CN103809592A - Automatic working system and control method thereof - Google Patents
Automatic working system and control method thereof Download PDFInfo
- Publication number
- CN103809592A CN103809592A CN201210447200.2A CN201210447200A CN103809592A CN 103809592 A CN103809592 A CN 103809592A CN 201210447200 A CN201210447200 A CN 201210447200A CN 103809592 A CN103809592 A CN 103809592A
- Authority
- CN
- China
- Prior art keywords
- signal
- frequency
- phase
- automatic
- automatic working
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention relates to a control method of an automatic working system. The control method comprises the following steps: a signal generating device generates a baseband signal and a carrier signal; a boundary signal is generated after phase modulation is carried out on the carrier signal through the baseband signal, and an electromagnetic field is generated when the boundary signal is transmitted through a boundary line; an automatic walking device detects the electromagnetic field to generate a detection signal, and processes the detection signal to generate a processing signal; and the phase of the processing signal is identified, and whether the automatic walking device is disposed in a working area surrounded by the boundary line is judged according to an identification result. The invention further relates to an automatic working system implementing the control method. The control method and the automatic working system have strong anti-electromechanical-interference and anti-adjacent-interference capabilities.
Description
Technical field
The present invention relates to a kind of automatic working system, particularly a kind ofly control the system that automatic running device is worked in perform region.
The present invention relates to a kind of control method, particularly a kind ofly control the control method that automatic running device is worked in perform region.
Background technology
Along with scientific and technical development, the automatic running device of intelligence is well known, because the program that automatic running device can set in advance is automatically carried out the inter-related task setting in advance, operation that need not be artificial and intervention, therefore the application on commercial Application and family product is very extensive.Industrial application is as carried out the robot of various functions, and the application on family product is as mower, suction cleaner etc., and these intelligent automatic running devices have greatly been saved people's time, all brings great convenience to commercial production and life staying idle at home.
For guaranteeing that above-mentioned automatic running device works in default working range, conventionally adopt automatic working system to control the working range of automatic running device.Automatic working system comprises the boundary line that is laid on earth's surface, the signal generation apparatus being connected with boundary line, the detecting signal unit on automatic running device and signal is processed and controlled the control module of automatic running device walking path.When the sideband signal that signal generation apparatus sends is flowed through boundary line, produce the electromagnetic field weakening gradually to surrounding centered by boundary line, strong near the position electromagnetic intensity of boundary line, a little less than position electromagnetic intensity away from boundary line, detecting signal unit on automatic running device is converted to corresponding electrical signal transfer to control module by the electromagnetic field at its present position place, control module is confirmed its distance from boundary line according to the electric signal of its transmission, thereby the automatic running device of controlling in time in the time approaching boundary line of controlling automatic running device is changed direction of travel, prevent that automatic running device from running to outside boundary line, thereby automatic running device is worked all the time in boundary line.Although such scheme can judge the distance of automatic running device and boundary line exactly, but cannot judge automatic running device in boundary line or outside boundary line, when automatic running device is due to accident, while causing its slippage outside boundary line, control module judges when automatic running device approaches boundary line, can control equally automatic running device to the direction walking away from boundary line, in the time that automatic running device runs to the very weak position of electromagnetic field, automatic running device stops walking, and it has been rested on outside boundary line forever, cannot normally work.
Along with further developing of technology, how to identify the inside and outside problem in automatic running device relative edge boundary line and tentatively solved.But due to the interference of the noise signal existing in the motor signal in sideband signal, native system from adjacent automatic working system and environment, make current existing automatic working system easily occur the problem of false judgment.For make automatic working system can identify exactly automatic running device relative edge boundary line inside and outside, must design and a kind ofly can effectively get rid of the system that above-mentioned various types of signal is disturbed sideband signal.
Summary of the invention
The technical matters that the present invention solves is: a kind of automatic working system that can exclude the interference signal and control method are provided.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of control method of automatic working system, and described control method comprises the steps: that signal generation apparatus generates baseband signal and carrier signal; By baseband signal, carrier signal is carried out generating sideband signal after phase-modulation, sideband signal generates electromagnetic field while transmission through boundary line; Automatic running device detection of electromagnetic fields generates detection signal, and detection signal is processed and generated processing signals; The phase place of identifying processing signal, judges in the perform region whether automatic running device surround in boundary line according to recognition result.
Preferably, the step of detection signal being processed is further comprising the steps: detection signal is carried out to phase demodulating.
Preferably, the mode that baseband signal is carried out phase-modulation to carrier signal is phase-shift keying; The mode of detection signal being carried out to phase demodulating is coherent demodulation.
Preferably, the step that baseband signal is carried out phase-shift keying to carrier signal comprises, the step that baseband signal is carried out phase-shift keying to carrier signal comprises, in the time that the amplitude of baseband signal is low level, the sideband signal of output and carrier signal homophase, in the time that the amplitude of baseband signal is high level, the sideband signal of output and carrier signal phase phase difference of pi; The step of detection signal being carried out to coherent demodulation comprises, in the time that the phase place of detection signal is identical with the phase place of coherent signal, and the baseband signal of output low level, in the time of the phase place of detection signal and the phase place phase difference of pi of coherent signal, the baseband signal of output high level.
Preferably, the step of the phase place of identifying processing signal comprises that the duration of high level signal and low level signal appears in identifying processing signal, according to the phase place of the ratio identifying processing signal of the duration of high level signal and low level signal.
Preferably, baseband signal is intermittent signal, and carrier signal is continuous signal.
Preferably, baseband signal is square-wave signal, and carrier signal is sine wave signal.
Preferably, the carrier signal that signal generation apparatus generates has predeterminated frequency; Automatic running device has default running parameter, and while work under default running parameter, automatic running device has the band-pass filtering function of frequency centered by predeterminated frequency, the signal beyond filtering predeterminated frequency.
Preferably, signal generation apparatus is according to the signal sets predeterminated frequency of manually inputting.
Preferably, signal generation apparatus generates corresponding signal of communication according to predeterminated frequency and sends to automatic running device, and the signal of communication that automatic running device sends according to signal generation apparatus is set default running parameter.
Preferably, the signal of communication that signal generation apparatus sends according to automatic running device is set predeterminated frequency.
Preferably, the frequency that the electromagnetic field of automatic running device recognition detection has, selects the frequency different from the frequency of identification, and the frequency of selection is sent to signal generation apparatus with the form of signal of communication.
Preferably, automatic running device records the frequency of identifying in the process taking a round around boundary line row, selects the frequency different from the frequency of record.
Preferably, automatic running device is according to the default running parameter of the frequency setting of selecting.
For solving the problems of the technologies described above, the technical scheme that the present invention also provides is: a kind of automatic working system, comprises that signal generation apparatus generates baseband signal and carrier signal; Phase-modulation module, carries out phase-modulation by baseband signal to carrier signal and generates sideband signal, and outwards send; Boundary line, the perform region of planning automatic running device, is electrically connected with described phase-modulation module, transmits described sideband signal, and generates electromagnetic field; Automatic running device, works in described perform region according to default formula; Detecting unit, is arranged at automatic running device, and the electromagnetic field existing in testing environment is also converted to corresponding detection signal; Processing unit, receives the detection signal of detecting unit, and generates processing signals; Control module, the processing signals that reception & disposal unit generates, the phase place of identifying processing signal, judges that according to recognition result automatic running device is whether in perform region.
Preferably, described processing unit further comprises phase demodulation modules, and described phase demodulation modules is carried out phase demodulating to detection signal.
Preferably, described phase-modulation module is according to the start-phase of the amplitude control carrier signal of baseband signal; Described phase demodulation modules further comprises the coherent signal generating unit that generates coherent signal, and phase demodulation modules is according to the phase differential of input signal and carrier signal, reduction baseband signal.
