signal by the rf wave 19 on which direction
Return and determine, the direction is the direction of correspondence RFID label tag.Distance relation relies on the rf wave 19 of particular radiation pattern
Time of origin and the time of return of correspondence RFID signal between difference, or the rf wave 19 pairs with particular radiation pattern
The intensity of the RFID signal answered determines.The RFID that internal and external relation is detected by automatic running device 9 arrange order and itself
The similarities and differences of built-in RFID arrangements order determine.Position relationship determination mode above is only schematical, other modes
It is feasible, is below described in detail.
Automatic running device 9 is relative to the segment boundary being made up of its at least two RFID label tag 5 for being monitored
The judgment mode of angular relationship is as described below.
After rf wave 19 carries the feature such as direction or shape, scope in itself, then the signal intensity letter for returning is corresponded to
Breath can also reflect the angular relationship or other positions relation of the RFID label tag 5 and automatic running device 9.Still such as Fig. 4, in dynamic
Under radiation mode, the rf wave 19 that reconfigurable antenna is given off using the change of wave beam control mode.Reconfigurable antenna gives off
The narrow range of rf wave 19, and direction constantly changes, if under a certain radiation mode, one is not found on a certain correspondence direction
Individual particular RFID tag 5, and the specific RFID label tag 5 is found that on adjacent other direction.
Based on above-mentioned principle, at least changed on direction by making at least two radiation modes of radiation electric wave 19,
Rf wave 19 can respectively activate the RFID label tag 5 in its radiation direction at least two directions, and RFID reads
Device 11 corresponding can collect the RFID signal that the RFID label tag 5 being activated is returned；Main control mechanism 17 and then by radio frequency electrical
The RFID signal that the direction of ripple 19 and correspondence are collected, judges automatic running device 9 relative to corresponding each RFID label tag 5
Angle, has also just obtained angular relationship of the automatic running device 9 relative to the segment boundary that each RFID label tag 5 is constituted.
When the direction of rf wave 19 is changed, can also simultaneously change other characteristics.
Automatic running device 9 is relative to the segment boundary being made up of its at least two RFID label tag 5 for being monitored
The judgment mode of internal and external relation is as described below.
As previously described, main control mechanism 17 can interpolate that automatic running device 9 relative to the RFID label tag 5 that it is monitored
The angular relationship of the segment boundary for being constituted, based on same mode, with reference to Fig. 5 and Fig. 6, main control mechanism 17 is capable of identify that with certainly
Dynamic walking arrangement 9 is point of observation, the arrangement order of its at least two RFID label tag 5 for being monitored.And border 3 inner side and
Outside, the arrangement order is exactly opposite, based on this feature, when the internal memory of main control mechanism 17 contains the observation from border 3, and side
The arrangement order of each RFID label tag 5 in boundary 3, and use the arrangement order and its RFID label tag 5 for observing in motion
Arrangement order is contrasted, and judges that automatic running device is located in border 3 if identical, and automatic running device is judged if opposite
Outside border 3.Certainly, as the simple replacement under same thinking, built-in can also be surveyed from boundary appearance in main control mechanism 17
When border 3 on each RFID label tag 5 arrangement order, repeat no more.
Specifically, as Fig. 5, automatic running device 9 are located in border 3, two RFID label tags are placed with border 3, respectively
It is RFID label tag 51 and RFID label tag 52.Automatic running device 9 sends radio frequency electrical to both direction successively with two kinds of radiation modes
Ripple 19, activates RFID label tag 51 and RFID label tag 52 respectively, and RFID label tag 51 and RFID label tag 52 return to a RFID letter respectively
Number, main control mechanism 17 judges that RFID is marked according to the direction of the rf wave 19 for sending and the corresponding relation of the RFID signal for returning
51 left sides for being located at RFID label tag 52 are signed, main control mechanism 17 enters the arrangement order and its built-in RFID label tag arrangement order
Row is compared, and as a result for identical, and then main control mechanism 17 can interpolate that automatic running device is located in border 3.Opposite, such as Fig. 6,
Border 3 is constant and automatic running device 9 is located at outside border 3, easily learns, now main control mechanism 17 judges that RFID51 is located at RFID
The right side of label 52, the arrangement order and its built-in arrangement order of RFID label tag 5 conversely, and then main control mechanism 17 can sentence
Disconnected automatic running device 9 is located at outside border 3.