Preferably, in the time that the amplitude of baseband signal is high level, the signal of phase-modulation module output and the phase place phase difference of pi of carrier signal, in the time that the amplitude of baseband signal is low level, the signal of phase-modulation module output and the phase phasic difference of carrier signal; The phase place of input signal receiving when phase demodulation modules and the phase phasic difference of coherent signal are while being π, the signal of phase demodulation modules output high level, the phase place of input signal receiving when phase demodulation modules and the phase phasic difference of coherent signal be while being zero, the signal of phase demodulation modules output low level.
Preferably, high level signal and the low level signal of the output of control module receiving phase demodulation module, according to the phase place of the ratio identifying processing signal of the duration of high level signal and low level signal.
Preferably, baseband signal is intermittent signal, and carrier signal is continuous signal.
Preferably, baseband signal is square-wave signal, and carrier signal is sine wave signal.
Preferably, described signal generation apparatus comprises first frequency selected cell, and the predeterminated frequency that described signal generation apparatus is set according to first frequency selected cell generates the carrier signal with predeterminated frequency; Processing unit comprises frequently assembly of filter, and filter frequently assembly is operated in while work under default running parameter, has the band-pass filtering function of frequency centered by predeterminated frequency, and filtering has the signal of the frequency that is different from predeterminated frequency.
Preferably, described first frequency selected cell comprises human-computer interaction interface, sets described predeterminated frequency according to the input signal of manual operation human-computer interaction interface.
Preferably, described first frequency selected cell sends to filter assembly frequently by the predeterminated frequency of setting with the form of signal of communication, and the filter signal of communication that assembly sends according to first frequency selected cell is frequently set default running parameter.
Preferably, the signal of communication that described first frequency selected cell sends according to processing unit is set predeterminated frequency.
Preferably, processing unit comprises second frequency selected cell, and the frequency that second frequency selected cell recognition detection signal has is selected the frequency different from the frequency of identification, and the frequency of selection is sent to phase-modulation module with the form of signal of communication.
Preferably, second frequency selected cell records the frequency of identifying in the process that automatic running device takes a round around boundary line row, selects the frequency different with the frequency recording.
Preferably, second frequency selected cell sends to filter assembly frequently by the frequency of selection with the form of signal of communication, and filter frequently assembly is set default running parameter according to signal of communication.
Beneficial effect of the present invention is: due to the absolute phase by identification signal can identify automatic running device relative edge boundary line inside and outside, make without the work between synchronous automatic running device and signal generation apparatus at the beginning of automatic working system work.Simultaneously, the sideband signal sending due to signal generation apparatus has specific frequency, and after the treated cell processing of detection signal, filters out the signal of other frequencies, only retain the signal with predeterminated frequency, make automatic working system effectively resist the signal of other frequencies to the interference of native system.In addition, the sideband signal sending due to signal generation apparatus is the signal through phase-modulation, processing unit carries out being reduced to the processing signals corresponding with baseband signal after demodulation to detection signal, make automatic working system be highly resistant to environmental interference and motor interference, further improve the antijamming capability of native system.
Accompanying drawing explanation
Technical matters, technical scheme and the beneficial effect that above-described the present invention solves can, by the detailed description that can realize preferably specific embodiment of the present invention below, be described and clearly acquisition simultaneously by reference to the accompanying drawings.
Identical label in accompanying drawing and instructions and symbol are for representing element identical or that be equal to.
Fig. 1 is the schematic diagram of the automatic working system of the present invention's one preferred embodiments;
Fig. 2 is the schematic diagram of the automatic running device of the first preferred embodiments of automatic working system shown in Fig. 1;
Fig. 3 is the schematic diagram of the automatic running device of the second preferred embodiments of automatic working system shown in Fig. 1;
Fig. 4 is under the present invention's the second preferred embodiments, the signal form schematic diagram of automatic running device in perform region;
Fig. 5 is under the present invention's the second preferred embodiments, the signal form schematic diagram of automatic running device outside perform region;
Fig. 6 is the schematic diagram of the signal generation apparatus of the 3rd preferred embodiments of automatic working system shown in Fig. 1;
Fig. 7 is the schematic diagram of the automatic running device of the 3rd preferred embodiments of automatic working system shown in Fig. 1;
Fig. 8 is the schematic diagram of the signal generation apparatus of the 4th preferred embodiments of automatic working system shown in Fig. 1;
Fig. 9 is the schematic diagram of the automatic running device of the 4th preferred embodiments of automatic working system shown in Fig. 1;
Figure 10 is under the present invention's the 4th preferred embodiments, the signal form schematic diagram of automatic running device in perform region;
Figure 11 is under the present invention's the 4th preferred embodiments, the signal form schematic diagram of automatic running device outside perform region;
Figure 12 is the schematic diagram of the signal generation apparatus of the 5th preferred embodiments of automatic working system shown in Fig. 1;
Figure 13 is the schematic diagram of the automatic running device of the 5th preferred embodiments of automatic working system shown in Fig. 1;
Figure 14 is the workflow diagram of the 5th preferred embodiments of automatic working system shown in Fig. 1.
2 automatic running device 28 phase demodulation modules
3 boundary line 30 second frequency selected cells
4 make region 201 first frequency filters
5 inoperative region 202 second frequency filters
6 signal generation apparatus 203 the 3rd frequency filter
7 electromagnetic fields 204 the 4th frequency filter
8 detecting units 205 the 5th frequency filter
9 processing unit 261 phase inverters
14 first amplitude measurement unit 262 analog switches
16 second amplitude measurement unit 263 summitors
18 central control unit 281 coherent signal generating units
20 filters assembly 282 multipliers frequently
24 first frequency selected cell 283 low-pass filters
26 phase-modulation modules
Embodiment
About detailed description of the present invention and technology contents, coordinate accompanying drawing to be described as follows, but appended accompanying drawing only provide reference and explanation, is not used for the present invention to be limited.
Automatic working system shown in Fig. 1 comprises signal generation apparatus 6, automatic running device 2, boundary line 3, and signal generation apparatus 6 is electrically connected with boundary line 3.Signal generation apparatus 6 produces default sideband signal SC and sends to boundary line 3, and default sideband signal SC generates an electromagnetic field 7 while flowing through boundary line 3.Boundary line 3 is for being divided into specific region in inside and outside two regions, is wherein positioned at boundary line 3 for perform region 4, and being positioned at outside boundary line 3 is inoperative region 5.Automatic running device 2 further comprises detecting unit 8, processing unit 9 and control module 11.Detecting unit 8 is for detection of described electromagnetic field 7, and generates detection signal.Processing unit 9 receives described detection signal, and generates processing signals according to described detection signal.The processing signals that control module 11 reception & disposal unit 9 generate, the phase place of identifying processing signal, judges that according to recognition result automatic running device 2 is whether in perform region 4.It will be understood by those skilled in the art that, processing unit 9 and control module 11 also can be arranged on the place beyond automatic running device 2, now between processing unit 9 and detecting unit 8, and can pass through wired mode transmission of signal between processing unit 9 and control module 11, also can pass through wireless mode transmission of signal.
Below, how to illustrate according to phase identification automatic running device 2 whether in perform region 4 in conjunction with Fig. 2 and Fig. 3.
Be illustrated in figure 2 the first preferred embodiments of the present invention.Control module 11 comprises the first amplitude measurement unit 14 and the second amplitude measurement unit 16 that are electrically connected with processing unit 9.Whether the first amplitude and the second amplitude that the first amplitude measurement unit 14 and the second amplitude measurement unit 16 are respectively used to measure processing signals occur, and the signal that output represents its appearance in the time that the first amplitude and the second amplitude occur is to central control unit 18.Wherein, different amplitudes is measured from the second amplitude measurement unit 16 in the first amplitude measurement unit 14.Central control unit 18 represents according to the first amplitude measurement unit 14 and the second amplitude measurement unit 16 outputs the duration that respective magnitudes signal occurs, calculate the ratio of the duration of the first amplitude measurement unit 14 and the second amplitude measurement unit 16 output signals, identify the time scale that the phase place corresponding with the first amplitude and the second amplitude occurs, the phase place of identifying processing signal, and recognition result is compared with the inside and outside time scale of the pre-stored relative perform region 4 of representative automatic running device 2, thereby judge automatic running device 2 relative perform regions 4 inside and outside.
In present embodiment, sideband signal is discontinuous signal.Be preferably square-wave signal or sine wave signal.
In the time that sideband signal is square-wave signal, square-wave signal be included as on the occasion of with two parts of negative value, and this two-part duration difference.Now, it is positive part that the first amplitude measurement unit 14 is set to measure amplitude, and is positive part while occurring in amplitude, continues output signal; It is negative part that the second amplitude measurement unit 16 is set to measure amplitude, and is the part born while occurring in amplitude, continues output signal.If the time of the negative amplitude part of sideband signal is while being shorter than the time of true amplitude part, and central control unit 18 detects the duration that lasts longer than the second amplitude measurement unit 16 output signals of the first amplitude measurement unit 14 output signals, the ratio that judges the time corresponding with negative sense square wave time that forward square wave is corresponding is greater than 1, thereby it is identical with the phase place of sideband signal to identify the phase place of processing signals of exporting treated unit 9, identify automatic running device 2 in perform region 4.Otherwise, if the time of the negative amplitude part of sideband signal is while being shorter than the time of true amplitude part, and central control unit 18 detects that the duration of the first amplitude measurement unit 14 output signals is shorter than the duration of the second amplitude measurement unit 16 output signals, the ratio that judges the time corresponding with negative sense square wave time that forward square wave is corresponding is less than 1, thereby identify the phase place of processing signals and the single spin-echo of sideband signal exported treated unit 9, identify automatic running device 2 outside perform region 4.
In the time that sideband signal is sinusoidal signal, the two-part frequency difference of sinusoidal signal, these two parts are respectively: sinusoidal signal amplitude is positive part is negative part with amplitude.This two-part frequency difference, making a sinusoidal signal is zero to be the change procedure of 2 π to phase place from phase place, amplitude is positive part is that the time span that occurs of the part born is different from amplitude.According to the sideband signal recognition methods that is square-wave signal, can judge that the phase place of processing signals and sideband signal is identical or contrary according to the duration of the first amplitude measurement unit 14 output signals and the ratio of the duration of the second amplitude measurement unit 16 output signals equally, thereby identify automatic running device 2 in or beyond perform region 4.Do not repeat them here.
Be illustrated in figure 3 the second preferred embodiments of the present invention.Control module 11 comprises the first amplitude measurement unit 14 and the second amplitude measurement unit 16 that are electrically connected with processing unit 9.Whether the first amplitude and the second amplitude that the first amplitude measurement unit 14 and the second amplitude measurement unit 16 are respectively used to measure processing signals occur, and the signal that output represents its appearance in the time that the first amplitude and the second amplitude occur is to central control unit 18.Wherein, different amplitudes is measured from the second amplitude measurement unit 16 in the first amplitude measurement unit 14.Different from the first preferred embodiments is, central control unit 18 no longer represents according to the first amplitude measurement unit 14 and the second amplitude measurement unit 16 outputs the duration that respective magnitudes signal occurs, calculate the time scale of the particular phases appearance corresponding with two amplitude and specific and identify phase place, but represent according to the first amplitude measurement unit 14 and the second amplitude measurement unit 16 outputs the time order and function that respective magnitudes signal occurs, the phase place of identifying processing signal, and recognition result is compared with the inside and outside phase value of the pre-stored relative perform region 4 of representative automatic running device 2, thereby judge automatic running device 2 relative perform regions 4 inside and outside.
The structure that realizes the first amplitude measurement unit 14 and the second amplitude measurement unit 16 functions has multiple, be set to the first comparer with the first amplitude measurement unit 14 below, the second amplitude measurement unit 16 is set to the second comparer, sideband signal SC is that intermittent sinusoidal signal is example, in conjunction with Fig. 4 and Fig. 5, illustrate the identifying of the second preferred embodiments.
The negative input of the first comparer has the first reference voltage, and the negative input of the second comparer has the second reference voltage.Processing signals is divided into two-way, inputs to respectively the electrode input end of the first comparer and the second comparer.If the amplitude of processing signals is higher than the first reference voltage, the first comparer output level is high; Otherwise, if the amplitude of processing signals lower than the first reference voltage, the output level of the first comparer is low.For the second comparer, if the amplitude of processing signals higher than the second reference voltage, the second comparer output level is high; Otherwise, if the amplitude of processing signals lower than the second reference voltage, the output level of the second comparer is low.As Fig. 4 and Fig. 5 have demonstrated respectively, when automatic running device 2 is positioned at perform region 4 and is positioned at inoperative region 5, processing signals SC ' and processing signals SC ' output signal SH and the SL after the first comparer and the second comparer.Wherein, the RH in diagram and RL have represented respectively the first reference voltage RH and the second reference voltage RL.And as shown in Figure 4, in the time that automatic running device 2 is in perform region 4, processing signals SC ' is identical with the phase place of sideband signal SC, and signal SH occurs that the time of high level occurs the low level time early than signal SL.As shown in Figure 5, in the time that automatic running device 2 is beyond perform region 4, the single spin-echo of processing signals SC ' and sideband signal SC, and signal SH occurs that occur low level time in signal SL the time lag of high level.
As the improvement to the first embodiment and the second embodiment, the present invention proposes the 3rd embodiment.Improvement is, in the 3rd embodiment, the sideband signal that signal generation apparatus 6 sends is the signal with predeterminated frequency.Processing unit 9, in the time that signal is processed, filters out the signal of other frequencies, and only retains the signal of predeterminated frequency.Above-mentioned improvement makes automatic running device 2 can get rid of the sideband signal of other frequencies to the interference of its work.
As shown in Figure 6, signal generation apparatus 6 comprises first frequency selected cell 24, for setting predeterminated frequency.Processing unit 9 comprises filter assembly 20 frequently, for filtering out the signal of other frequencies, and only retains the signal of predeterminated frequency.Described predeterminated frequency can manually be set by operator, also can automatically be set by automatic working system, can also be generated at random when the initialization by automatic working system.
When predeterminated frequency is manually set by operator, the first frequency selected cell 24 that signal generation apparatus 6 arranges comprises man-machine interface.This human-computer interaction interface can be the various ways such as touch-screen, button, button, voice.The predeterminated frequency value that operator arranges by first frequency selected cell 24 its wishs of input.Complete after above-mentioned setting operator, need set accordingly the filter running parameter of assembly 20 frequently, so that presetting the filter signal of assembly 20 energy filtering predeterminated frequencies other frequencies in addition frequently of working under running parameter, thereby get rid of the impact of the work of other frequency signals on automatic running device 2.