To sum up, changed by making at least direction of rf wave 19 of at least two radiation modes, the main control mechanism
15 RFID signals that can be collected according to the direction of rf wave 19 and correspondence, calculate the phase of at least two RFID label tag 5
To the arrangement order of automatic running device 9, and the arrangement of the arrangement order and the memory storage of main control mechanism 17 is washed out into contrast, according to
Contrast mechanism judges that automatic running device 9 is located at the inner or outer of at least part of border that at least two RFID label tag 5 is formed.
Automatic running device 9 can be walked one week by initial start-up along border 3, and record is detected successively
RFID label tag 5 is arranged the mode of order determining RFID, obtains the standard arrangement order of RFID label tag 5, and is stored to master
In control mechanism 17, it is used for inside and outside judgement.
Certainly, inside and outside judgement can also have other modes, for example, where when automatic running device 9 can be started shooting with it
Position in border 3, and when it detects itself and is moved to opposite side from the side on border 3, judge that it is in border 3
Outward, judge that the mode for crossing border 3 can be similar to above, detection arrangement order is inverted, it is possibility to have other modes,
Such as, it is ascending, detection to detect itself to the distance of at least two RFID label tags 5 of annex from descending simultaneous mutation
The mode of distance is in rear description.
Automatic running device 9 is relative to the segment boundary being made up of its at least two RFID label tag 5 for being monitored
The judgment mode of distance relation is as described below.
The distance relation of automatic running device 9 and segment boundary can be by monitoring the rf wave 9 of particular radiation mode
Time of origin and the time of return of correspondence RFID signal between difference determine.Because the speed of rf wave 19 is constant
, the distance of aforesaid time difference and automatic running device 9 and corresponding RFID label tag 5 is directly proportional.Specifically, automatically walk sets
Standby 9 RFID reader 11 sends and start after the rf wave 19 of particular radiation mode timing, rf wave 19 and experience and automatically
The particular RFID tag 5, RFID is reached after a period of time that walking arrangement 9 is directly proportional to the distance between particular RFID tag 5
Label 5 is activated and returns to a RFID signal, and the signal returns to automatic running device 9 after experiencing same a period of time
RFID reader 11, RFID reader 11 or main control mechanism 17 record the time of return, and subsequent main control mechanism 17 is calculated
The foregoing time difference, is that can obtain rf wave 19 and the RFID signal that returns is passed through apart from sum according to formula d=v/t, by
Be the light velocity in the spread speed of rf wave 19 and RFID signal, the time difference is extremely short, the walking of itself of automatic running device 9 away from
From close to 0, therefore, will obtain apart from sum again divided by 2 be automatic running device to specific RFID label tag 5 away from
From.RFID reader 11 sends the rf wave 19 of at least two radiation modes, can obtain corresponding RFID signal, so as to calculate
Go out the distance of the RFID label tag 5 of automatic running device 9 and at least two, so as to obtain automatic running device 9 and foregoing at least two
The distance relation of the segment boundary that RFID label tag 5 is constituted.
It may be noted that in such scheme, when at RFID label tag 5 and at automatic running device 9 to the treatment of each signal
Between close to 0, can be ignored, certainly, in order to further improve the computational accuracy of distance, by time difference subtraction signal treatment
Approximate time after, then enter row distance calculate be also feasible, also belong to determine based on the time difference Integral Thought of distance.
The distance relation of automatic running device 9 and segment boundary can also be by monitoring and the radio frequency electrical of particular radiation mode
The intensity of the corresponding RFID signal of ripple 19 determines.
The solution principle for determining distance by the intensity of RFID signal is：The rf wave 19 that reconfigurable antenna is launched
Power is known or general determination, and the signal intensity of the corresponding RFID signal for returning can decay with distance, so
Signal intensity reflects the far and near distance of the RFID label tag 5 and automatic running device 9, and signal is stronger to represent nearer, the signal of distance
It is weaker to represent apart from more remote.It will also be appreciated that, during the traveling of automatic running device 9, specific RFID label tag 5 is corresponding
The corresponding change for representing distance of change of the signal strength of RFID signal.Signal by it is strong die down represent distance by it is near become it is remote,
Automatic running device 9 is leaving corresponding RFID label tag 5；Signal changes from weak to strong and represents distance by far becoming near, automatic running device
Near corresponding RFID label tag 5.
According to above-mentioned principle, in this embodiment, the Anneta module 13 of RFID reader 11 sends rf wave
19, rf wave 19 is transmitted into a certain specific RFID label tag 5 and is activated, and the specific RFID label tag 5 sends RFID letters
Number and received by Anneta module 13, the RFID signal reach Anneta module 13 when signal intensity be recorded, main control computer
Distance of automatic running device 9 of the structure 17 according to corresponding to built-in algorithm calculates signal intensity to the particular RFID tag 5.