The method of the running parameter of setting filter frequency assembly 20 has multiple, can manually set default running parameter, also can automatically be set and be preset running parameter by automatic working system.When by the default running parameter of manual setting, filter frequently assembly 20 further comprises human-computer interaction interface.Operator sets the running parameter corresponding with predeterminated frequency by human-computer interaction interface.In the time that default running parameter is set automatically by automatic working system, first frequency selected cell 20 is inputted after predeterminated frequency value operator, send the signal of communication corresponding with predeterminated frequency to filter assembly 20 frequently, filter frequently assembly 20 is set default running parameter according to the signal of communication receiving, and works under default running parameter.The filter of working under default running parameter frequently assembly 20 has the band-pass filtering function of frequency centered by predeterminated frequency, the signal of other frequencies beyond can filtering predeterminated frequency, thus get rid of the impact of the work of other frequency signals on automatic running device 2.
As previously mentioned, predeterminated frequency can also be set automatically by automatic working system.Introduce in detail the embodiment that predeterminated frequency is set automatically by automatic working system below in conjunction with Fig. 7.
Processing unit 9 comprises filter assembly 20 and second frequency selected cell 30 frequently.The frequency kind that the signal that second frequency selected cell 30 transmits for recognition detection unit 8 comprises, and the result of identification is compared with pre-stored frequency family, therefrom select the frequency kind different from recognition result, generate corresponding signal of communication according to the frequency kind of selecting simultaneously and pass to first frequency selected cell 24 and the filter assembly 20 frequently in signal generation apparatus 6.Signal of communication that first frequency selected cell 24 sends according to second frequency selected cell 30 is set predeterminated frequency, thereby makes the frequency of the sideband signal that signal generation apparatus 6 sends be different from the frequency of the signal having existed in environment.Filter frequently assembly 20 is set the filter running parameter of assembly 20 frequently according to signal of communication, make the filter frequency assembly 20 of working under default running parameter there is the band-pass filtering function of frequency centered by predeterminated frequency, other signals beyond filtering predeterminated frequency, retain and there is the signal of predeterminated frequency, thereby avoid the signal of other frequencies to the interference of native system.The interior pre-stored frequency family of second frequency selected cell 30 includes multi-frequency value.Preferably, frequency family comprises 5 kinds of selective different frequencies, distributes different frequencies, thereby the sideband signal of adjacent system is distinguished mutually because can be all adjacent systems by 5 kinds of different frequencies.
The frequency kind of the sideband signal that the frequency kind of selecting for assurance automatic running device 2 sends from all adjacent automatic working systems is different, preferably, automatic running device 2 is walked one week along boundary line 3, second frequency selected cell 30 is recorded in the filter frequency kind that assembly 2 recognizes frequently in whole walking process, selects the predeterminated frequency of the frequency kind that is different from record according to the frequency kind of record.Thereby make predeterminated frequency be different from the frequency kind existing within the scope of the whole perform region of automatic working system.In the process of walking a week along boundary line 3 at automatic running device 2, detecting unit 8 continues the signal existing in testing environment, and detection signal is passed to the second frequency selected cell 30 of processing unit 9.Second frequency selected cell 30 in the whole walking process of automatic running device 2, the frequency kind that the detection signal that lasting identification receives has, and the frequency type records recognizing is got off.After walking along boundary line 3 at automatic running device 2 and ending for one week, second frequency selected cell 30 compares the frequency kind of all records and pre-stored frequency family, therefrom selects and the diverse frequency of the frequency recording.Second frequency selected cell 30 generates corresponding signal of communication according to the frequency kind of selecting and passes to first frequency selected cell 24 and the filter assembly 20 frequently in signal generation apparatus 6.
Preferably, second frequency selected cell 30 Function Integration Mechanisms extremely can be filtered in frequency assembly 20, and be omitted second frequency selected cell 30, thereby reduce costs.Now filter frequently assembly 20 comprises mode of operation and recognition mode.Under recognition mode, filter frequency assembly 20 is for the frequency of environment-identification signal, and the result of identification is compared with pre-stored frequency family, therefrom select the frequency kind different from recognition result, generate corresponding signal of communication according to the frequency kind of selecting simultaneously and pass to first frequency selected cell 24, and set the default running parameter under mode of operation.Under mode of operation, filter frequently assembly 20 is worked under default running parameter, the signal beyond filtering predeterminated frequency.Preferably, filter frequently assembly 20 further comprises the first frequency filter 201, the second frequency filter 202, the three frequency filter 203, the four frequency filters 204, and the 5th frequency filter 205.These 5 frequency filters can be the filter frequency circuit of mimic channel composition, also can be for having the special chip of characteristic frequency selection function, as LM567.Under recognition mode, above-mentioned 5 frequency filters are all in running order, are respectively used to screening and have the signal of characteristic frequency, and record whether there is signal output.If frequency filter does not have signal output, the not signal of this kind of frequency is described in environment; Otherwise frequency filter has signal output, show to have existed in environment the signal of this kind of frequency.Filter frequently assembly 20 judges whether output signal of above-mentioned 5 frequency filters, and identification do not have the frequency kind of the frequency filter representative of signal output, i.e. identification is not yet present in the frequency kind in environment.Filter frequently assembly 20, according to certain rule, from being not yet present in the frequency kind of environment, is selected wherein one, and selection result is sent to the first frequency selected cell 24 of signal generation apparatus 6 with the form of signal of communication.Filter frequently assembly 20 is set in above-mentioned 5 frequency filters according to predeterminated frequency simultaneously, in running order frequency filter still under mode of operation, and control other non-selected frequency filters in off working state.
As the improvement to the first embodiment and the second embodiment, the present invention proposes the 4th embodiment.Improvement is, in the 4th embodiment, the sideband signal that signal generation apparatus 6 sends is the signal through phase-modulation.The advantage of improvement project is, through the sideband signal of phase-modulation, can more effectively keep away the interference of the signal of the motor arranging in the interference except ambient signal, particularly other automatic running devices and automatic running device; Simultaneously, what take due to signal is phase modulation schemes, make automatic running device 2 in the whole course of work, without the amplitude size of being concerned about sideband signal, only need to be concerned about the phase place of sideband signal, thereby avoid because automatic running device is apart from the distance of boundary line, and in automatic running device, the error of associated electronic components causes the erroneous judgement that the factors such as amplitude recognition is inaccurate are brought.
As shown in Figure 8, signal generation apparatus 6 comprises phase-modulation module 26.Signal generation apparatus 6 generates baseband signal and carrier signal, and phase-modulation module 26 is carried out phase-modulation by baseband signal to carrier signal and generated sideband signal, and outwards sends to boundary line 3.Preferably, baseband signal is digital signal, and carrier signal is simulating signal.Baseband signal can be continuous signal or discontinuous signal.In the time that baseband signal is continuous signal, it comprises the Part I with the first amplitude and the Part II with the second amplitude.Preferably, Part I is not identical with the time span that Part II occurs.Preferably, the first amplitude is high level, and the second amplitude is low level.The second carrier signal can be continuous signal, can be also discontinuous signal.
The method of phase-modulation is that the deviation value of phase place relative reference phase place of carrier signal is with the proportional variation of instantaneous value of modulation signal.Wherein, fixed phase can be absolute phase values, can be also the phase value of last code element.When fixed phase is set to absolute phase values, this kind of modulation system is called phase-shift keying (PSK); When fixed phase is the phase value of last code element, this kind of modulation system is called differential phase-shift keying (DPSK) (DPSK).Preferably, in present embodiment, phase modulation method is set to phase-shift keying (PSK).
In conjunction with the phase modulating method of present embodiment, phase-modulation module 26 further comprises phase inverter 261, analog switch 262, summitor 263.Phase inverter 261 has the function of the output signal of making and input signal phase place phase difference of pi.Carrier signal is divided into two-way, and a road directly inputs to analog switch 262, and another road inputs to analog switch after phase inverter 261.Analog switch 262 comprises three tunnel inputs and two-way output, wherein the first via is input as carrier signal, and the second tunnel is input as the output of phase inverter 261, and Third Road is input as baseband signal, first via output signal is identical with first via input signal, and the second tunnel output is identical with the second road input signal.Whether analog switch 262 exports output signal according to the low and high level control first via output of baseband signal and the second tunnel.Particularly, in the time that baseband signal is high level, analog switch 262 is controlled the second road output signal output, and now the output signal of analog switch is the output signal of phase inverter 261, with the signal of carrier signal phase phase difference of pi; Otherwise in the time that baseband signal is low level, analog switch 262 is controlled first via output signal output, now the output signal of analog switch is the signal without phase inverter 261, differs zero signal with carrier signal phase.Summitor 263 receives the two-way output signal of analog switch 262, and by two paths of signals carry out matching generate sideband signal send to boundary line 3.Based on aforesaid operations, in the time inputing to the baseband signal of analog switch 262 and be low level signal, modulated sideband signal is identical with the phase place of carrier signal; Otherwise, in the time inputing to the baseband signal of analog switch 262 and be high level signal, the phase place phase difference of pi of modulated sideband signal and carrier signal, i.e. single spin-echo.
As shown in Figure 9, processing unit 9 further comprises phase demodulation modules 28.The detection signal that phase demodulation modules 28 is transmitted detecting unit 8 carries out demodulation, is reduced to baseband signal.Because the phase modulation method of present embodiment is phase-shift keying, therefore phase demodulating mode is coherent demodulation.Based on this kind of demodulation mode, phase demodulation modules 28 further comprises coherent signal generating unit 281, multiplier 282, low-pass filter 283.Coherent signal generating unit 281 generates to be had and the coherent signal of carrier signal with frequency homophase.Multiplier 282 comprises two-way input, and the first via is input as coherent signal, and the second tunnel is input as detection signal.The signal that multiplier 282 obtains after two-way input is multiplied each other is exported to low-pass filter 283, after low-pass filter 283 filters, restores baseband signal.Based on aforesaid operations, when inputing to signal and the coherent signal of multiplier 282, when the phase place of carrier signal is identical, the baseband signal restoring is low level signal; Otherwise when inputing to signal and the coherent signal of multiplier 282, when the phase place phase difference of pi of carrier signal, the baseband signal restoring is high level signal.
Low-pass filter 283 further passes to control module 11 by the baseband signal restoring.Control module 11 receives after baseband signal, and the phase information of transmitting according to baseband signal inside and outside identification automatic running device 2 relative perform regions 4, thereby is controlled automatic running device 2 in the interior work in perform region 4.Concrete, control module 11 receives after the baseband signal that low-pass filter 283 exports, and the identification duration of high level signal and the duration of low level signal, calculates high level signal and the ratio of low level signal duration.When the high level signal of the baseband signal that the ratio calculating when control module 11 sends with signal generation apparatus 6 is identical with the ratio of low level signal duration, the phase place that judges the baseband signal that baseband signal that control module 11 receives sends with signal generation apparatus 6 is identical, judges that automatic running device 2 is in perform region 4; Otherwise, when the high level signal of the baseband signal that the ratio calculating when control module 11 sends with signal generation apparatus 6 is not identical with the ratio of low level signal duration, the single spin-echo that judges the baseband signal that baseband signal that control module 11 receives and signal generation apparatus 6 send, judges that automatic running device 2 is outside perform region 4.
Take baseband signal as discrete square-wave signal, carrier signal is that continuous sine wave signal is example below, and the process of above-mentioned signal modulation, signal demodulation and inside and outside identification is described in conjunction with Figure 10 and Figure 11.The time span that discontinuous square-wave signal occurs is less than 1 with the ratio of the absent variable time span of discontinuous square-wave signal, and the time span that high level signal occurs is less than 1 with the ratio of the time span that low level signal occurs.
Detection signal SC ' further passes to the phase demodulation modules 28 of processing unit 9.The multiplier 282 of phase demodulation modules 28, in receiving detection signal SC ', receives the signal from coherent signal generating unit 281.As previously mentioned, the signal that coherent signal generating unit 281 generates is and the coherent signal of carrier signal with frequency homophase.The signal that multiplier 282 obtains after two-way input is multiplied each other is exported to low-pass filter 283.Low-pass filter 283 carries out filtering to the signal receiving, thereby obtains baseband signal BS as shown in Figures 10 and 11, and baseband signal BS is further passed to control module 11.
In the time that carrier signal and fundamental signal are discrete signal, carrier signal has identical appearance cycle and time span with fundamental signal.Preferably, fundamental signal has high level and low level two parts, and the time span ratio of high level and low level appearance is less than 1.Specific works principle is identical with aforementioned process, does not repeat them here.
As the improvement to the third and fourth embodiment, the present invention also provides the 5th embodiment.The improvement of the 5th embodiment is, the sideband signal that signal generation apparatus 6 sends is the modulation signal with characteristic frequency.This improvement makes to have the automatic working system of this kind of sideband signal, has both been highly resistant to the interference of adjacent automatic working system, is highly resistant to again from the motor interference of native system and the interference of other ambient signals.Introduce in detail particular circuit configurations and the workflow of present embodiment below in conjunction with Figure 11 to Figure 13.
As shown in Figure 12 and Figure 13, signal generation apparatus 6 comprises phase-modulation module 26 and first frequency selected cell 24, and wherein phase-modulation module 26 further comprises first-harmonic generating unit 261 and carrier wave generating unit 262.Automatic running device 2 comprises detecting unit 8, processing unit 9 and control module 11.Wherein, processing unit 9 further comprises filter assembly 20 and phase demodulation modules 28 frequently; Control module 11 further comprises phase identification module 30 and central control unit 18.Preferably, filter frequently assembly 20 further comprises the first frequency filter 201, the second frequency filter 202, the three frequency filter 203, the four frequency filters 204, and the 5th frequency filter 205.
Before automatic working system work, first enter system initialization, step S0 as shown in figure 14.
Enter subsequently step S2, first frequency selected cell 24 is set predeterminated frequency for signal generation apparatus 6.The function of frequency selected cell 24 can be realized by hardware circuit, also can be realized by software.The mode that first frequency selected cell 24 is set predeterminated frequency mainly contains two kinds, and one is: first frequency selected cell 24 further comprises human-computer interaction interface, thereby operator's manual operation human-computer interaction interface is realized the setting to predeterminated frequency; Another kind is: automatic working system is set predeterminated frequency automatically, be specially: the filter of automatic running device 2 frequently assembly 20 has mode of operation and recognition mode, under recognition mode, filter frequency assembly 20 is identified the frequency kind of the ambient signal existing in surrounding environment, and from pre-stored frequency family, select with the diverse frequency values of frequency of ambient signal as predeterminated frequency, the predeterminated frequency of selection is passed to first frequency selected cell 24 with the form of signal of communication, set the running parameter under filter frequency assembly 20 mode of operations simultaneously.Preferably, automatic working system is set predeterminated frequency automatically.More preferred, automatic running device 2 takes a round around boundary line 3 row, with the whole region memory in collection work region 4 ambient signal, thereby the predeterminated frequency that makes to select be different from whole region memory the frequency of ambient signal.It will be appreciated by persons skilled in the art that processing unit 9 can further include second frequency selected cell, now, filter frequently assembly 20 only needs to have mode of operation, no longer require to have recognition mode, i.e. filter frequently assembly 20 only possesses filter function, no longer possesses the selection function of predeterminated frequency.The selection function of predeterminated frequency is realized by second frequency selected cell.The setting means of predeterminated frequency describes in detail in embodiment three, and this part repeats no more.