There is two kinds of rf waves 19 of radiation mode and corresponding acquisition automatic running device 9 when Anneta module 13 sends at least
With at least two RFID label tags 5 apart from when, also just obtained accordingly automatic running device 9 and foregoing at least two RFID mark
Sign the distance relation of 5 segment boundaries for being constituted.
In this embodiment, main control mechanism 17 is according to the relatively described at least two RFID marks of automatic running device 9
5 position relationship is signed, is walked between at least two RFID label tag 5.Specifically, automatic running device 9 can interpolate that certainly
Whether body crosses border 3 and leaves working region 1, and makes corresponding reaction, for example, when being close to border 3 or crossing border 3
Steering is returned in working region 1.Automatic running device 9 can also be determined in working region 1 according to foregoing position relationship
Walking manner, such as direction of travel, the speed of travel.
In this embodiment, main control mechanism 17 is according to the relatively described at least two RFID marks of automatic running device 9
5 position relationship is signed, is walked between at least two RFID label tag 5.
In other embodiment of the invention, the map that RFID label tag 5 sets up working region 1 can also be used, then make
Assist to determine operating path with the map of working region 1.
The present invention relates to a kind of automatic working system, including, working region mark module, including spaced multiple
RFID label tag；Automatic running device, including RFID reader, including Anneta module and read module, Anneta module send radio frequency
Electric wave sends the RFID signal and collects the RFID signal to activate the RFID label tag；Main control mechanism；The antenna mould
Block activates at least two RFID label tags and collects at least two RFID signals respectively with least two radiation modes；The main control computer
At least two RFID signals that structure is collected according at least two radiation modes and correspondence that are used, judge automatic running device
The position relationship of the segment boundary constituted relative at least two RFID label tag.By using RFID label tag, and using certainly
RFID reader on dynamic walking arrangement recognizes the feature of RFID signal, sets border simple and reliable.
Claims (12)
1. a kind of automatic working system, including：
The working region mark module of the working region of automatic working system is limited, the working region mark module includes interval
Multiple RFID label tags of setting, each RFID label tag has unique identification information, and the multiple RFID label tag connects to form work
Make the border in region；
Automatically walk and the automatic running device of work in the working region, the automatic running device include：
RFID reader, including Anneta module and read module, the Anneta module send rf wave to activate the RFID
Label sends the RFID signal and collects the RFID signal；The read module reads the identification letter in the RFID signal
Breath；
Main control mechanism, and RFID reader connection, it is characterised in that：
The Anneta module activates at least two RFID label tags simultaneously respectively by Dynamic radiation pattern with least two radiation modes
Collect at least two RFID signals；
At least two RFID signals that the main control mechanism is collected according at least two radiation modes and correspondence that are used, sentence
Position relationship of the disconnected automatic running device relative to the segment boundary that at least two RFID label tag is constituted.
2. automatic working system according to claim 1, it is characterised in that：The Anneta module includes reconfigurable antenna,
The reconfigurable antenna changes the radiation mode of rf wave using Dynamic radiation pattern, make the direction of rf wave, shape and
At least one of polarity changes.
3. automatic working system according to claim 2, it is characterised in that：The reconfigurable antenna is in Dynamic radiation pattern
Under, the direction of the rf wave of wave beam shape is dynamically adjusted by wave beam control mode.
4. automatic working system according to claim 3, it is characterised in that：The position relationship includes internal and external relation.
5. automatic working system according to claim 4, it is characterised in that：Side of the main control mechanism according to rf wave
To the RFID signal collected with correspondence, arrangement order of at least two RFID label tag with respect to automatic running device is calculated,
And contrast the standard arrangement order of the arrangement order and the RFID label tag of main control mechanism memory storage, judged certainly according to comparing result
Dynamic walking arrangement is located in or beyond the segment boundary that at least two RFID label tag is constituted.
6. automatic working system according to claim 5, it is characterised in that：The automatic running device is along the border row
Walk one week, by detecting the RFID label tag successively, to obtain the standard arrangement order of RFID label tag, and store it in master control
In mechanism.
7. automatic working system according to claim 3, it is characterised in that：The position relationship includes angular relationship, institute
State the RFID signal that main control mechanism is collected according to the direction of the rf wave and correspondence, judge automatic running device relative to
The angular relationship of the segment boundary.