Enter step S6, baseband signal, carrier signal that phase-modulation module 26 generates according to signal generation apparatus 6, and the predeterminated frequency of automatic working system selection, generate and have the phase modulated signal of predeterminated frequency, and send to boundary line 3.Baseband signal is discrete signal, is preferably discrete square-wave signal or sine wave signal.The form of carrier signal can be multiple, but is generally sine wave signal.Phase modulation method is specially phase-shift keying (PSK).Concrete modulator approach and modulation circuit are identical with the 4th embodiment, do not repeat them here.
Enter step S8, the signal detecting is converted to detection signal by detecting unit 8, and pass to and the processing unit 9 of its electric connection.
Enter step S10, the filter signal that assembly 20 transmits detecting unit 8 frequently carries out filtering, obtains having the signal of predeterminated frequency.Filter frequently assembly 20 can be by controlling specific certain frequency filter output signal in 5 frequency filters, thereby obtain having the signal of characteristic frequency, thereby filter out the signal of other frequencies, thereby get rid of the interference of other frequency signals to automatic working system, and then avoid the interference of adjacent automatic working system to this automatic working system.Can, by for filter frequency assembly 20 arranges special human-computer interaction interface, set the filter running parameter of assembly 20 frequently by operator, select certain specific frequency filter output signal; The frequency that also can be had according to the signal having existed in surrounding environment by automatic running device 2, automatically set the filter running parameter of assembly 20 frequently, automatically select certain specific frequency filter output signal, and the frequency of this frequency filter representative is different from the frequency of ambient signal.Automatic running device 2 can be set specific frequency filter work according to the ambient signal in current location, also can set specific frequency filter work according to the ambient signal receiving for a week of walking around boundary line 3.Preferably, automatically set the filter running parameter of assembly 20 frequently by automatic working system.
Enter step S12, phase demodulation modules 28 is carried out demodulation to the filter signal that assembly 20 transmits frequently, thereby obtains the processing signals corresponding with baseband signal.The step that demodulation comprises is identical with the 4th embodiment, does not repeat them here.
Enter step S14, control module 11 is identified the phase place of the signal after demodulation.Identification phase place can have several different methods, as the ratio of the duration of passing through high level signal and low level signal appearance of introducing in the first embodiment and the 4th embodiment, and identification phase place, and then inside and outside identification.For another example, by the priority of passing through identification the first amplitude and the appearance of the second amplitude of introducing in embodiment two, identification phase place, and then inside and outside identification.Do not repeat them here.
In the present invention, automatic running device 2 can be the various ways such as mower, suction cleaner, industrial robot.When automatic running device 2 is mower, also further comprise cutting mechanism, cutting mechanism comprises cutting motor and cutting blade, and when perform region 4 interior work that mower is planned in boundary line 3, cutting motor drives cutting blade rotation, cutting lawns.
Claims (28)
1. a control method for automatic working system, is characterized in that, comprises the steps:
Signal generation apparatus generates baseband signal and carrier signal;
By baseband signal, carrier signal is carried out generating sideband signal after phase-modulation, sideband signal generates electromagnetic field while transmission through boundary line;
Automatic running device detection of electromagnetic fields generates detection signal, and detection signal is processed and generated processing signals; The phase place of identifying processing signal, judges in the perform region whether automatic running device surround in boundary line according to recognition result.
2. the control method of automatic working system according to claim 1, is characterized in that: the step that detection signal is processed is further comprising the steps: detection signal is carried out to phase demodulating.
3. the control method of automatic working system according to claim 2, is characterized in that: the mode that baseband signal is carried out phase-modulation to carrier signal is phase-shift keying; The mode of detection signal being carried out to phase demodulating is coherent demodulation.
4. the control method of automatic working system according to claim 3, it is characterized in that: the step that baseband signal is carried out phase-shift keying to carrier signal comprises, in the time that the amplitude of baseband signal is low level, the sideband signal of output and carrier signal homophase, in the time that the amplitude of baseband signal is high level, the sideband signal of output and carrier signal phase phase difference of pi; The step of detection signal being carried out to coherent demodulation comprises, in the time that the phase place of detection signal is identical with the phase place of coherent signal, and the baseband signal of output low level, in the time of the phase place of detection signal and the phase place phase difference of pi of coherent signal, the baseband signal of output high level.
5. the control method of automatic working system according to claim 4, it is characterized in that: the step of the phase place of identifying processing signal comprises that the duration of high level signal and low level signal appears in identifying processing signal, according to the phase place of the ratio identifying processing signal of the duration of high level signal and low level signal.
6. the control method of automatic working system according to claim 1, is characterized in that: baseband signal is intermittent signal, and carrier signal is continuous signal.
7. the control method of automatic working system according to claim 6, is characterized in that: baseband signal is square-wave signal, and carrier signal is sine wave signal.
8. according to the control method of the automatic working system described in claim 1 to 7, it is characterized in that: the carrier signal that signal generation apparatus generates has predeterminated frequency; Automatic running device has default running parameter, and while work under default running parameter, automatic running device has the band-pass filtering function of frequency centered by predeterminated frequency, the signal beyond filtering predeterminated frequency.
9. the control method of automatic working system according to claim 8, is characterized in that: signal generation apparatus is according to the signal sets predeterminated frequency of manually inputting.
10. the control method of automatic working system according to claim 9, it is characterized in that: signal generation apparatus generates corresponding signal of communication according to predeterminated frequency and sends to automatic running device, the signal of communication that automatic running device sends according to signal generation apparatus is set default running parameter.
The control method of 11. automatic working systems according to claim 8, is characterized in that: the signal of communication that signal generation apparatus sends according to automatic running device is set predeterminated frequency.
The control method of 12. automatic working systems according to claim 11, it is characterized in that: the frequency that the electromagnetic field of automatic running device recognition detection has, select the frequency different from the frequency of identification, the frequency of selection is sent to signal generation apparatus with the form of signal of communication.
The control method of 13. automatic working systems according to claim 12, is characterized in that: automatic running device records the frequency of identifying in the process taking a round around boundary line row, selects the frequency different from the frequency of record.
The control method of 14. automatic working systems according to claim 12, is characterized in that: automatic running device is according to the default running parameter of the frequency setting of selecting.
15. 1 kinds of automatic working systems, is characterized in that, described automatic working system comprises,
Signal generation apparatus, generates baseband signal and carrier signal;
Phase-modulation module, carries out phase-modulation by baseband signal to carrier signal and generates sideband signal, and outwards send;
Boundary line, the perform region of planning automatic running device, is electrically connected with described phase-modulation module, transmits described sideband signal, and generates electromagnetic field;
Automatic running device, works in described perform region according to default formula;
Detecting unit, is arranged at automatic running device, and the electromagnetic field existing in testing environment is also converted to corresponding detection signal;
Processing unit, receives the detection signal of detecting unit, and generates processing signals;
Control module, the processing signals that reception & disposal unit generates, the phase place of identifying processing signal, judges that according to recognition result automatic running device is whether in perform region.
16. automatic working systems according to claim 15, is characterized in that: described processing unit further comprises phase demodulation modules, and described phase demodulation modules is carried out phase demodulating to detection signal.
17. automatic working systems according to claim 16, is characterized in that: described phase-modulation module is according to the start-phase of the amplitude control carrier signal of baseband signal; Described phase demodulation modules further comprises the coherent signal generating unit that generates coherent signal, and phase demodulation modules is according to the phase differential of input signal and carrier signal, reduction baseband signal.
18. automatic working systems according to claim 17, it is characterized in that: in the time that the amplitude of baseband signal is high level, the signal of phase-modulation module output and the phase place phase difference of pi of carrier signal, in the time that the amplitude of baseband signal is low level, the signal of phase-modulation module output and the phase phasic difference of carrier signal; The phase place of input signal receiving when phase demodulation modules and the phase phasic difference of coherent signal are while being π, the signal of phase demodulation modules output high level, the phase place of input signal receiving when phase demodulation modules and the phase phasic difference of coherent signal be while being zero, the signal of phase demodulation modules output low level.
19. automatic working systems according to claim 18, it is characterized in that: high level signal and the low level signal of the output of control module receiving phase demodulation module, according to the phase place of the ratio identifying processing signal of the duration of high level signal and low level signal.
20. automatic working systems according to claim 19, is characterized in that: baseband signal is intermittent signal, and carrier signal is continuous signal.
21. automatic working systems according to claim 20, is characterized in that: baseband signal is square-wave signal, and carrier signal is sine wave signal.
22. according to claim 15 to the automatic working system described in 21, it is characterized in that: described signal generation apparatus comprises first frequency selected cell, the predeterminated frequency that described signal generation apparatus is set according to first frequency selected cell generates the carrier signal with predeterminated frequency; Processing unit comprises frequently assembly of filter, and filter frequently assembly is operated in while work under default running parameter, has the band-pass filtering function of frequency centered by predeterminated frequency, and filtering has the signal of the frequency that is different from predeterminated frequency.
23. automatic working systems according to claim 22, is characterized in that: described first frequency selected cell comprises human-computer interaction interface, sets described predeterminated frequency according to the input signal of manual operation human-computer interaction interface.
24. automatic working systems according to claim 23, it is characterized in that: described first frequency selected cell sends to filter assembly frequently by the predeterminated frequency of setting with the form of signal of communication, the filter signal of communication that assembly sends according to first frequency selected cell is frequently set default running parameter.
25. automatic working systems according to claim 22, is characterized in that: the signal of communication that described first frequency selected cell sends according to processing unit is set predeterminated frequency.
26. automatic working systems according to claim 25, it is characterized in that: processing unit comprises second frequency selected cell, the frequency that second frequency selected cell recognition detection signal has, select the frequency different from the frequency of identification, the frequency of selection is sent to phase-modulation module with the form of signal of communication.
27. automatic working systems according to claim 26, is characterized in that: second frequency selected cell records the frequency of identifying in the process that automatic running device takes a round around boundary line row, select the frequency different with the frequency recording.
28. automatic working systems according to claim 26, is characterized in that: second frequency selected cell sends to filter assembly frequently by the frequency of selection with the form of signal of communication, and filter frequently assembly is set default running parameter according to signal of communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210447200.2A CN103809592A (en) | 2012-11-09 | 2012-11-09 | Automatic working system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210447200.2A CN103809592A (en) | 2012-11-09 | 2012-11-09 | Automatic working system and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103809592A true CN103809592A (en) | 2014-05-21 |
Family
ID=50706525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210447200.2A Pending CN103809592A (en) | 2012-11-09 | 2012-11-09 | Automatic working system and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103809592A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105467983A (en) * | 2014-08-22 | 2016-04-06 | 扬州维邦园林机械有限公司 | Automatic walking device guiding system and guiding method |
| CN105467982A (en) * | 2014-08-22 | 2016-04-06 | 扬州维邦园林机械有限公司 | System and method for enabling automatic walking device to work in restricted area |
| CN105700521A (en) * | 2014-11-26 | 2016-06-22 | 苏州宝时得电动工具有限公司 | Mower path safety monitoring method, mower path safety monitoring system and mower |
| CN106125609A (en) * | 2016-07-22 | 2016-11-16 | 莱克电气股份有限公司 | A kind of vacuum cleaner and anti-tampering communication system thereof |
| CN106168484A (en) * | 2015-05-19 | 2016-11-30 | 苏州宝时得电动工具有限公司 | The pulse signal identification system of boundary line, method and intelligence mowing system |
| CN106325271A (en) * | 2016-08-19 | 2017-01-11 | 深圳市银星智能科技股份有限公司 | Intelligent mowing device and intelligent mowing device positioning method |
| CN106843199A (en) * | 2015-11-10 | 2017-06-13 | 苏州宝时得电动工具有限公司 | Automatic working system and its control method and automatic running device |
| 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 |
| CN107003676A (en) * | 2014-12-16 | 2017-08-01 | 罗伯特·博世有限公司 | Method and work implement for the working region that recognizes utonomous working utensil |
| CN107589739A (en) * | 2016-07-07 | 2018-01-16 | 苏州宝时得电动工具有限公司 | A kind of control system of self-propelling device, self-propelling device system and manufacture method |
| CN107728217A (en) * | 2017-09-09 | 2018-02-23 | 浙江亚特电器有限公司 | Detect circuit and method in zone boundary for intelligent grass-removing |
| US20180081366A1 (en) * | 2015-12-17 | 2018-03-22 | Positec Power Tools (Suzhou) Co., Ltd. | Self-moving robot system |
| WO2019080943A1 (en) * | 2017-10-27 | 2019-05-02 | 苏州宝时得电动工具有限公司 | Self-moving apparatus, charging station, automatic working system and insect inhibition device |
| CN111860271A (en) * | 2020-07-13 | 2020-10-30 | 苏州科瓴精密机械科技有限公司 | Boundary signal identification method, robot suite, equipment and storage medium |
| CN111977220A (en) * | 2019-05-24 | 2020-11-24 | 苏州宝时得电动工具有限公司 | Garbage bin equipment and mobile control system thereof |
| CN113552873A (en) * | 2020-04-03 | 2021-10-26 | 南京德朔实业有限公司 | Intelligent mowing system |
| WO2022001022A1 (en) * | 2020-06-28 | 2022-01-06 | 莱克电气股份有限公司 | Boundary signal generation and detection methods, generation system, and mowing robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3768586A (en) * | 1971-11-23 | 1973-10-30 | Eaton Corp | Vehicle guidance system |
| DE3405269A1 (en) * | 1984-02-15 | 1985-08-22 | Battelle-Institut E.V., 6000 Frankfurt | Method and device for controlling driverless vehicles of a transport system |
| WO1999015941A1 (en) * | 1997-09-19 | 1999-04-01 | Aktiebolaget Electrolux | Electronic bordering system |
| CA2474946A1 (en) * | 2002-01-31 | 2003-08-07 | Solar & Robotics S.A. | Improvement to a method for controlling an autonomous mobile robot et related device |
| EP1612631A2 (en) * | 2004-07-02 | 2006-01-04 | Zucchetti Centro Sistemi S.p.a. | Perimeter tracking system |
| US20080109126A1 (en) * | 2006-03-17 | 2008-05-08 | Irobot Corporation | Lawn Care Robot |