8. automatic working system according to claim 3, it is characterised in that：The position relationship includes distance relation.
9. automatic working system according to claim 8, it is characterised in that：The main control mechanism is according to specific radiation side
Time difference between the time of return of the RFID signal that the time of origin and correspondence of the rf wave of formula are collected, calculate automatic row
Walk distance of the equipment relative to the segment boundary.
10. automatic working system according to claim 8, it is characterised in that：The main control mechanism is according to specific radiation
After the rf wave of mode sends, the intensity of the RFID signal that correspondence is collected calculates automatic running device relative to the portion
Divide the distance on border.
11. according to any described automatic working system in claim 1-10, it is characterised in that：The main control mechanism is according to certainly
Dynamic walking arrangement instructs automatic running device walking relative to the position relationship of the segment boundary.
12. automatic working systems according to claim 1, it is characterised in that：The automatic running device is hay mover.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210444820.0A CN103809591B (en) | 2012-11-09 | 2012-11-09 | Automatic working system |
| PCT/CN2013/086715 WO2014071860A1 (en) | 2012-11-09 | 2013-11-07 | Automatic work system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210444820.0A CN103809591B (en) | 2012-11-09 | 2012-11-09 | Automatic working system |
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| Publication Number | Publication Date |
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| CN103809591A CN103809591A (en) | 2014-05-21 |
| CN103809591B true CN103809591B (en) | 2017-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210444820.0A Active CN103809591B (en) | 2012-11-09 | 2012-11-09 | Automatic working system |
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| Country | Link |
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| CN (1) | CN103809591B (en) |
| WO (1) | WO2014071860A1 (en) |
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| CN106292651B (en) * | 2015-05-14 | 2020-01-14 | 苏州宝时得电动工具有限公司 | Automatic working system, automatic working equipment and method for identifying starting position |
| CN106292652B (en) * | 2015-05-14 | 2020-02-28 | 苏州宝时得电动工具有限公司 | Automatic working system, automatic working equipment and method for identifying starting position |
| WO2016184398A1 (en) * | 2015-05-19 | 2016-11-24 | 苏州宝时得电动工具有限公司 | Boundary line pulse signal identification system and method, and intelligent mowing system |
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| CN111213475B (en) * | 2015-11-20 | 2022-10-14 | 苏州宝时得电动工具有限公司 | Grass cutter |
| WO2017101882A1 (en) * | 2015-12-17 | 2017-06-22 | 苏州宝时得电动工具有限公司 | Auto-movement robot system |
| EP3392729B1 (en) | 2015-12-17 | 2021-10-27 | Positec Power Tools (Suzhou) Co., Ltd | Auto-movement robot system |
| CN107632595B (en) * | 2016-07-18 | 2020-09-22 | 苏州宝时得电动工具有限公司 | Path returning method of automatic walking equipment, automatic walking equipment and path returning system |
| CN106909140B (en) * | 2015-12-22 | 2021-02-09 | 苏州宝时得电动工具有限公司 | Route regression method and system |
| CN207851614U (en) * | 2016-04-21 | 2018-09-11 | 苏州宝时得电动工具有限公司 | Parking system and automatic working system |
| WO2017181995A1 (en) * | 2016-04-21 | 2017-10-26 | 苏州宝时得电动工具有限公司 | Automatic working system and control method therefor |
| CN107493797B (en) * | 2016-06-14 | 2020-03-27 | 苏州宝时得电动工具有限公司 | Position recognition system |
| CN108972535A (en) * | 2017-05-31 | 2018-12-11 | 北京小米移动软件有限公司 | Autonomous system, autonomous mobile apparatus and virtual wall component |
| WO2020037399A1 (en) * | 2018-08-21 | 2020-02-27 | Moonshot Health Inc. | Systems and methods for mapping a given environment |
| CN110888425A (en) * | 2018-09-11 | 2020-03-17 | 苏州宝时得电动工具有限公司 | Self-moving equipment, acoustomagnetic boundary device and automatic working system |
| CN109614836B (en) * | 2019-01-08 | 2023-10-20 | 快脉信息科技(上海)有限公司 | Vehicle positioning radio frequency identification system and positioning method thereof |
| CN112578783B (en) * | 2019-09-29 | 2022-08-30 | 杭州海康机器人技术有限公司 | Walking control method and device for automatic guided transport vehicle |
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| Publication number | Publication date |
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| CN103809591A (en) | 2014-05-21 |
| WO2014071860A1 (en) | 2014-05-15 |
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