| EP1512054B1 (en) * | 2002-06-07 | 2010-07-28 | Husqvarna AB | Electronic directing system |
| CN102169345A (en) * | 2011-01-28 | 2011-08-31 | 浙江亚特电器有限公司 | Setting system and setting method of action area of robot |
-
2012
- 2012-11-09 CN CN201210447200.2A patent/CN103809592A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3768586A (en) * | 1971-11-23 | 1973-10-30 | Eaton Corp | Vehicle guidance system |
| DE3405269A1 (en) * | 1984-02-15 | 1985-08-22 | Battelle-Institut E.V., 6000 Frankfurt | Method and device for controlling driverless vehicles of a transport system |
| WO1999015941A1 (en) * | 1997-09-19 | 1999-04-01 | Aktiebolaget Electrolux | Electronic bordering system |
| CA2474946A1 (en) * | 2002-01-31 | 2003-08-07 | Solar & Robotics S.A. | Improvement to a method for controlling an autonomous mobile robot et related device |
| EP1470460B1 (en) * | 2002-01-31 | 2006-04-05 | Solar & Robotics S.A. | Improvement to a method for controlling an autonomous mobile robot et related device |
| EP1512054B1 (en) * | 2002-06-07 | 2010-07-28 | Husqvarna AB | Electronic directing system |
| EP1612631A2 (en) * | 2004-07-02 | 2006-01-04 | Zucchetti Centro Sistemi S.p.a. | Perimeter tracking system |
| US20080109126A1 (en) * | 2006-03-17 | 2008-05-08 | Irobot Corporation | Lawn Care Robot |
| CN102169345A (en) * | 2011-01-28 | 2011-08-31 | 浙江亚特电器有限公司 | Setting system and setting method of action area of robot |
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105467983B (en) * | 2014-08-22 | 2019-01-11 | 扬州维邦园林机械有限公司 | Automatic running device guidance system and method |
| CN105467982A (en) * | 2014-08-22 | 2016-04-06 | 扬州维邦园林机械有限公司 | System and method for enabling automatic walking device to work in restricted area |
| CN105467983A (en) * | 2014-08-22 | 2016-04-06 | 扬州维邦园林机械有限公司 | Automatic walking device guiding system and guiding method |
| CN105467982B (en) * | 2014-08-22 | 2017-12-22 | 扬州维邦园林机械有限公司 | The system and method for making automatic running device be worked in limited area |
| CN105700521A (en) * | 2014-11-26 | 2016-06-22 | 苏州宝时得电动工具有限公司 | Mower path safety monitoring method, mower path safety monitoring system and mower |
| CN107003676A (en) * | 2014-12-16 | 2017-08-01 | 罗伯特·博世有限公司 | Method and work implement for the working region that recognizes utonomous working utensil |
| CN106168484A (en) * | 2015-05-19 | 2016-11-30 | 苏州宝时得电动工具有限公司 | The pulse signal identification system of boundary line, method and intelligence mowing system |
| CN106843199B (en) * | 2015-11-10 | 2021-11-16 | 苏州宝时得电动工具有限公司 | Automatic working system, control method thereof and automatic walking equipment |
| US11003192B2 (en) | 2015-11-10 | 2021-05-11 | Positec Power Tools (Suzhou) Co., Ltd. | Automatic working system and control method thereof and automatic moving device |
| CN106843199A (en) * | 2015-11-10 | 2017-06-13 | 苏州宝时得电动工具有限公司 | Automatic working system and its control method and automatic running device |
| EP3376329A4 (en) * | 2015-11-10 | 2019-06-12 | Positec Power Tools (Suzhou) Co., Ltd | Automatic working system and control method therefor, and automatic walking device |
| 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 |
| US10852735B2 (en) * | 2015-12-17 | 2020-12-01 | Positec Power Tools (Suzhou) Co., Ltd. | Self-moving robot system |
| US20180081366A1 (en) * | 2015-12-17 | 2018-03-22 | Positec Power Tools (Suzhou) Co., Ltd. | Self-moving robot system |
| EP3392729A4 (en) * | 2015-12-17 | 2019-07-10 | Positec Power Tools (Suzhou) Co., Ltd | Auto-movement robot system |
| CN107589739A (en) * | 2016-07-07 | 2018-01-16 | 苏州宝时得电动工具有限公司 | A kind of control system of self-propelling device, self-propelling device system and manufacture method |
| WO2018014749A1 (en) * | 2016-07-22 | 2018-01-25 | 莱克电气股份有限公司 | Vacuum cleaner and anti-interference communication system therefor |
| CN106125609B (en) * | 2016-07-22 | 2019-01-15 | 莱克电气股份有限公司 | A kind of dust catcher and its anti-tampering communication system |
| CN106125609A (en) * | 2016-07-22 | 2016-11-16 | 莱克电气股份有限公司 | A kind of vacuum cleaner and anti-tampering communication system thereof |
| CN106325271A (en) * | 2016-08-19 | 2017-01-11 | 深圳市银星智能科技股份有限公司 | Intelligent mowing device and intelligent mowing device positioning method |
| CN107728217A (en) * | 2017-09-09 | 2018-02-23 | 浙江亚特电器有限公司 | Detect circuit and method in zone boundary for intelligent grass-removing |
| WO2019080943A1 (en) * | 2017-10-27 | 2019-05-02 | 苏州宝时得电动工具有限公司 | Self-moving apparatus, charging station, automatic working system and insect inhibition device |
| US11779004B2 (en) | 2017-10-27 | 2023-10-10 | Positec Power Tools (Suzhou) Co., Ltd. | Self-moving device, charging station, automatic working system, and insect suppression device thereof |
| CN111977220A (en) * | 2019-05-24 | 2020-11-24 | 苏州宝时得电动工具有限公司 | Garbage bin equipment and mobile control system thereof |
| CN113552873A (en) * | 2020-04-03 | 2021-10-26 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN113552873B (en) * | 2020-04-03 | 2024-03-26 | 南京泉峰科技有限公司 | Intelligent mowing system |
| WO2022001022A1 (en) * | 2020-06-28 | 2022-01-06 | 莱克电气股份有限公司 | Boundary signal generation and detection methods, generation system, and mowing robot |
| CN111860271A (en) * | 2020-07-13 | 2020-10-30 | 苏州科瓴精密机械科技有限公司 | Boundary signal identification method, robot suite, equipment and storage medium |
| WO2022011875A1 (en) * | 2020-07-13 | 2022-01-20 | 苏州科瓴精密机械科技有限公司 | Boundary signal identification method, robot kit, device, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103809592A (en) | Automatic working system and control method thereof | |
| CN103838238A (en) | Automatic working system | |
| CN103869813A (en) | Automatic working system | |
| CN102890505B (en) | Boundary system | |
| CN103197672A (en) | Boundary signal identification method and boundary system thereof | |
| CN102880115B (en) | A kind of numerically controlled machine remote cooperative diagnosis system based on Internet of Things | |
| CN100487465C (en) | Segmenting detecting method for pattern domain of Duffing vibrator phase diagram | |
| CN104199453A (en) | Intelligent robot used for inspecting electric power meter | |
| CN101359058B (en) | Detecting method for long-distance full-characteristic analysis of target pipeline and device thereof | |
| CN105467982B (en) | The system and method for making automatic running device be worked in limited area | |
| CN102594310B (en) | For the detector circuit of detection signal amplitude, transponder and method | |
| CN103543745A (en) | Guide system and control method thereof | |
| CN104574931A (en) | Infrared remote control circuit, method and terminal | |
| CN104090189A (en) | Device working state detecting method and device | |
| CN201247324Y (en) | Detection device for analyzing whole characteristic of cable to be measured in long distance | |
| CN102891825A (en) | Carrier recovery method and device of high-order QAM (quadrature amplitude modulation) system | |
| CN103317513B (en) | A kind of Networked Robot control system based on multi-CPU | |
| CN102135562A (en) | Three-phase alternating-current detecting method and detecting device | |
| CN207615924U (en) | A kind of all position welding connection device of PLC controls | |
| CN102043090A (en) | Measurement system for frequency-shift signal parameter of track circuit | |
| CN103941600B (en) | Automatic working system | |
| CN202502190U (en) | Labview-based fault detecting and positioning device for frequency-shift transmission line | |
| CN107863916A (en) | A kind of Motors Speed Measuring System, method and electric machine controller | |
| CN107133170A (en) | A kind of detection method of car-mounted terminal automatic detection black box, apparatus and system | |
| CN104639252A (en) | Method and system for locking offset point of light modulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140521 |